Control method and control device of visual monitoring equipment

Abstract

The invention provides a control method and device for visual monitoring equipment, and the method comprises the steps: collecting at least three frames of image information containing a target object; determining three-dimensional adjustment parameters of the monitoring equipment through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters comprise a pitch angle, a horizontal angle and a visual angle distance; determining correction parameters of the monitoring equipment based on the image information; and adjusting the visual monitoring equipment based on the correction parameter and the three-dimensional adjustment parameter. According to the control method and the control device, the pitch angle, the horizontal angle and the visual angle distance are adjusted and corrected, the monitoring direction of the visual monitoring equipment can be automatically controlled, tracking and monitoring for operators are achieved, and the monitoring equipment has the intelligent monitoring effect.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment safety monitoring, and in particular to a control method and a control device for visual monitoring equipment. Background Art

[0002] "Safety first" is the primary guiding principle that enterprises implement in the production process. Safe production is not only related to the personal safety of workers, but also to the interests of the enterprise itself. It is a very important link in the operation and management of the enterprise. At the construction site during the production process of the enterprise, the complex construction environment, high mobility of construction personnel, cross-operation of construction parties, and collaborative work of multiple personnel have brought great difficulties to the safety management of the project, and there are also great safety hazards.

[0003] At present, video monitoring of the production process is usually carried out through video acquisition equipment. Video monitoring refers to a technology that uses a camera to monitor the target shooting area in real time. When performing video monitoring, the method usually adopted is: the monitoring screen is displayed in real time through the display interface corresponding to the server corresponding to the camera.

[0004] However, the functions of the video surveillance equipment currently used are relatively simple and expensive. At the same time, it is greatly affected by the environment of the work site. For example, due to factors such as power supply difficulties at the project work site, lack of network access, and complex application environment, it is impossible to achieve convenient and fast mobile monitoring and closed-loop management of security incidents that follow changes in the work area; thus, it cannot meet the needs of tracking and monitoring workers.

[0005] Therefore, there is a technical problem in the prior art that the existing video monitoring equipment cannot meet the demand for tracking and monitoring the operating personnel. Summary of the invention

[0006] The main purpose of the present invention is to provide a control method and a control device for visual monitoring equipment to solve the technical problem that the existing video monitoring equipment in the prior art cannot meet the demand for tracking and monitoring of operators.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a control method for a visual monitoring device is provided, comprising the following steps: acquiring at least three frames of image information containing a target object; determining three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle and a viewing angle distance; determining correction parameters of the monitoring device based on the image information; and adjusting the visual monitoring device based on the correction parameters and the three-dimensional adjustment parameters.

[0008] In some embodiments, determining the correction parameters of the monitoring device based on the image information includes: determining simulation control parameters of the monitoring device based on the image information; and obtaining the correction parameters of the monitoring device through fitting control based on the simulation control parameters.

[0009] In some embodiments, determining the simulation control parameters of the monitoring device based on the image information includes the following steps: obtaining a calibrated viewing angle distance of the monitoring device when the target object is at the center of the image; determining the actual position coordinates of the target object in the image and the image center position coordinates; calculating the pitch angle control amount and the horizontal angle control amount based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; obtaining the actual viewing angle distance when the target object is at the actual position based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; and calculating the viewing angle distance control amount based on the actual viewing angle distance and the calibrated viewing angle distance.

[0010] In some embodiments, obtaining the correction parameters of the monitoring device through fitting and control based on the simulated control parameters includes: performing a single fitting on the simulated control parameters to obtain the correction parameters of the monitoring device, wherein the single fitting is performed using a least squares method.

[0011] In some embodiments, the calculating the pitch angle control amount and the horizontal angle control amount based on the position coordinates of the calibrated viewing angle distance, the actual position, and the image center position includes: obtaining the pitch angle control amount and the horizontal angle control amount by calculating the inverse cotangent function based on the calibrated viewing angle distance, the actual position, and the image center position coordinates;

[0012] The calculation formula of the pitch angle control amount is:

[0013]

[0014] Where α represents the pitch angle control amount, positive value means upward control, negative value means downward control; x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position; l0 indicates the calibrated viewing angle distance;

[0015] The calculation formula of the horizontal angle control amount is:

[0016]

[0017] Where β represents the horizontal angle control amount, positive value means clockwise control, negative value means counterclockwise control; y s represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position.

[0018] In some embodiments, the calculation formula of the viewing angle distance control amount is:

[0019]

[0020] In the formula, x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position, y s Represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position, l0 represents the calibrated viewing angle distance, Δl represents the viewing angle distance control amount, positive value represents far control, and negative value represents near control.

[0021] In some embodiments, obtaining the correction parameters of the monitoring device through fitting control based on the simulated control parameters includes: obtaining a three-dimensional vector based on the control parameters, and obtaining the correction parameters of the monitoring device based on the three-dimensional vector.

[0022] According to another aspect of the present invention, the present invention also provides a control device for a visual monitoring device, comprising: an acquisition module, used to acquire at least three frames of image information containing a target object; a first determination module, used to determine the three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle and a viewing angle distance; a second determination module, used to determine the correction parameters of the monitoring device based on the image information; and an adjustment module, used to adjust the visual monitoring device based on the correction parameters and the three-dimensional adjustment parameters.

[0023] According to another aspect of the present invention, the present invention also provides a visual monitoring system, including an angle adjustment component, the angle adjustment component including a base, a turntable, an adjustment bracket, a first motor, a first transmission mechanism, a second motor and a second transmission mechanism, wherein the turntable is arranged on the top of the base and is rotatably connected to the base, the adjustment bracket is fixedly arranged on the turntable, the camera is rotatably connected to the adjustment bracket, a first motor is arranged in the base, the first motor is transmission-connected to the turntable through the first transmission mechanism, a second motor is arranged in the adjustment bracket, the second motor is connected to the camera through the second transmission mechanism, and the visual monitoring system also includes the aforementioned control device.

[0024] According to another aspect of the present invention, the present invention further provides a storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the control method of the visual monitoring device described in any one of the above items are implemented.

[0025] According to another aspect of the present invention, the present invention also provides an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program on the memory, the steps of the control method of the visual monitoring device described in any of the above items are implemented.

[0026] By applying the technical solution of the present invention, at least three frames of image information containing a target object are collected by a video acquisition device, and the image processing module processes the image, and the three-dimensional adjustment parameters of the monitoring device are determined by a target tracking algorithm, and the correction parameters of the monitoring device are determined by a fitting algorithm; and control instructions for the first motor and the second motor are generated based on the correction parameters and the three-dimensional adjustment parameters to adjust the visual monitoring device; by adjusting and correcting the pitch angle, horizontal angle and viewing angle distance, the monitoring direction of the visual monitoring device can be automatically controlled, and tracking monitoring of the operating personnel can be achieved, so that the supervision device has the effect of intelligent supervision. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 A schematic diagram of the structure of a visual monitoring device according to the present invention is shown;

[0029] Figure 2 A schematic diagram showing the structure of the visual monitoring device according to another perspective of the present invention is shown;

[0030] Figure 3 A flowchart showing the steps of a control method of a visual monitoring device according to the present invention is shown;

[0031] Figure 4 A flowchart showing the steps of determining correction parameters of a monitoring device based on image information according to the present invention is shown;

[0032] Figure 5 A flowchart showing the steps of determining the simulation control parameters of the monitoring device based on the image information according to the present invention is shown;

[0033] Figure 6 It shows a structural block diagram of a control device of a visual monitoring device according to the present invention;

[0034] Figure 7 A schematic structural diagram of an electronic device according to the present invention is shown.

[0035] The above drawings include the following reference numerals:

[0036] 1. Video acquisition device; 2. Adjustment bracket; 3. Turntable; 4. Base; 5. First motor; 6. Second motor; 7. First transmission mechanism; 71. First gear; 72. Second gear; 8. Second transmission mechanism; 81. Third gear; 82. Fourth gear. DETAILED DESCRIPTION

[0037] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0038] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0039] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0040] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0041] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0042] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0043] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but only to serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0044] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0045] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0046] The present disclosure is further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] In order to solve the technical problem in the prior art that the existing video monitoring equipment cannot meet the demand for tracking and monitoring operators, the present invention provides a control method and a control device for visual monitoring equipment.

[0048] Figure 1-Figure 2 The visualization monitoring device provided by the present invention is shown, and the visualization monitoring device includes a video acquisition device 1, an angle adjustment component and an intelligent control component, wherein the video acquisition device 1 can be, for example, a camera or a CCD camera, and the image information of the operator is collected through the camera or the camera; the angle adjustment component includes a base 4, a turntable 3, an adjustment bracket 2, a first motor 5, a first transmission mechanism 7, a second motor 6 and a second transmission mechanism 8, wherein the turntable 3 is arranged on the top of the base 4 and is rotatably connected to the base 4, the adjustment bracket 2 is fixedly arranged on the turntable 3, the camera is rotatably connected to the adjustment bracket 2, a first motor 5 is arranged in the base 4, and the first motor 5 is transmission-connected to the turntable 3 through the first transmission mechanism 7, a second motor 6 is arranged in the adjustment bracket 2, and the second motor 6 is connected to the camera through the second transmission mechanism 8.

[0049] The first transmission mechanism 7 includes a first gear 71 and a second gear 72. The first gear 71 is arranged at the bottom of the turntable 3, and the second gear 72 is arranged on the rotating shaft of the first motor 5. The first gear 71 and the second gear 72 are meshed and connected. Preferably, the size of the second gear 72 can be smaller than the first gear 71; the first motor 5 can be, for example, a stepping motor. Such a setting is more conducive to accurately controlling the rotation angle of the turntable 3.

[0050] The adjustment bracket 2 is in a concave shape, and the two sides of the camera are rotatably connected to the two sides of the adjustment bracket 2; the second transmission mechanism 8 includes a third gear 81 and a fourth gear 82, the third gear 81 is fixedly connected to the side of the camera, and the fourth gear 82 is arranged on the rotating shaft of the second motor 6, and the third gear 81 is meshed and connected with the fourth gear 82. Preferably, the size of the fourth gear 82 can be smaller than that of the third gear 81, and the second motor 6 can be, for example, a stepping motor, so as to accurately control the rotation angle of the camera.

[0051] The intelligent control component includes a main control module, a wireless communication module, an image processing module, an early warning module and a storage module, wherein the wireless communication module is connected to the main control module to realize data interaction with the remote monitoring center, the image processing module is used to process the video data collected by the video acquisition device 1, and transmit the processed data to the main control module; the storage module can store multiple models to identify whether there are illegal operations at the work site, and the main control module adjusts the monitoring direction of the video acquisition device 1 according to the processed data, and identifies whether there are illegal operations in the video that cause safety risks. The early warning module is connected to the main control module, and sends early warning information when an illegal operation is identified.

[0052] For example, you can deploy a target recognition model to track on-site workers and determine whether they have entered prohibited areas; or deploy a posture and seat belt recognition model to intelligently determine whether workers are complying with safety operating procedures.

[0053] Since the position of the operator will change during the operation, the visual monitoring device is required to follow the position of the operator and adjust the angle and position of the video acquisition device 1. Figure 3 The control method of the visual monitoring device provided by the present invention is shown. As shown in the figure, the control method of the visual monitoring device includes the following steps:

[0054] S101, collecting at least three frames of image information containing a target object.

[0055] In this step, at least three frames of image information containing the target object are collected.

[0056] Specifically, at least three frames of image information containing the target object are collected by the video acquisition device 1. The video acquisition device 1 may be a camera or a CCD camera, the target object is an operator, and the at least three frames of monitoring images include an image of a frame at the current moment, so as to reflect the continuous actions of the operator.

[0057] S102, determining three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle, and a viewing angle distance.

[0058] After completing the above step S101, in this step, the three-dimensional adjustment parameters of the monitoring device are determined based on the image information through a target tracking algorithm, wherein the three-dimensional adjustment parameters include adjustment parameters of the pitch angle, horizontal angle and viewing angle distance.

[0059] Specifically, after acquiring the image information, the three-dimensional adjustment parameters of the monitoring equipment are determined by the target tracking algorithm, wherein the target tracking algorithm can adopt commonly used algorithms in the prior art, such as the mean shift algorithm, the particle filter algorithm or the TLD algorithm. The above algorithms are all mature algorithms in the prior art and will not be repeated here.

[0060] S103: Determine correction parameters of the monitoring device based on the image information.

[0061] After completing the above step S102, in this step, the correction parameters of the monitoring device are determined based on the image information.

[0062] Furthermore, the correction parameters include a pitch angle correction amount, a horizontal angle correction amount and a viewing angle distance correction amount. Figure 4 A flowchart of the steps of determining the correction parameters of the monitoring device based on the image information is shown. Figure 4 As shown, determining the correction parameters of the monitoring device based on the image information includes the following steps:

[0063] S201, determining simulation control parameters of the monitoring device based on the image information.

[0064] In the step, the analog control parameters of the monitoring device are determined based on the image information, wherein the analog control parameters include a pitch angle control amount, a horizontal angle control amount and a viewing angle distance control amount.

[0065] Furthermore, if Figure 5 As shown, determining the simulation control parameters of the monitoring device based on the image information includes the following steps:

[0066] S301, obtaining a calibrated viewing angle distance of a monitoring device when a target object is at the center of an image.

[0067] In this step, the calibrated viewing angle distance of the monitoring device when the target object is at the center of the image is obtained.

[0068] Specifically, in this step, image information of the operator located at the center of the image is obtained, and the calibrated viewing angle distance of the monitoring device is determined based on the image information. The calibrated viewing angle distance is used as the original position of the operator in subsequent steps.

[0069] S302, determining the actual position coordinates of the target object in the image and the image center position coordinates.

[0070] After completing the above step S301, in this step, the actual position coordinates of the target object in the image and the image center position coordinates are determined.

[0071] Specifically, a coordinate system is established with the calibrated position as the origin to determine the actual position coordinates of the operator in the image and the image center position coordinates.

[0072] When it is inconvenient to establish a coordinate system at the calibration position, a randomly generated origin can be used to establish the coordinate system and directly determine the difference between the horizontal and vertical coordinates.

[0073] S303, calculating the pitch angle control amount and the horizontal angle control amount based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position.

[0074] After obtaining the position calibration table of the calibrated viewing angle distance, the actual position and the image center position, in this step, the pitch angle control amount and the horizontal angle control amount are calculated based on the position coordinates of the calibrated viewing angle distance, the actual position and the image center position.

[0075] Specifically, the pitch angle control amount and the horizontal angle control amount are calculated by performing a cotangent inverse function based on the position coordinates of the calibrated viewing angle distance, the actual position and the image center position; wherein the pitch angle control amount is calculated by the following formula:

[0076]

[0077] Where α represents the pitch angle control amount, positive value means upward control, negative value means downward control; x s represents the horizontal axis coordinate of the actual position; x0 represents the horizontal axis coordinate of the calibrated position; l0 represents the calibrated viewing angle distance.

[0078] The horizontal angle control amount is calculated by the following calculation formula:

[0079]

[0080] Where β represents the horizontal angle control amount, positive value means clockwise control, negative value means counterclockwise control; y s represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position.

[0081] S304, obtaining the actual viewing angle distance when the target object is located at the actual position based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position.

[0082] After obtaining the pitch angle control amount and the horizontal angle control amount, in this step, a spatial geometric analysis is performed based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position to obtain the actual viewing angle distance when the target object is located at the actual position.

[0083] Specifically, the calculation formula of the actual viewing angle distance is:

[0084]

[0085] In the formula, x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position, y s represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position, l0 represents the calibrated viewing angle distance, and l represents the actual viewing angle distance.

[0086] S305: Calculate a viewing angle distance control amount based on the actual viewing angle distance and the calibrated viewing angle distance.

[0087] After completing the above step S304, in this step, the viewing angle distance control amount is calculated based on the actual viewing angle distance and the calibrated viewing angle distance.

[0088] Specifically, the viewing angle distance control amount is the difference between the actual viewing angle distance and the calibrated viewing angle distance, a positive value is far-direction control, and a negative value is near-direction control; the formula is as follows:

[0089]

[0090] Where Δl represents the viewing angle distance control amount, positive values ​​represent far-direction control, and negative values ​​represent near-direction control.

[0091] S202: Obtain correction parameters of the monitoring device through fitting control based on the simulation control parameters.

[0092] After completing the above step S201, in this step, correction parameters of the monitoring device are obtained through fitting control based on the simulation control parameters, wherein the correction parameters include a pitch angle correction amount, a horizontal angle correction amount and a viewing angle distance correction amount.

[0093] Specifically, after obtaining the pitch angle control amount, the horizontal angle control amount and the viewing angle distance control amount, single fitting is performed on the pitch angle control amount, the horizontal angle control amount and the viewing angle distance control amount respectively. Preferably, the single fitting can be performed using the least squares method. After the least squares fitting, the pitch angle control amount, the horizontal angle control amount and the viewing angle distance control amount are obtained, and the pitch angle control amount, the horizontal angle control amount and the viewing angle distance control amount constitute the correction parameter.

[0094] In some embodiments, an overall fitting method may also be used. For example, the pitch angle control amount, the horizontal angle control amount, and the viewing angle distance control amount are converted into a three-dimensional vector, and Matlab is used to predict the motion trajectory of the three-dimensional vector to obtain the pitch angle control amount, the horizontal angle control amount, and the viewing angle distance control amount.

[0095] S104: Adjust the visual monitoring device based on the correction parameter and the three-dimensional adjustment parameter.

[0096] After completing the above step S103, in this step, the visual monitoring device is adjusted based on the correction parameters and the three-dimensional adjustment parameters.

[0097] Specifically, the correction parameters are superimposed and fused with the three-dimensional adjustment parameters to obtain the actual control parameters of the video acquisition device 1 at the next moment, and a control instruction is sent to the angle adjustment component through the main control module to adjust the motion state of the video acquisition device 1.

[0098] By applying the control method of the visual monitoring device provided by the present invention, at least three frames of image information containing the target object are collected by the video acquisition device 1, and the image processing module processes the image, and the three-dimensional adjustment parameters of the monitoring device are determined by the target tracking algorithm, and the correction parameters of the monitoring device are determined by the fitting algorithm; and based on the correction parameters and the three-dimensional adjustment parameters, control instructions for the first motor 5 and the second motor 6 are generated to adjust the visual monitoring device; by adjusting and correcting the pitch angle, horizontal angle and viewing angle distance, the monitoring direction of the visual monitoring device can be automatically controlled, and tracking monitoring of the operating personnel can be achieved, so that the supervision device has the effect of intelligent supervision.

[0099] Example 2

[0100] In order to better implement the above method, the second aspect of the present disclosure further provides a control device for a visual monitoring device, which can be integrated on an electronic device.

[0101] For example, Figure 6 As shown, the control device 200 may include: a collection module 210, a first determination module 220, a second determination module 230 and an adjustment module 240, which are specifically as follows:

[0102] (1) A collection module 210, wherein the collection module 210 is used to collect at least three frames of image information containing a target object.

[0103] (2) A first determination module 220, which is used to determine three-dimensional adjustment parameters of the monitoring device based on the image information through a target tracking algorithm, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle, and a viewing angle distance.

[0104] (3) A second determination module 230, the second determination module 230 is used to determine a correction parameter of the monitoring device based on the image information.

[0105] (4) An adjustment module 240, wherein the adjustment module 240 is used to adjust the visual monitoring device based on the correction parameter and the three-dimensional adjustment parameter.

[0106] Furthermore, the second determination module 230 includes a first determination unit and a fitting unit, wherein the first determination unit is used to determine the simulation control parameters of the monitoring device based on the image information, and the fitting unit is used to obtain the correction parameters of the monitoring device through fitting control based on the simulation control parameters.

[0107] Furthermore, the first determination unit is also used to obtain a calibrated viewing angle distance of the monitoring device when the target object is at the center of the image; determine the actual position coordinates of the target object in the image and the image center position coordinates; calculate the pitch angle control amount and the horizontal angle control amount based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; obtain the actual viewing angle distance when the target object is at the actual position based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; and calculate the viewing angle distance control amount based on the actual viewing angle distance and the calibrated viewing angle distance.

[0108] Further, the calculating of the pitch angle control amount and the horizontal angle control amount based on the position coordinates of the calibrated viewing angle distance, the actual position and the image center position comprises: obtaining the pitch angle control amount and the horizontal angle control amount by calculating the inverse cotangent function based on the calibrated viewing angle distance, the actual position and the image center position coordinates;

[0109] The calculation formula of the pitch angle control amount is:

[0110]

[0111] Where α represents the pitch angle control amount, positive value means upward control, negative value means downward control; x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position; l0 indicates the calibrated viewing angle distance;

[0112] The calculation formula of the horizontal angle control amount is:

[0113]

[0114] Where β represents the horizontal angle control amount, positive value means clockwise control, negative value means counterclockwise control; y s represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position.

[0115] Furthermore, the calculation formula of the viewing angle distance control amount is:

[0116]

[0117] In the formula, x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position, y sRepresents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position, l0 represents the calibrated viewing angle distance, Δl represents the viewing angle distance control amount, positive value represents far control, and negative value represents near control.

[0118] The control device of the visual monitoring device provided by the present invention is applied to collect at least three frames of image information containing the target object through the video acquisition device 1, and the image processing module processes the image, determines the three-dimensional adjustment parameters of the monitoring device through the target tracking algorithm, and determines the correction parameters of the monitoring device through the fitting algorithm; and generates control instructions for the first motor 5 and the second motor 6 based on the correction parameters and the three-dimensional adjustment parameters to adjust the visual monitoring device; by adjusting and correcting the pitch angle, horizontal angle and viewing angle distance, the monitoring direction of the visual monitoring device can be automatically controlled, and tracking monitoring of the operating personnel can be achieved, so that the supervision device has the effect of intelligent supervision.

[0119] Example 3

[0120] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0121] To this end, a third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided by the embodiment of the present disclosure is implemented, including the following steps S11 to S14:

[0122] S11, collecting at least three frames of image information containing the target object;

[0123] S12, determining three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle, and a viewing angle distance;

[0124] S13, determining a correction parameter of the monitoring device based on the image information;

[0125] S14, adjusting the visual monitoring device based on the correction parameter and the three-dimensional adjustment parameter.

[0126] Furthermore, when the computer program is executed by a processor, other methods provided by any of the above embodiments of the present disclosure are implemented.

[0127] By applying the control method of the visual monitoring device provided by the present invention, at least three frames of image information containing the target object are collected by the video acquisition device 1, and the image processing module processes the image, and the three-dimensional adjustment parameters of the monitoring device are determined by the target tracking algorithm, and the correction parameters of the monitoring device are determined by the fitting algorithm; and based on the correction parameters and the three-dimensional adjustment parameters, control instructions for the first motor 5 and the second motor 6 are generated to adjust the visual monitoring device; by adjusting and correcting the pitch angle, horizontal angle and viewing angle distance, the monitoring direction of the visual monitoring device can be automatically controlled, and tracking monitoring of the operating personnel can be achieved, so that the supervision device has the effect of intelligent supervision.

[0128] Example 4

[0129] A fourth embodiment of the present disclosure provides an electronic device, such as Figure 7 As shown, the electronic device at least includes a memory 310 and a processor 320. The memory 310 stores a computer program. The processor 320 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 310. Exemplarily, the method executed by the electronic device computer program is as follows:

[0130] S21, collecting at least three frames of image information containing the target object;

[0131] S22, determining three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle, and a viewing angle distance;

[0132] S23, determining a correction parameter of the monitoring device based on the image information;

[0133] S24, adjusting the visual monitoring device based on the correction parameter and the three-dimensional adjustment parameter.

[0134] In specific implementation, the acquisition module 210, the first determination module 220, the second determination module 230 and the adjustment module 240 are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

[0135] By applying the control method of the visual monitoring device provided by the present invention, at least three frames of image information containing the target object are collected by the video acquisition device 1, and the image processing module processes the image, and the three-dimensional adjustment parameters of the monitoring device are determined by the target tracking algorithm, and the correction parameters of the monitoring device are determined by the fitting algorithm; and based on the correction parameters and the three-dimensional adjustment parameters, control instructions for the first motor 5 and the second motor 6 are generated to adjust the visual monitoring device; by adjusting and correcting the pitch angle, horizontal angle and viewing angle distance, the monitoring direction of the visual monitoring device can be automatically controlled, and tracking monitoring of the operating personnel can be achieved, so that the supervision device has the effect of intelligent supervision.

[0136] The storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0137] The storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0138] Alternatively, the storage medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; selects an Internet Protocol address from the at least two Internet Protocol addresses; and returns the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0139] Computer program code for performing operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the passenger computer, partially on the passenger computer, as a separate software package, partially on the passenger computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the passenger computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] It should be noted that the storage medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. Computer readable signal media may also be any storage medium other than computer readable storage media that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), or any suitable combination of the above.

[0141] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0142] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0143] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs).

[0144] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0146] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0147] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are only example forms of implementing the claims.

[0148] Multiple embodiments of the present disclosure are described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure, and these variations and modifications should all fall within the scope of protection required by the present disclosure.

Claims

1. A control method for a visual monitoring device, characterized in that: The steps include: Collect at least three frames of image information containing the target object; Determining three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle, and a viewing angle distance; determining correction parameters of the monitoring device based on the image information; The visual monitoring device is adjusted based on the correction parameter and the three-dimensional adjustment parameter.

2. The control method of the visual monitoring device according to claim 1, characterized in that: The determining of the correction parameters of the monitoring device based on the image information comprises: Determining a simulation control parameter of the monitoring device based on the image information; Based on the simulated control parameters, correction parameters of the monitoring device are obtained through fitting control.

3. The control method of the visual monitoring device according to claim 2, characterized in that: Determining the simulation control parameters of the monitoring device based on the image information comprises the following steps: Get the calibrated viewing angle distance of the monitoring device when the target object is at the center of the image; Determine the actual position coordinates of the target object in the image and the image center position coordinates; Calculate the pitch angle control amount and the horizontal angle control amount based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; Obtaining the actual viewing angle distance when the target object is located at the actual position based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position; The viewing angle distance control amount is calculated based on the actual viewing angle distance and the calibrated viewing angle distance.

4. The control method of the visual monitoring device according to claim 2, characterized in that: The obtaining of the correction parameters of the monitoring device through fitting regulation based on the simulated regulation parameters comprises: A single fitting is performed on the simulated control parameters to obtain the correction parameters of the monitoring device, wherein the single fitting is performed using a least squares method.

5. The control method of the visual monitoring device according to claim 3, characterized in that: The calculating of the pitch angle control amount and the horizontal angle control amount based on the position coordinates of the calibrated viewing angle distance, the actual position and the image center position comprises: Based on the calibrated viewing angle distance, the actual position and the position coordinates of the image center position, the pitch angle control amount and the horizontal angle control amount are obtained by calculating the inverse cotangent function; The calculation formula of the pitch angle control amount is: Where α represents the pitch angle control amount, positive value means upward control, negative value means downward control; x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position; l0 indicates the calibrated viewing angle distance; The calculation formula of the horizontal angle control amount is: Where β represents the horizontal angle control amount, positive value means clockwise control, negative value means counterclockwise control; y s represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position.

6. The control method of the visual monitoring device according to claim 3, characterized in that: The calculation formula of the viewing angle distance control amount is: In the formula, x s Indicates the horizontal axis coordinate of the actual position; x0 indicates the horizontal axis coordinate of the calibrated position, y s Represents the vertical coordinate of the actual position; y0 represents the vertical coordinate of the calibrated position, l0 represents the calibrated viewing angle distance, Δl represents the viewing angle distance control amount, positive value represents far control, and negative value represents near control.

7. A control device for a visual monitoring device, characterized in that: include: An acquisition module, used for acquiring at least three frames of image information containing a target object; A first determination module is used to determine the three-dimensional adjustment parameters of the monitoring device through a target tracking algorithm based on the image information, wherein the three-dimensional adjustment parameters include a pitch angle, a horizontal angle and a viewing angle distance; A second determination module, configured to determine a correction parameter of the monitoring device based on the image information; An adjustment module is used to adjust the visual monitoring device based on the correction parameters and the three-dimensional adjustment parameters.

8. A visual monitoring system, characterized in that: The angle adjustment component comprises a base (4), a turntable (3), an adjustment bracket (2), a first motor (5), a first transmission mechanism (7), a second motor (6) and a second transmission mechanism (8), wherein the turntable (3) is arranged on the top of the base (4) and is rotatably connected to the base (4), the adjustment bracket (2) is fixedly arranged on the turntable (3), the camera is rotatably connected to the adjustment bracket (2), a first motor (5) is arranged in the base (4), the first motor (5) is transmission-connected to the turntable (3) through the first transmission mechanism (7), a second motor (6) is arranged in the adjustment bracket (2), and the second motor (6) is connected to the camera through the second transmission mechanism (8), and the visual monitoring system also comprises the control device according to claim 7.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the control method of the visual monitoring device according to any one of claims 1 to 6 are implemented.

10. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the control method of the visual monitoring device according to any one of claims 1 to 6 when executing the computer program on the memory.

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