Monitoring turntable low-cost high-precision positioning control system and control method

Abstract

The invention discloses a low-cost high-precision positioning control system and method for a monitoring rotary table, and belongs to the field of monitoring equipment control. The method comprises the steps that an image collection unit collects position image information before and after positioning in real time and sends the position image information to a main control unit; the main control unit extracts the image key information, calculates deviation data of the image key information by using an image comparative analysis algorithm, and sends the deviation data to the compensation unit; the compensation unit converts the deviation data into the movement distance and provides the movement distance for the two motor driving units, and the two motor driving units control the horizontal direction rotary table and the vertical direction rotary table to act correspondingly, so that the horizontal direction rotary table and the vertical direction rotary table complete positioning rotation more accurately. According to the invention, the design difficulty and the corresponding manufacturing cost of the equipment are reduced, the equipment does not depend on traditional mechanical data, the conditions of data abrupt change, abnormal control and the like caused by temperature and signal interference are avoided, and the high-precision positioning control of the monitoring turntable is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of monitoring equipment control, and in particular relates to a low-cost and high-precision positioning control system and a control method for a monitoring turntable. Background Art

[0002] Whether it is forest fire monitoring or urban security, the requirements for the rotation and positioning of monitoring turntable equipment are very strict. In the design of traditional monitoring turntable equipment, encoders are added for precision correction. However, the main problem brought by high-precision encoders is that they will increase the design size of the monitoring turntable equipment and increase the manufacturing cost of the monitoring turntable equipment, thereby increasing the design difficulty of the monitoring turntable equipment, while low-precision encoders cannot output accurate positioning data. At the same time, due to temperature, signal interference and the decline in accuracy after long-term use, it is inevitable that the design of the monitoring turntable equipment will increase certain difficulties. Especially in the forestry and grass industry, the background of more complex scenes is more likely to interfere with the encoder, thereby affecting the positioning accuracy of the monitoring turntable. Summary of the invention

[0003] In order to solve the problems of increased design size, manufacturing cost and design difficulty of monitoring turntable equipment caused by the use of high-precision encoders for precision correction in traditional monitoring turntable equipment design, as well as decreased accuracy due to temperature, signal interference and long-term use, the present invention provides a low-cost and high-precision positioning control system and control method for a monitoring turntable.

[0004] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0005] The present invention provides a low-cost and high-precision positioning control system for a monitoring turntable, comprising:

[0006] An image acquisition unit is used to acquire position image information before and after positioning in real time, and send the acquired preset positioning position image information and actual positioning position image information to the main control unit;

[0007] The main control unit is used to receive the preset positioning position image information and the actual positioning position image information sent by the image acquisition unit in real time, extract the image key information in the preset positioning position image information and the actual positioning position image information, calculate the deviation data of the image key information by using the image comparison analysis algorithm, and send the deviation data to the compensation unit;

[0008] a compensation unit, configured to receive the deviation data and convert the deviation data into a movement distance, and then provide the movement distance to the first motor drive unit and the second motor drive unit;

[0009] The first motor driving unit is used to receive the movement distance sent by the compensation unit and output a pulse signal according to the movement distance to achieve precise control of the stepping motor in the horizontal direction turntable and achieve precise positioning of the horizontal direction turntable;

[0010] The second motor driving unit is used to receive the movement distance sent by the compensation unit and output a pulse signal according to the movement distance to achieve precise control of the stepping motor in the vertical direction turntable and achieve precise positioning of the vertical direction turntable;

[0011] A horizontal turntable, used to receive a control signal from the first motor drive unit for precise positioning;

[0012] The vertical turntable is used to receive the control signal of the second motor drive unit for precise positioning.

[0013] Furthermore, the main control unit includes an ARM processor, an image preset positioning key information storage module and an image comparison and analysis algorithm module; the ARM processor is used to execute the entire positioning control process and communicate with the compensation unit and the image acquisition unit respectively; the image preset positioning key information storage module is used to store and record the image key information in the preset positioning position image information and the actual positioning position image information extracted by the main control unit; the image comparison and analysis algorithm module integrates the image comparison and analysis algorithm, which is used to calculate the deviation between the actual positioning position and the preset positioning position.

[0014] Furthermore, the compensation unit includes an MCU controller, a motor control algorithm module and a communication unit, and the MCU controller communicates with the ARM processor in the main control unit through the communication unit; the motor control algorithm module integrates a motor control algorithm, and controls the operation of the first motor drive unit and the second motor drive unit through the motor control algorithm; the communication unit is used to realize data communication between the MCU controller and the ARM processor.

[0015] Furthermore, the deviation data provided by the compensation unit to the first motor drive unit and the second motor drive unit has a forward and reverse output characteristic.

[0016] Furthermore, the control signals output by the first motor drive unit and the second motor drive unit need to provide sufficient output capacity on the basis of satisfying the S-curve.

[0017] The present invention provides a low-cost and high-precision positioning control method for a monitoring turntable, which is implemented by using the low-cost and high-precision positioning control system for a monitoring turntable. The control method comprises the following steps:

[0018] Step S1: The image acquisition unit acquires position image information before and after positioning in real time, and sends the acquired preset positioning position image information and actual positioning position image information to the main control unit;

[0019] Step S2: the main control unit receives the preset positioning position image information and the actual positioning position image information sent in real time by the image acquisition unit, extracts the image key information in the preset positioning position image information and the actual positioning position image information, and then compares the image key information before and after positioning, calculates the deviation data of the image key information by using the image comparison analysis algorithm, and sends the deviation data to the compensation unit;

[0020] Step S3: The image contrast analysis algorithm can output a standard data format to the compensation unit. The compensation unit converts the deviation data into a movement distance and provides the movement distance to the first motor drive unit and the second motor drive unit. The horizontal turntable is controlled by the first motor drive unit to move, and the vertical turntable is controlled by the second motor drive unit to move, so that the horizontal turntable and the vertical turntable can complete the positioning rotation more accurately.

[0021] Furthermore, the specific implementation process of the image comparison analysis algorithm is as follows:

[0022] (1) obtaining an image I1 at time t1 and an image I2 at time t2 of the same preset positioning position;

[0023] (2) Initialize the offset search range m;

[0024] (3) Calculate the offset angle based on the projection similarity within the offset search range m;

[0025] Furthermore, the specific implementation process of step (3) is as follows:

[0026] (3.1) Calculate the row projection of image I1 With column projection And the row projection of image I2 With column projection The specific calculation formula is as follows:

[0027]

[0028] Where w represents the width of the image; h represents the height of the image; i represents the horizontal coordinate of the pixel in the image; j represents the vertical coordinate of the pixel in the image; I(i,j) represents the value of the corresponding coordinate pixel in the image; k represents the image sampling interval;

[0029] (3.2) Calculate the horizontal offset S within the offset search range m. x With vertical offset S y ;

[0030] (3.3) The angle deviation is calculated based on the offset. The specific calculation formula is as follows:

[0031]

[0032] Where w represents the width of the image; h represents the height of the image; μ represents the pixel size; f represents the focal length; S x Indicates the horizontal offset; S y Indicates the vertical offset; angle x Indicates the horizontal offset angle; angle y Indicates the vertical offset angle.

[0033] Furthermore, the specific implementation process of step (3.2) is as follows:

[0034] (3.2.1) Initialize the projection difference of the offset search range boundary The specific calculation formula of projection difference is as follows:

[0035]

[0036] Where i represents the offset, w represents the length of the row projection, and h represents the length of the column projection. It indicates the difference of row projection when the offset is i. represents the difference of column projection when the offset is i, m represents the offset search range, j represents the coordinate of the projection, R(j) represents the value of the corresponding coordinate of the row projection, and C(j) represents the value of the corresponding coordinate of the column projection;

[0037] (3.2.2) Update the search range in the horizontal and vertical directions:

[0038]

[0039] Among them, t represents the number of searches; s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; s t+1 Indicates the updated search starting point; e t+1 Indicates the updated search endpoint; represents the projection difference corresponding to the starting point of the t-th search; Indicates the projection difference corresponding to the t-th search endpoint; index indicates the offset corresponding to the projection difference value;

[0040] (3.2.3) Repeat the search steps (3.2.1) and (3.2.2) until e t -s t=1, stop searching and calculate the horizontal offset S x With vertical offset S y , the specific calculation formula is as follows:

[0041]

[0042] Among them, s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; Indicates t The difference of the corresponding horizontal projections; Indicates e t The corresponding vertical projection difference; m represents the offset search range; index represents the offset corresponding to the projection difference.

[0043] The beneficial effects of the present invention are:

[0044] 1. The present invention eliminates the use of encoders for auxiliary positioning and uses an image acquisition unit for position confirmation, thereby reducing the design difficulty of the device and the corresponding manufacturing cost.

[0045] 2. The image comparison and analysis algorithm used in the present invention does not rely on traditional mechanical data and will not cause data mutations, control anomalies, etc. due to interference from temperature and signals, thereby achieving high-precision positioning control of the monitoring turntable.

[0046] 3. The low-cost and high-precision positioning control system and control method of the monitoring turntable provided by the present invention can be used in the fields of forest fire monitoring tables, urban security equipment, etc., and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a structural block diagram of a low-cost and high-precision positioning control system for a monitoring turntable.

[0048] Figure 2 The present invention is a flow chart of a low-cost and high-precision positioning control method for a monitoring turntable.

[0049] In the figure, there are a main control unit 1 , a compensation unit 2 , a first motor driving unit 3 , a second motor driving unit 4 , a horizontal turntable 5 , a vertical turntable 6 and an image acquisition unit 7 . DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0051] In a first aspect, the present invention provides a low-cost and high-precision positioning control system for a monitoring turntable.

[0052] like Figure 1As shown, a low-cost and high-precision positioning control system for a monitoring turntable of the present invention specifically includes the following modules:

[0053] A main control unit 1, a compensation unit 2, a first motor driving unit 3, a second motor driving unit 4, a horizontal direction turntable 5, a vertical direction turntable 6 and an image acquisition unit 7.

[0054] Among them, the main control unit 1 is connected to the compensation unit 2 and the image acquisition unit 7 respectively, the compensation unit 2 is connected to the first motor drive unit 3 and the second motor drive unit 4 respectively, the first motor drive unit 3 is connected to the horizontal turntable 5, the second motor drive unit 4 is connected to the vertical turntable 6, and the horizontal turntable 5 and the vertical turntable 6 are both connected to the image acquisition unit 7.

[0055] In the present invention, both the main control unit 1 and the image acquisition unit 7 should have a high-speed standard interface to improve the real-time performance and reliability of the system. The main control unit 1 is connected to the image acquisition unit 7. The main control unit 1 is mainly used to receive the preset positioning position image information and the actual positioning position image information sent by the image acquisition unit 7, and extract the image key information in the preset positioning position image information and the actual positioning position image information, and then compare the image key information before and after positioning, and calculate the offset position of the image key information. Specifically, the main control unit 1 can use the image comparison analysis algorithm to calculate the deviation between the actual positioning position and the preset positioning position, and send the deviation data to the compensation unit 2.

[0056] Among them, the main control unit 1 mainly includes an ARM processor, an image preset positioning key information storage module and an image comparison and analysis algorithm module; the ARM processor is mainly used to execute the entire positioning control process and communicate with the compensation unit 2 and the image acquisition unit 7 respectively; the image preset positioning key information storage module has self-learning ability, and can update the database entry information of the location according to the changes in temperature and weather in the scene. The image preset positioning key information storage module is mainly used to store and record the image key information in the preset positioning position image information and the actual positioning position image information extracted by the main control unit 1; the image comparison and analysis algorithm module integrates the image comparison and analysis algorithm, which is mainly used to calculate the deviation between the actual positioning position and the preset positioning position.

[0057] Among them, the main control unit 1 extracts the preset positioning position image information and the actual positioning position image information sent by the image acquisition unit 7. For each preset positioning position, it is necessary to extract the image key information and the corresponding position, and store and record the extracted image key information and the corresponding position in the image preset positioning key information storage module according to the database format as the basic data and judgment data for subsequent repeated positioning.

[0058] In the present invention, the power supply interfaces of the main control unit 1 and the compensation unit 2 should have standardized designs, and the shielding design should be considered for the hardware transmission layer to prevent signal interference. The protocol communication part needs to add a verification mechanism to ensure the accuracy of the transmitted data. The main control unit 1 is connected to the compensation unit 2, and the main control unit 1 sends deviation data to the compensation unit 2, and the compensation unit 2 completes the data conversion and sends the converted data to the first motor drive unit 3 and the second motor drive unit 4 respectively.

[0059] Among them, the compensation unit 2 converts the deviation data into a movement distance, and provides the movement distance to the first motor drive unit 3 and the second motor drive unit 4. The horizontal turntable 5 is controlled by the first motor drive unit 3 to move, and the vertical turntable 6 is controlled by the second motor drive unit 4 to move, so that the horizontal turntable 5 and the vertical turntable 6 can complete the positioning rotation more accurately.

[0060] Among them, the compensation unit 2 mainly includes an MCU controller, a motor control algorithm module and a communication unit. The MCU controller communicates with the ARM processor in the main control unit 1 through the communication unit; the motor control algorithm module integrates the motor control algorithm, and controls the operation of the first motor drive unit 3 and the second motor drive unit 4 through the motor control algorithm; the communication unit is mainly used to realize data communication between the MCU controller and the ARM processor.

[0061] The deviation data provided by the compensation unit 2 to the first motor drive unit 3 and the second motor drive unit 4 has a positive and negative output characteristic.

[0062] In the present invention, the first motor drive unit 3 and the second motor drive unit 4 receive the converted movement distance provided by the compensation unit 2, and output a pulse signal according to the movement distance, thereby realizing accurate control of the stepper motors in the horizontal direction turntable 5 and the vertical direction turntable 6, and further realizing accurate positioning of the horizontal direction turntable 5 and the vertical direction turntable 6. Specifically, the horizontal direction turntable 5 is driven with high precision by the first motor drive unit 3, so that the horizontal direction turntable 5 is rotated and accurately positioned, and the vertical direction turntable 6 is driven with high precision by the second motor drive unit 4, so that the vertical direction turntable 6 is rotated and accurately positioned. Among them, the positioning accuracy should meet the data requirements of the image contrast analysis algorithm.

[0063] Among them, the first motor drive unit 3 and the second motor drive unit 4 should provide standard control signal output to ensure the smooth operation of the horizontal turntable 5 and the vertical turntable 6. Specifically, the standard control signal output by the first motor drive unit 3 and the second motor drive unit 4 needs to provide sufficient output capacity on the basis of satisfying the S-curve (standard motor control curve) to ensure the operating efficiency and stability of the horizontal turntable 5 and the vertical turntable 6. The control of the horizontal turntable 5 and the vertical turntable 6 should ensure that there is no jitter and abnormal sound during the rotation process.

[0064] In the present invention, the compensation unit 2, the first motor drive unit 3, the second motor drive unit 4, the horizontal turntable 5 and the vertical turntable 6 are integrated into a single module, which can make the movements of the horizontal turntable 5 and the vertical turntable 6 more real-time while controlling costs.

[0065] In the present invention, the image acquisition unit 7 is respectively connected to the main control unit 1, the horizontal turntable 5 and the vertical turntable 6. The image acquisition unit 7 is mainly used to collect position image information before and after positioning, and send the collected preset positioning position image information (before positioning) and actual positioning position image information (after positioning) to the main control unit 1 for the next step of processing.

[0066] The transmission between the image acquisition unit 7 and the main control unit 1 should adopt a high-speed differential signal, which can improve the accuracy of data transmission and the response speed of the system.

[0067] A low-cost and high-precision positioning control system for a monitoring turntable provided by the present invention eliminates the relatively high-cost encoder unit in the existing turntable positioning, and realizes precise control of the preset positioning through the image acquisition unit carried by the turntable equipment, while reducing the resource consumption on the hardware and avoiding the risk of reduced accuracy due to device aging.

[0068] In a second aspect, the present invention provides a low-cost and high-precision positioning control method for a monitoring turntable, which is mainly implemented by using a low-cost and high-precision positioning control system for a monitoring turntable according to the first aspect.

[0069] like Figure 2 As shown, a low-cost and high-precision positioning control method for a monitoring turntable of the present invention is specifically implemented in the following steps:

[0070] Step S1: the image acquisition unit 7 acquires the position image information before and after positioning in real time, and sends the acquired preset positioning position image information (before positioning) and the actual positioning position image information (after positioning) to the main control unit 1;

[0071] Step S2: the main control unit 1 receives the preset positioning position image information and the actual positioning position image information sent in real time by the image acquisition unit 7, extracts the image key information in the preset positioning position image information and the actual positioning position image information, and then compares the image key information before and after positioning, calculates the deviation data of the image key information by using the image comparison analysis algorithm, and sends the deviation data to the compensation unit 2;

[0072] Among them, the specific implementation process of the image comparison analysis algorithm is as follows:

[0073] (1) obtaining an image I1 at time t1 and an image I2 at time t2 of the same preset positioning position;

[0074] (2) Initialize the offset search range m;

[0075] (3) Calculate the offset angle based on the projection similarity within the offset search range m, specifically:

[0076] (3.1) Calculate the row projection of image I1 With column projection And the row projection of image I2 With column projection The specific calculation formula is as follows:

[0077]

[0078] Where w represents the width of the image; h represents the height of the image; i represents the horizontal coordinate of the pixel in the image; j represents the vertical coordinate of the pixel in the image; I(i,j) represents the value of the corresponding coordinate pixel in the image; k represents the image sampling interval;

[0079] (3.2) Calculate the horizontal offset S within the offset search range m. x With vertical offset S y , specifically:

[0080] (3.2.1) Initialize the projection difference of the offset search range boundary The specific calculation formula of projection difference is as follows:

[0081]

[0082] Where i represents the offset, w represents the length of the row projection, and h represents the length of the column projection. It indicates the difference of row projection when the offset is i. represents the difference of column projection when the offset is i, m represents the offset search range, j represents the coordinate of the projection, R(j) represents the value of the corresponding coordinate of the row projection, and C(j) represents the value of the corresponding coordinate of the column projection;

[0083] (3.2.2) Update the search range in the horizontal and vertical directions:

[0084]

[0085] Among them, t represents the number of searches; s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; s t+1 Indicates the updated search starting point; e t+1 Indicates the updated search endpoint; represents the projection difference corresponding to the starting point of the t-th search; Indicates the projection difference corresponding to the t-th search endpoint; index indicates the offset corresponding to the projection difference value;

[0086] (3.2.3) Repeat the search steps (3.2.1) and (3.2.2) until e t -s t =1, stop searching and calculate the horizontal offset S x With vertical offset S y , the specific calculation formula is as follows:

[0087]

[0088] Among them, s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; Indicates t The difference of the corresponding horizontal projections; Indicates e t The corresponding vertical projection difference; m represents the offset search range; index represents the offset corresponding to the projection difference.

[0089] (3.3) The angle deviation is calculated based on the offset. The specific calculation formula is as follows:

[0090]

[0091] Where w represents the width of the image; h represents the height of the image; μ represents the pixel size; f represents the focal length; S x Indicates the horizontal offset; S y Indicates the vertical offset; agle x Indicates the horizontal offset angle; angle y Indicates the vertical offset angle.

[0092] Step S3: The image contrast analysis algorithm can output a standard data format to the compensation unit 2. The compensation unit 2 converts the deviation data into a movement distance and provides the movement distance to the first motor drive unit 3 and the second motor drive unit 4. The horizontal turntable 5 is controlled by the first motor drive unit 3 to move, and the vertical turntable 6 is controlled by the second motor drive unit 4 to move, so that the horizontal turntable 5 and the vertical turntable 6 can complete the positioning rotation more accurately.

[0093] The present invention provides a low-cost and high-precision positioning control method for a monitoring turntable, which improves the positioning control accuracy of the monitoring turntable and reduces the cost of the positioning control of the monitoring turntable.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-cost and high-precision positioning control system for a monitoring turntable, characterized in that: include: An image acquisition unit is used to acquire position image information before and after positioning in real time, and send the acquired preset positioning position image information and actual positioning position image information to the main control unit; The main control unit is used to receive the preset positioning position image information and the actual positioning position image information sent by the image acquisition unit in real time, extract the image key information in the preset positioning position image information and the actual positioning position image information, calculate the deviation data of the image key information by using the image comparison analysis algorithm, and send the deviation data to the compensation unit; a compensation unit, configured to receive the deviation data and convert the deviation data into a movement distance, and then provide the movement distance to the first motor drive unit and the second motor drive unit; The first motor driving unit is used to receive the movement distance sent by the compensation unit and output a pulse signal according to the movement distance to achieve precise control of the stepping motor in the horizontal direction turntable and achieve precise positioning of the horizontal direction turntable; The second motor driving unit is used to receive the movement distance sent by the compensation unit and output a pulse signal according to the movement distance to achieve precise control of the stepping motor in the vertical direction turntable and achieve precise positioning of the vertical direction turntable; A horizontal turntable, used to receive a control signal from the first motor drive unit for precise positioning; The vertical turntable is used to receive the control signal of the second motor drive unit for precise positioning.

2. A low-cost and high-precision positioning control system for a monitoring turntable according to claim 1, characterized in that: The main control unit includes an ARM processor, an image preset positioning key information storage module and an image comparison and analysis algorithm module; the ARM processor is used to execute the entire positioning control process and communicate with the compensation unit and the image acquisition unit respectively; the image preset positioning key information storage module is used to store and record the image key information in the preset positioning position image information and the actual positioning position image information extracted by the main control unit; the image comparison and analysis algorithm module integrates the image comparison and analysis algorithm, which is used to calculate the deviation between the actual positioning position and the preset positioning position.

3. The low-cost and high-precision positioning control system for a monitoring turntable according to claim 1 is characterized in that: The compensation unit includes an MCU controller, a motor control algorithm module and a communication unit. The MCU controller communicates with the ARM processor in the main control unit through the communication unit; the motor control algorithm module integrates a motor control algorithm, and controls the operation of the first motor drive unit and the second motor drive unit through the motor control algorithm; the communication unit is used to realize data communication between the MCU controller and the ARM processor.

4. A low-cost and high-precision positioning control system for a monitoring turntable according to claim 1, characterized in that: The deviation data provided by the compensation unit to the first motor drive unit and the second motor drive unit has a positive and negative output characteristic.

5. The low-cost and high-precision positioning control system for a monitoring turntable according to claim 1 is characterized in that: The control signals output by the first motor drive unit and the second motor drive unit need to provide sufficient output capacity on the basis of satisfying the S-curve.

6. A low-cost and high-precision positioning control method for a monitoring turntable implemented by using a low-cost and high-precision positioning control system for a monitoring turntable as described in any one of claims 1 to 5, characterized in that: The following steps are involved: Step S1: The image acquisition unit acquires position image information before and after positioning in real time, and sends the acquired preset positioning position image information and actual positioning position image information to the main control unit; Step S2: the main control unit receives the preset positioning position image information and the actual positioning position image information sent in real time by the image acquisition unit, extracts the image key information in the preset positioning position image information and the actual positioning position image information, and then compares the image key information before and after positioning, calculates the deviation data of the image key information by using the image comparison analysis algorithm, and sends the deviation data to the compensation unit; Step S3: The image contrast analysis algorithm can output a standard data format to the compensation unit. The compensation unit converts the deviation data into a movement distance and provides the movement distance to the first motor drive unit and the second motor drive unit. The horizontal turntable is controlled by the first motor drive unit to move, and the vertical turntable is controlled by the second motor drive unit to move, so that the horizontal turntable and the vertical turntable can complete the positioning rotation more accurately.

7. A low-cost and high-precision positioning control method for a monitoring turntable according to claim 6, characterized in that: The specific implementation process of the image comparison analysis algorithm is as follows: (1) obtaining an image I1 at time t1 and an image I2 at time t2 of the same preset positioning position; (2) Initialize the offset search range m; (3) Calculate the offset angle based on the projection similarity within the offset search range m.

8. The low-cost and high-precision positioning control method for a monitoring turntable according to claim 7 is characterized in that: The specific implementation process of step (3) is as follows: (3.1) Calculate the row projection of image I1 With column projection And the row projection of image I2 With column projection The specific calculation formula is as follows: Where w represents the width of the image; h represents the height of the image; i represents the horizontal coordinate of the pixel in the image; j represents the vertical coordinate of the pixel in the image; I(i,j) represents the value of the corresponding coordinate pixel in the image; k represents the image sampling interval; (3.2) Calculate the horizontal offset S within the offset search range m. x With vertical offset S y ; (3.3) The angle deviation is calculated based on the offset. The specific calculation formula is as follows: Where w represents the width of the image; h represents the height of the image; μ represents the pixel size; f represents the focal length; S x Indicates the horizontal offset; S y Indicates the vertical offset; angle x Indicates the horizontal offset angle; angle y Indicates the vertical offset angle.

9. A low-cost and high-precision positioning control method for a monitoring turntable according to claim 8, characterized in that: The specific implementation process of step (3.2) is as follows: (3.2.1) Initialize the projection difference of the offset search range boundary The specific calculation formula of projection difference is as follows: Where i represents the offset, w represents the length of the row projection, and h represents the length of the column projection. Indicates the difference in row projection when the offset is i. represents the difference of column projection when the offset is i, m represents the offset search range, j represents the coordinate of the projection, R(j) represents the value of the corresponding coordinate of the row projection, and C(j) represents the value of the corresponding coordinate of the column projection; (3.2.2) Update the search range in the horizontal and vertical directions: Among them, t represents the number of searches; s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; s t+1 Indicates the updated search starting point; e t+1 Indicates the updated search endpoint; represents the projection difference corresponding to the starting point of the t-th search; Indicates the projection difference corresponding to the t-th search endpoint; index indicates the offset corresponding to the projection difference value; (3.2.3) Repeat the search steps (3.2.1) and (3.2.2) until e t -s t =1, stop searching and calculate the horizontal offset S x With vertical offset S y , the specific calculation formula is as follows: Among them, s t represents the starting point of the t-th search; e t Indicates the end point of the t-th search; Indicates t The difference of the corresponding horizontal projections; Indicates e t The corresponding vertical projection difference; m represents the offset search range; index represents the offset corresponding to the projection difference.

Images