Cradle head scanning control method and device and medium

Abstract

The invention relates to the field of security and protection monitoring, in particular to a scanning control method and device of a holder and a medium. According to the method, firstly, a scanning area is calibrated in a clockwise four-point calibration mode, required monitoring ranges of various shapes can be covered through a four-point method, the area calibrated through the method is convenient to scan, and scanning blind areas can be reduced; then, according to the summarized shapes of the three monitoring areas, a corresponding scanning mode is set for each shape, scanning of the delimited areas can be achieved, whether monitoring dead angles exist in the delimited areas or not can be judged according to the delimited graph shapes, and when the robot runs to the dead angle areas, the robot focuses on the dead angle areas, omission is avoided, and the monitoring efficiency is improved. The scanning speed is determined based on the field angle and the zoom speed, and the scanning speed and the scanning quality are both considered.

Description

Technical Field

[0001] The invention relates to the field of security monitoring, and in particular to a scanning control method, device and medium of a pan / tilt platform. Background Art

[0002] At present, most security monitoring systems monitor a selected fixed area through a pan-tilt head. When switching to the next detection area, manual operation is required, or the designated area is scanned and monitored through a reciprocating scanning method. Among these control methods, the scanning method and control function of the pan-tilt head are relatively simple, single-purpose, poor in flexibility, and cumbersome.

[0003] The pan / tilt scanning of common security equipment can only achieve reciprocating motion at horizontal pitch angles. Although it can also realize scanning and monitoring of designated areas, the division of the scanning area is relatively simple, and it can only scan one area. This method is more suitable for scanning areas with a wide monitoring range, but for areas that need to be monitored, its larger scanning range is too redundant, and the scanning area and scanning method cannot be adjusted in time according to actual conditions, which has certain limitations. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides a scanning control method, device and medium of a pan / tilt platform, which selects a suitable scanning mode according to a calibrated scanning range, improves scanning efficiency and avoids monitoring blind spots.

[0005] In order to solve the technical problem, the technical solution adopted by the present invention is: a scanning control method of a pan / tilt table, comprising the following steps: S01. Calibrate the scanning area. The user defines multiple groups of calibration points. Each group of calibration points has 4 points. The gimbal rotates clockwise from the first point to the second, third, and fourth points, and returns to the origin to obtain a quadrilateral. The quadrilateral is the scanning area. Each group of calibration points obtains a scanning area to determine the shape of the scanning area. S02, determine the scanning mode. The scanning area determined in step S01 has three shapes: rectangle, trapezoid, and irregular quadrilateral. The scanning mode of the rectangular scanning area is: take any long side as the base and scan in the other direction. The scanning mode of the trapezoidal scanning area is: compare the longest side with the longest parallel side. When the longest side is greater than N times the longest base, scan in the other direction with the longest side as the base. Otherwise, scan in the other direction with the longest parallel side as the base. The scanning mode of the irregular quadrilateral scanning area is: compare the lengths of the four sides, find the longest side, take the longest side as the base, and scan in the other direction. S03, determine the scanning speed, and determine the pan / tilt rotation speed based on the field of view angle and zoom speed: PTZ rotation speed = field of view * (zoom speed + 1) * 0.25; S04. Scanning is performed based on the above-determined scanning area, scanning mode, and scanning speed.

[0006] Furthermore, the process of determining the shape of the scanning area is as follows: the scanning area is a quadrilateral, the quadrilateral is composed of two sets of relative sides, and whether the slopes of each set of relative sides are the same is determined. If the slopes of the two sets of relative sides are the same, the scanning area is a rectangle. If the slopes of one set of relative sides are the same and the slopes of the other set of relative sides are different, the scanning area is a trapezoid. If the slopes of the two sets of relative sides are different, the scanning area is an irregular quadrilateral.

[0007] Furthermore, when calibrating the scanning area, the legality of the calibration points is determined. When calibrating the second point, the second point is legal if it is at the upper left, upper right, or lower right of the first point. When calibrating the third and fourth points, the third and fourth points are legal if they are at the upper right or lower right of the second point. The rest are illegal points. The scanning area is calibrated according to the legal points. When an illegal point is encountered, an error message is returned.

[0008] Furthermore, if the angle between two sides of the scanning area is less than 45°, it is considered that there is a scanning blind spot between the two sides, and the pan / tilt moves forward a certain number of steps when passing through the vertices of the two sides.

[0009] Furthermore, after calibrating one scanning area, the calibration of the next scanning area is continued, and the calibration of up to 10 scanning areas is supported. The scanning is performed according to the order of calibrating the scanning areas and the corresponding scanning modes.

[0010] Furthermore, an automatic switching component is provided, and after scanning one scanning area, the automatic switching component determines to scan the next scanning area.

[0011] Furthermore, when determining the scanning mode, there is a manual setting option.

[0012] Furthermore, N∈[2,4].

[0013] The present invention also discloses a scanning control device for a pan-tilt platform, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the scanning control method for the pan-tilt platform as described above when running the program instructions.

[0014] The present invention also discloses a storage medium storing program instructions, wherein the program instructions, when running, execute the scanning control method of the pan / tilt platform as described above.

[0015] Beneficial effects of the present invention: 1. The present invention can automatically calibrate the scanning area, and automatically select a scanning method that is more suitable for the characteristics of the scanning area according to the shape of the defined scanning area, so that scanning becomes more flexible and more convenient to use.

[0016] 2. When the scanning speed is too slow, the scanning efficiency is seriously affected; when the speed is too fast, the abnormal situation in the scanning monitoring area cannot be identified. Therefore, according to the field of view, the most suitable scanning speed for the current field of view is calculated through the formula.

[0017] 3. The clockwise four-point calibration method is used to define the scanning range. The four-point calibration can cover the required monitoring range of various shapes, and the area calibrated by this method is convenient for scanning and can also reduce the scanning blind area. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of the method described in Example 1; Figure 2 Schematic diagram of three shapes of scanning area; Figure 3 This is a principle block diagram of the state described in Example 2. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] Example 1 This embodiment discloses a scanning control method of a pan / tilt platform. Figure 1 As shown, the following steps are included: S01. Calibrate the scanning area. The user defines multiple groups of calibration points. Each group of calibration points has 4 points. The gimbal rotates clockwise from the first point to the second, third, and fourth points, and returns to the origin to obtain a quadrilateral, which is the scanning area. Each group of calibration points obtains a scanning area to determine the shape of the scanning area.

[0021] The shape of the scan area is determined by: Figure 2 As shown, the scanning area is a quadrilateral, which consists of two sets of opposite sides. ab and cd are one set of opposite sides, and bc and da are another set of opposite sides. It is determined whether the slopes of each set of opposite sides are the same. If the slopes of the two sets of opposite sides are the same, the scanning area is a rectangle, as shown in Figure 2 As shown in a, if the slopes of one set of opposite sides are the same and the slopes of the other set of opposite sides are different, the scanning area is a trapezoid, such as Figure 2 As shown in b, if the slopes of the two sets of opposite sides are different, the scanning area is an irregular trapezoid, such as Figure 2 As shown in c.

[0022] When calibrating the scanning area, the legality of the calibration points is determined. When calibrating the second point, the second point is legal if it is in the upper left, upper right, or lower right of the first point. When calibrating the third and fourth points, the third and fourth points are legal if they are in the upper right or lower right of the second point. The rest are illegal points. The scanning area is calibrated according to the legal points. When an illegal point is encountered, an error message is returned.

[0023] S02, determine the scanning method. The scanning area determined in step S01 has three shapes: rectangle, trapezoid, and irregular quadrilateral. The scanning method of the rectangular scanning area is: take any long side as the base and scan in the other direction. The scanning method of the trapezoidal scanning area is: compare the longest side with the longest parallel side. When the longest side is greater than N times the longest base, scan in the other direction with the longest side as the base, otherwise scan in the other direction with the longest parallel side as the base. The scanning method of the irregular quadrilateral scanning area is: compare the lengths of the four sides, find the longest side, take the longest side as the base, and scan in the other direction. During scanning, if the angle between the two sides of the scanning area is less than 45°, it is considered that there is a scanning blind spot between the two sides. When the gimbal passes the vertex of the two sides, it moves forward a certain number of steps.

[0024] After calibrating one scanning area, continue to calibrate the next scanning area. A maximum of 10 scanning areas can be calibrated. Scanning is performed according to the order of calibrating the scanning areas and the corresponding scanning methods.

[0025] There is an automatic switching component. After scanning one scanning area, the automatic switching component determines to scan the next scanning area. When determining the scanning method, there is a manual setting option. When the on-site staff thinks that the scanning method selected by the system is unreasonable, they can also set the scanning method by themselves.

[0026] In this embodiment, N=3. In other embodiments, N may also be other numbers between [2, 4], which is determined according to actual conditions.

[0027] S03. Determine the scanning speed. The speed of the device during the scanning process is not fixed, but is determined by the current camera's field of view. When the image is zoomed in, if the speed is too fast, the image will be too blurry to see the external environment clearly; when the image is zoomed out, if the speed is too slow, it will affect the scanning efficiency and cause a waste of time. Therefore, summarizing the above two situations, the pan / tilt speed is determined based on the field of view and zoom speed: PTZ rotation speed = field of view * (zoom speed + 1) * 0.25; S04. Scanning is performed based on the above-determined scanning area, scanning mode, and scanning speed.

[0028] When the present invention defines the scanning range, the positions of the four points are calibrated in a clockwise direction. When calibrating the second position, the position of the second point can be at the upper left, upper right, or lower right of the first point. When it is at the lower left, it cannot be calibrated in a clockwise direction. After being determined to be illegal, the subsequent points cannot be calibrated; the positions of the third and fourth points can only be at the upper right or lower right of the second point, so that a quadrilateral can be formed in a clockwise direction. The clockwise four-point calibration method is used to define the scanning range. The four-point calibration can cover the required monitoring range of various shapes, and the area calibrated by this method is convenient for scanning and can also reduce the scanning blind area.

[0029] This method has multiple scanning modes. The settings of the scanning modes are mainly based on the shapes of the three monitoring areas summarized, and are designed individually for each shape. It can not only scan the designated area, but also determine whether there are monitoring blind spots in the designated area according to the shapes of the designated graphics. When running into the blind spots, it will pay special attention to avoid omissions.

[0030] Select the appropriate scanning method through the calibrated range, and make a reasonable choice based on the scanning method previously planned within the system by judging the shape of the scanning area. When the on-site staff thinks that the scanning method selected by the system is unreasonable, they can also set the scanning method themselves.

[0031] It can realize the demarcation and scanning of multiple areas. After completing the calibration of one area, you can continue to calibrate the next area. It supports the calibration of up to 10 scanning areas. The system will scan and monitor each area according to a specific scanning method according to the order of the calibration scanning areas.

[0032] The method described in this embodiment can automatically adapt the scanning method that best suits the current area based on the shape of the calibrated scanning area, thereby avoiding the problems of complex process operations, cumbersome implementation steps, and scanning blind spots that occur during the pan-tilt scanning process. It has the characteristics of simple and convenient operation, quick to use, strong scanning flexibility, and diverse scanning methods.

[0033] Example 2 The present invention also discloses a scanning control device for a pan / tilt platform, such as Figure 3As shown, the device includes a processor 304 and a memory 301. Optionally, the device may also include a communication interface 302 and a bus 303. The processor 304, the communication interface 302, and the memory 301 may communicate with each other through the bus 303. The communication interface 302 may be used for information transmission. The processor 304 may call the logic instructions in the memory 301 to execute the scanning control method of the pan / tilt platform of the above embodiment.

[0034] In addition, the logic instructions in the memory 301 described above can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0035] The memory 301 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 304 executes the function application and data processing by running the program instructions / modules stored in the memory 301, that is, the scanning control method of the pan / tilt in the above embodiment is realized.

[0036] The memory 301 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 301 may include a high-speed random access memory and may also include a non-volatile memory.

[0037] Example 3 The present invention also discloses a storage medium storing program instructions, and when the program instructions are run, the scanning control method of the pan / tilt platform in the above embodiment is executed.

[0038] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0039] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0040] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the scope of protection. As used in the description in the text, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0041] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. The technicians may clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

Claims

1. A scanning control method of a pan / tilt platform, characterized in that: The following steps are involved: S01. Calibrate the scanning area. The user defines multiple groups of calibration points. Each group of calibration points has 4 points. The gimbal rotates clockwise from the first point to the second, third, and fourth points, and returns to the origin to obtain a quadrilateral. The quadrilateral is the scanning area. Each group of calibration points obtains a scanning area to determine the shape of the scanning area. S02, determine the scanning mode. The scanning area determined in step S01 has three shapes: rectangle, trapezoid, and irregular quadrilateral. The scanning mode of the rectangular scanning area is: take any long side as the base and scan in the other direction. The scanning mode of the trapezoidal scanning area is: compare the longest side with the longest parallel side. When the longest side is greater than N times the longest base, scan in the other direction with the longest side as the base. Otherwise, scan in the other direction with the longest parallel side as the base. The scanning mode of the irregular quadrilateral scanning area is: compare the lengths of the four sides, find the longest side, take the longest side as the base, and scan in the other direction. S03, determine the scanning speed, and determine the pan / tilt rotation speed based on the field of view angle and zoom speed: PTZ rotation speed = field of view * (zoom speed + 1) * 0.25; S04. Scanning is performed based on the above-determined scanning area, scanning mode, and scanning speed.

2. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: The process of determining the shape of the scanning area is as follows: the scanning area is a quadrilateral, which is composed of two sets of opposite sides. It is determined whether the slopes of each set of opposite sides are the same. If the slopes of the two sets of opposite sides are the same, the scanning area is a rectangle. If the slopes of one set of opposite sides are the same and the slopes of the other set of opposite sides are different, the scanning area is a trapezoid. If the slopes of the two sets of opposite sides are different, the scanning area is an irregular quadrilateral.

3. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: When calibrating the scanning area, the legality of the calibration points is determined. When calibrating the second point, the second point is legal if it is in the upper left, upper right, or lower right of the first point. When calibrating the third and fourth points, the third and fourth points are legal if they are in the upper right or lower right of the second point. The rest are illegal points. The scanning area is calibrated according to the legal points. When an illegal point is encountered, an error message is returned.

4. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: If the angle between the two sides of the scanning area is less than 45°, it is considered that there is a scanning blind spot between the two sides. When the pan / tilt passes through the vertices of the two sides, it moves forward a certain number of steps.

5. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: After calibrating one scanning area, continue to calibrate the next scanning area. A maximum of 10 scanning areas can be calibrated. Scanning is performed according to the order of calibrating the scanning areas and the corresponding scanning methods.

6. The scanning control method of the pan / tilt platform according to claim 5, characterized in that: An automatic switching component is provided, and after scanning one scanning area, the automatic switching component is used to determine to scan the next scanning area.

7. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: When determining the scanning method, there is a manual setting option.

8. The scanning control method of the pan / tilt platform according to claim 1, characterized in that: N∈[2,4]。 9. A scanning control device for a pan / tilt platform, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the scanning control method of the pan / tilt platform according to any one of claims 1 to 8 when running the program instructions.

10. A storage medium storing program instructions, characterized in that: When the program instructions are executed, the scanning control method of the pan / tilt platform as described in any one of claims 1 to 8 is executed.

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