Pan-tilt aiming method and system for security disposal, terminal and medium
By establishing a unified spatial coordinate system and time synchronization processing, and combining the net gun ballistic model to calculate aiming control parameters, the problem of insufficient aiming accuracy of the security response system in complex environments was solved, achieving high-precision target identification and firing control, and improving the overall efficiency and reliability of the security response system.
Patent Information
- Application Number
- CN202610105168.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-26
- Publication Date
- 2026-04-14
AI Technical Summary
Existing security response systems struggle to maintain aiming accuracy in complex environments, especially under wind interference, where projectiles are prone to wind deflection and impact point deviation, making them ineffective in dealing with high-speed target movement or complex environmental conditions.
By acquiring space environment data and wind field parameters, a unified spatial coordinate system is established, target parameters are acquired in real time and processed synchronously, and the aiming azimuth and elevation angle compensation are calculated using the net gun ballistic model to generate aiming control parameters for attitude adjustment and firing operations.
It improves the accuracy and stability of aiming calculations, significantly reduces launch deviation, enhances aiming accuracy and launch hit rate in dynamic scenarios, realizes automatic target identification and confirmation, and optimizes the efficiency and security of security handling processes.
Smart Images
Figure CN121855478A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of security and protection technology, specifically relating to a pan-tilt-zoom (PTZ) aiming method, system, terminal, and medium for security and protection operations. Background Technology
[0002] With the increasing demand for public safety protection and low-risk security measures, non-lethal, targeted, and controllable security measures against specific targets are gradually becoming an important development direction for security systems. For example, in semi-open or complex environments such as airports, ports, factories, and industrial parks, it is often necessary to carry out precise countermeasures against fast-moving or irregularly moving targets in order to complete the task while ensuring the safety of surrounding personnel and facilities.
[0003] In existing technologies, security response systems typically acquire target location information from monitoring equipment and adjust the launch direction using a pan-tilt-zoom (PTZ) unit to orient the launching device toward the target. In simpler applications, launch control is often achieved by using the "current target position as aiming position," or by adjusting the direction solely based on the target's instantaneous position information. Some technical solutions, while considering the target's movement trends, are not without their limitations.
[0004] Existing technologies often rely on empirical rules or simplified assumptions, and pay insufficient attention to the influence of external environmental factors on the launch process. In particular, in outdoor or semi-outdoor environments with wind interference, the launch object is easily affected by factors such as wind speed and wind direction during flight, resulting in significant wind deviation and landing point deviation, making it difficult to ensure aiming accuracy when the target is moving at high speed or in complex environmental conditions. Summary of the Invention
[0005] This invention addresses the problems in the prior art by providing a gimbal aiming method, system, terminal, and medium for security operations. This solves the problem that the prior art relies heavily on empirical rules or simplified assumptions, pays insufficient attention to the influence of external environmental factors during the launch process, and is difficult to guarantee aiming accuracy when the target is moving at high speed or in complex environmental conditions.
[0006] The technical solution adopted in this invention is as follows: Firstly, this application provides a pan-tilt-zoom (PTZ) aiming method for security operations, the method comprising the following steps: Step S1: Acquire spatial environment data and establish a spatial coordinate system; Step S2: Obtain object data of the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the detection results; Step S3: After determining the target to be processed, acquire the target parameters in real time. The target parameters include the target's spatial position parameters, movement direction parameters, and movement speed parameters. Acquire the wind field parameters in the current working environment. The wind field parameters include wind speed parameters and wind direction parameters. Step S4: Perform time synchronization processing on the target parameters and wind field parameters; Step S5: Input the wind field parameters and target parameters after time synchronization into the pre-established net gun ballistic model. Calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind drift and target motion deviation based on the net gun ballistic model, and generate the corresponding aiming control parameters. Step S6: Based on the aiming control parameters, perform attitude adjustment control on the firing direction of the net gun. Under the condition that the preset safety verification conditions are met, perform the firing operation according to the compensated aiming direction.
[0007] Furthermore, step S2 involves performing target detection processing on the object data to obtain detection results, including: Acquire target image data within the monitored area, and preprocess the target image data, including at least image normalization, noise suppression, and scale correction. Based on the preprocessed target image data, target image feature data is extracted to characterize the target's appearance, structural features, and spatial distribution features. The database of targets to be processed stores reference image feature data corresponding to multiple targets to be processed. The feature data of the target image is compared with the feature data of the reference image in the database of the target to be processed, and the matching relationship between the target image and the reference image is determined based on the feature comparison results. When the matching degree between the feature data of the target image and the feature data of any reference image meets the preset judgment condition, it is determined that the target image contains the corresponding target to be processed in the reference image; the target image containing the target to be processed is detected, and the target detection result is output. The target detection result includes at least the target existence information and the corresponding target spatial location parameters.
[0008] Furthermore, the determination of the target to be processed based on the detection results includes: The hazard level information corresponding to each target to be processed is read from the target database. The hazard level information is used to characterize the preset disposal priority of different targets to be processed. The hazard level information of each target to be processed is associated with the corresponding target detection results to generate target ranking data containing target identification information and their corresponding hazard levels; Based on the target ranking data, the targets to be treated are ranked in order of their danger level from high to low. Select the target with the highest risk level from the sorted targets as the targets to be processed.
[0009] Furthermore, step S3 involves acquiring the target parameters and wind field parameters in real time, including: Perform target localization processing on continuously acquired target image data to determine the real-time position parameters of the target in the spatial coordinate system; Based on the relationship between the changes in the target's position parameters at adjacent time points, the target's motion direction parameters and motion velocity parameters are calculated; While acquiring the target parameters, wind speed and wind direction data in the current working environment are acquired in real time and used as wind field parameters to characterize the environmental wind field state in the target area. The acquired target parameters and wind field parameters are respectively marked with the corresponding acquisition time information.
[0010] Furthermore, step S4 includes: The target parameters and wind field parameters are labeled with their corresponding acquisition timestamps to construct time series of target parameters and time series of wind field parameters. Using the target acquisition time in the target parameter time series as the reference time, the wind field parameter with the smallest time difference from the reference time is selected from the wind field parameter time series within the preset time window and used as the synchronous wind field parameter corresponding to the target parameter. When the time difference between the target parameter acquisition time and the wind field parameter acquisition time exceeds a preset threshold, time interpolation or time extrapolation processing is performed on the wind field parameters to generate synchronous wind field parameters with the same time reference as the target parameters.
[0011] Furthermore, in step S5, based on the net gun ballistic model, the aiming azimuth and elevation angle compensation amounts used to compensate for wind drift and target motion deviation are calculated to generate aiming control parameters, including: Based on target azimuth Wind angle Calculate the angle between the wind direction and the firing direction:
[0012] Based on wind speed parameters Flight time and drag correction factor Calculate the offset caused by crosswinds:
[0013] Based on the target motion speed Angle with respect to the direction of motion of the target Calculate the lateral lead of the target during flight time:
[0014] Calculate the total lateral offset:
[0015] Based on the target distance D, the total lateral offset is converted into an azimuth compensation amount:
[0016] Based on the included angle Calculate the longitudinal wind component:
[0017] Based on the initial launch velocity With the initial pitch angle The corrected flight time is determined by combining the longitudinal wind component:
[0018] Calculation of gravitational fall based on corrected time of flight:
[0019] Calculation of range variation based on longitudinal wind component:
[0020] Based on this, calculate the pitch angle compensation:
[0021] Generate aiming control parameters so that the azimuth and elevation commands respectively satisfy:
[0022]
[0023] in, ; denoted as azimuth angle of the target to be processed relative to the launch position; D is the distance between the target to be processed and the launch position. and These are wind speed parameters and wind direction angle, respectively. and These are the target's velocity and the target's direction angle, respectively. This is the initial velocity of the net gun. θ is the initial pitch angle under uncompensated conditions; g is the acceleration due to gravity. This is a correction factor used to characterize the effect of air resistance; Flight time without considering longitudinal wind correction, To account for the flight time after longitudinal wind correction.
[0024] Furthermore, after completing the launch operation in step S6, the following steps are also included: Acquire target status data after launch, evaluate the handling results of the target to be handled based on the target status data, and determine whether the target to be handled has been effectively handled; When the evaluation results indicate that the target to be processed has been effectively handled, the target to be processed will be removed from the target candidate set. When the evaluation results indicate that the target to be processed has not been effectively dealt with, steps S3 to S6 are re-executed based on the updated target status data to perform aiming compensation and launch operations on the same target to be processed again.
[0025] Secondly, this application provides a pan-tilt-zoom (PTZ) aiming system for security operations, used to implement the PTZ aiming method for security operations as described in the first aspect, the system comprising: The space environment modeling unit is used to acquire space environment data and establish a space coordinate system for target positioning and orientation calculation based on the space environment data. The target perception and determination unit is used to acquire object data in the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the target detection results. The parameter acquisition unit is used to acquire the target parameters of the target and the wind field parameters in the current working environment in real time after the target to be processed is determined. The target parameters include at least the target's spatial position parameters, movement direction parameters, and movement speed parameters, and the wind field parameters include at least the wind speed parameters and wind direction parameters. A time synchronization processing unit is used to perform time synchronization processing on the target parameters and the wind field parameters to form target parameters and wind field parameters under the same time reference. The ballistic calculation and compensation unit is used to input the target parameters and wind field parameters after time synchronization into the pre-established net gun ballistic model, and calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind deviation and target motion deviation based on the net gun ballistic model, and generate aiming control parameters. The execution control unit is used to perform attitude adjustment control on the firing direction of the net gun based on the aiming control parameters, and to perform the firing operation according to the compensated aiming direction when the preset safety verification conditions are met.
[0026] Thirdly, this application provides a terminal, including: The memory is used to store the pan-tilt-zoom (PTZ) aiming program for security operations. A processor is configured to execute the steps of the security handling gimbal aiming device as described in the first aspect to implement the security handling gimbal aiming method.
[0027] Fourthly, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the PTZ aiming method for security handling as described in the first aspect.
[0028] As can be seen from the above technical solutions, the advantages of the present invention are: By acquiring space environment data and establishing a unified spatial coordinate system, target positioning, target motion parameters, and environmental wind field parameters can all be expressed and calculated within the same spatial reference frame. This provides a consistent geometric basis for subsequent aiming compensation, avoids direction calculation errors caused by inconsistent coordinates, and improves the accuracy and stability of aiming calculations.
[0029] By performing target detection processing on the object data of the monitored area and determining the target to be processed based on the detection results, the system can automatically identify and confirm the target in complex monitoring scenarios, reducing the impact of manual intervention on the timeliness of handling. Furthermore, by introducing a feature comparison mechanism based on the database of targets to be processed, the system can accurately match and confirm the target, thereby improving the reliability of the target detection results.
[0030] In the presence of multiple targets to be processed, this application reads the preset danger level information in the target database and sorts and filters the multiple targets based on the danger level. This enables the automatic determination of the priority target in a security scenario where multiple targets coexist, giving the security processing a clear sequence and avoiding the reduced processing efficiency or security risks caused by random target selection.
[0031] After identifying the target to be processed, this application acquires the target's spatial position parameters, motion direction parameters, and motion speed parameters in real time, and simultaneously acquires the wind speed and wind direction parameters in the working environment. This enables the aiming calculation to consider both target motion factors and environmental wind field factors, overcoming the problem of aiming based only on static targets or ignoring environmental disturbances in existing technologies, and significantly improving aiming accuracy in dynamic scenarios.
[0032] By performing time synchronization processing on the target parameters and wind field parameters, this application can eliminate the time deviation caused by the inconsistency of acquisition time between different data acquisition sources, ensuring that all kinds of parameters used for ballistic calculation are under the same time reference, thereby avoiding the inaccuracy of compensation calculation caused by parameter time mismatch and improving the consistency between the overall calculation results and the actual working conditions.
[0033] This application inputs the target parameters and wind field parameters, after time synchronization processing, into the net gun trajectory model, and comprehensively calculates the aiming azimuth and pitch angle compensation amounts used to compensate for wind deviation and target motion deviation. This achieves coordinated compensation for lead deviation caused by target motion and flight deviation caused by environmental wind field. Compared with existing technologies that only perform single-factor correction, it can significantly reduce launch deviation and improve launch hit rate.
[0034] After the launch operation is completed, this application also evaluates the handling result by acquiring the target status data after launch, and decides whether to re-execute the aiming and launch operation based on the evaluation result, thereby forming a closed-loop control process of "launch-evaluation-re-handling". This enables the system to make timely compensation and correction when the target is not successfully handled, and avoids redundant operations after the target is successfully handled, thereby improving the overall efficiency and reliability of the security handling process. Attached Figure Description
[0035] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0036] Figure 1 This is a step diagram of the pan-tilt-zoom (PTZ) aiming method for security measures in the embodiment; Figure 2 This is an architecture diagram of the PTZ aiming system used for security operations in the embodiment. Detailed Implementation
[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0038] Please see Figure 1 As shown, this application provides a pan-tilt-zoom (PTZ) aiming method for security operations. In this embodiment, the PTZ aiming method is suitable for application scenarios requiring directional, non-lethal action against specific targets, such as security protection tasks in factories, industrial parks, or semi-open areas. The method is uniformly scheduled and executed by a higher-level control logic. Each step runs in a preset sequence and can be cyclically or repeatedly invoked during system operation based on changes in target status and environment, thereby ensuring the continuity and real-time nature of the entire security operation process.
[0039] Includes the following steps: Step S1: Acquire spatial environment data and establish a spatial coordinate system; In practical implementation, space environment data may include spatial structure information, ground reference information, or area boundary information of the monitored area. During the initialization phase, the system parses the space environment data and establishes a spatial coordinate system using a preset reference point as the origin to describe the relationship between the target's position, direction of movement, and launch direction. This spatial coordinate system ensures that subsequently acquired target parameters and wind field parameters can be expressed and calculated within a unified spatial reference framework, thereby avoiding deviations in direction or distance calculations caused by inconsistent coordinate references.
[0040] Step S2: Obtain object data of the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the detection results; In this embodiment, the object data can be continuously collected image or video data within the monitored area. The system processes the object data to identify targets that may constitute objects of disposal and determines whether the targets meet preset processing conditions. When multiple targets are detected, the system can simultaneously record the identification information of each target and its corresponding spatial location parameters, and determine at least one target to be processed based on the detection results, providing an input basis for subsequent target parameter acquisition and aiming compensation calculation.
[0041] Step S3: After determining the target to be processed, acquire the target parameters in real time. The target parameters include the target's spatial position parameters, movement direction parameters, and movement speed parameters. Acquire the wind field parameters in the current working environment. The wind field parameters include wind speed parameters and wind direction parameters. In practice, after identifying the target, the system continuously tracks its position changes within the monitored area and calculates its motion direction and velocity parameters based on these changes. Simultaneously, the system acquires wind speed and direction information from the current operating environment to characterize the wind field conditions within the target's area. By synchronously acquiring target motion parameters and environmental wind field parameters, subsequent aiming calculations can reflect both the target's own motion characteristics and external environmental disturbances.
[0042] Step S4: Perform time synchronization processing on the target parameters and wind field parameters; In this embodiment, since the target parameters and wind field parameters typically originate from different data acquisition processes, their acquisition frequencies and times may differ. Therefore, time synchronization processing of these parameters is required before proceeding with the aiming compensation calculation. The system marks the acquisition time information for both the target parameters and wind field parameters and selects the closest data within a preset time range for matching. This ensures that the target parameters and wind field parameters used for subsequent calculations are on the same time reference, thereby improving the consistency between the compensation calculation results and actual operating conditions.
[0043] Step S5: Input the wind field parameters and target parameters after time synchronization into the pre-established net gun ballistic model. Calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind drift and target motion deviation based on the net gun ballistic model, and generate the corresponding aiming control parameters. In practical implementation, the system pre-establishes a ballistic model to describe the firing characteristics of the net gun. This ballistic model reflects the deviation caused by the combined effects of target motion and environmental wind field during firing. The system inputs the target parameters and wind field parameters, after time synchronization processing, into the ballistic model to calculate the azimuth and elevation compensation amounts used to correct the aiming direction, and generates corresponding aiming control parameters accordingly. In this way, the final aiming direction no longer corresponds only to the instantaneous position of the target, but is a corrected direction after comprehensive compensation for the target's motion trend and environmental disturbances.
[0044] Step S6: Based on the aiming control parameters, perform attitude adjustment control on the firing direction of the net gun. Under the condition that the preset safety verification conditions are met, perform the firing operation according to the compensated aiming direction.
[0045] In this embodiment, the system adjusts the launch direction according to the generated aiming control parameters to align the launch direction with the compensated aiming direction. Before executing the launch operation, the system performs a safety check on the current state to confirm that the preset launch conditions are met. Once the safety check passes, the system executes the launch operation according to the compensated aiming direction, thereby ensuring operational safety while improving the accuracy of handling complex environments and dynamic target conditions.
[0046] In some embodiments, step S2 involves performing target detection processing on the object data to obtain detection results, including: Acquire target image data within the monitored area, and preprocess the target image data, including at least image normalization, noise suppression, and scale correction. Based on the preprocessed target image data, target image feature data is extracted to characterize the target's appearance, structural features, and spatial distribution features. The database of targets to be processed stores reference image feature data corresponding to multiple targets to be processed. The feature data of the target image is compared with the feature data of the reference image in the database of the target to be processed, and the matching relationship between the target image and the reference image is determined based on the feature comparison results. When the matching degree between the target image feature data and any reference image feature data meets the preset judgment conditions, the corresponding object is determined as the target to be processed, and the target detection result is output. The target detection result includes at least the target existence information and the corresponding target spatial location parameters.
[0047] In practice, the system continuously acquires image data within the monitored area and processes it in a unified format to eliminate the impact of different acquisition conditions on subsequent analysis. Through image normalization, noise suppression, and scale correction, the system ensures that targets maintain a relatively consistent feature representation under different distances and lighting conditions. Subsequently, the system extracts information reflecting the target's appearance and spatial distribution characteristics from the processed images and compares this information with reference features in a pre-established database of targets to be processed. This comparison process allows the system to determine whether an object in the current image matches a known target in the database. If the matching degree meets preset conditions, the corresponding object is confirmed as the target, and the spatial location information of the target is output for subsequent processing.
[0048] In some embodiments, the following steps are also included: When multiple targets to be processed are identified, the hazard level information corresponding to each target is read from the target database. The hazard level information is used to characterize the preset disposal priority of different targets. The hazard level information of each target to be processed is associated with the corresponding target detection results to generate target ranking data containing target identification information and their corresponding hazard levels; Based on the target ranking data, the targets to be treated are ranked in order of their danger level from high to low. Select the target with the highest risk level from the sorted targets as the targets to be processed.
[0049] In this embodiment, when multiple eligible targets are detected simultaneously within the monitored area, the system does not directly and randomly select a target for handling. Instead, it further reads the hazard level information corresponding to each target from the target database. This hazard level information is pre-set before system deployment or operation to reflect the priority order of handling different targets in security scenarios. After associating the hazard level information with the target detection results, the system sorts the multiple targets to clarify the order of handling each target and automatically selects the target with the highest hazard level as the current target to be handled, thereby improving the handling efficiency and overall security in multi-target scenarios.
[0050] In some embodiments, the real-time acquisition of target parameters and wind field parameters in step S3 includes: Perform target localization processing on continuously acquired target image data to determine the real-time position parameters of the target in the spatial coordinate system; Based on the relationship between the changes in the target's position parameters at adjacent time points, the target's motion direction parameters and motion velocity parameters are calculated; While acquiring the target parameters, wind speed and wind direction data in the current working environment are acquired in real time and used as wind field parameters to characterize the environmental wind field state in the target area. The acquired target parameters and wind field parameters are respectively marked with the corresponding acquisition time information.
[0051] In practice, after identifying the target, the system continuously tracks it and determines its real-time position parameters based on changes in its spatial location at different times. By analyzing the trend of target position changes between adjacent time points, the system can calculate the target's direction and speed of motion, thus reflecting the target's dynamic motion state. Simultaneously, the system acquires wind speed and direction information within the target's area during tracking, describing the wind field conditions in the current operating environment. To ensure the accuracy of subsequent data processing, the system records the corresponding acquisition time information for both target parameters and wind field parameters, providing a foundation for subsequent time synchronization processing.
[0052] In some embodiments, step S4 includes: The target parameters and wind field parameters are labeled with their corresponding acquisition timestamps to construct time series of target parameters and time series of wind field parameters. Using the target acquisition time in the target parameter time series as the reference time, the wind field parameter with the smallest time difference from the reference time is selected from the wind field parameter time series within the preset time window and used as the synchronous wind field parameter corresponding to the target parameter. When the time difference between the target parameter acquisition time and the wind field parameter acquisition time exceeds a preset threshold, time interpolation or time extrapolation processing is performed on the wind field parameters to generate synchronous wind field parameters with the same time reference as the target parameters.
[0053] In this embodiment, since the target parameters and wind field parameters are usually obtained through different data acquisition processes, their acquisition times and update frequencies may be inconsistent. Therefore, time synchronization processing of these parameters is required before entering the ballistic compensation calculation. The system constructs corresponding time series by marking the acquisition timestamps of the target parameters and wind field parameters respectively, and uses the acquisition time of the target parameters as a reference benchmark for time alignment. When the acquisition times of the wind field parameters and the target parameters are relatively close, the system directly selects the wind field parameter with the smallest time difference as the synchronization data; when the time difference exceeds a preset threshold, the system performs time interpolation or extrapolation processing on the wind field parameters to generate wind field parameters under the same time benchmark as the target parameters, so as to ensure the consistency of the data used in subsequent compensation calculations.
[0054] In some embodiments, step S5 calculates the aiming azimuth and elevation angle compensation amounts based on the net gun ballistic model to compensate for wind drift and target motion deviation, generating aiming control parameters, including: Based on target azimuth Wind angle Calculate the angle between the wind direction and the firing direction:
[0055] Based on wind speed parameters Flight time and drag correction factor Calculate the offset caused by crosswinds:
[0056] Based on the target motion speed Angle with respect to the direction of motion of the target Calculate the lateral lead of the target during flight time:
[0057] Calculate the total lateral offset:
[0058] Based on the target distance D, the total lateral offset is converted into an azimuth compensation amount:
[0059] Based on the included angle Calculate the longitudinal wind component:
[0060] Based on the initial launch velocity With the initial pitch angle The corrected flight time is determined by combining the longitudinal wind component:
[0061] Calculation of gravitational fall based on corrected time of flight:
[0062] Calculation of range variation based on longitudinal wind component:
[0063] Based on this, calculate the pitch angle compensation:
[0064] Generate aiming control parameters so that the azimuth and elevation commands respectively satisfy:
[0065]
[0066] in, ; denoted as azimuth angle of the target to be processed relative to the launch position; D is the distance between the target to be processed and the launch position. and These are wind speed parameters and wind direction angle, respectively. and These are the target's velocity and the target's direction angle, respectively. This is the initial velocity of the net gun. θ is the initial pitch angle under uncompensated conditions; g is the acceleration due to gravity. This is a correction factor used to characterize the effect of air resistance; Flight time without considering longitudinal wind correction, To account for the flight time after longitudinal wind correction.
[0067] In some embodiments, after completing the transmission operation in step S6, the following steps are further included: Acquire target status data after launch, evaluate the handling results of the target to be handled based on the target status data, and determine whether the target to be handled has been effectively handled; When the evaluation results indicate that the target to be processed has been effectively handled, the target to be processed will be removed from the target candidate set. When the evaluation results indicate that the target to be processed has not been effectively dealt with, steps S3 to S6 are re-executed based on the updated target status data to perform aiming compensation and launch operations on the same target to be processed again.
[0068] Please see Figure 2 As shown, in some embodiments, this application provides a pan-tilt-zoom (PTZ) aiming system for security operations, used to implement the pan-tilt-zoom aiming method for security operations. The system includes: The space environment modeling unit is used to acquire space environment data and establish a space coordinate system for target positioning and orientation calculation based on the space environment data. The target perception and determination unit is used to acquire object data in the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the target detection results. The parameter acquisition unit is used to acquire the target parameters of the target and the wind field parameters in the current working environment in real time after the target to be processed is determined. The target parameters include at least the target's spatial position parameters, movement direction parameters, and movement speed parameters, and the wind field parameters include at least the wind speed parameters and wind direction parameters. A time synchronization processing unit is used to perform time synchronization processing on the target parameters and the wind field parameters to form target parameters and wind field parameters under the same time reference. The ballistic calculation and compensation unit is used to input the target parameters and wind field parameters after time synchronization into the pre-established net gun ballistic model, and calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind deviation and target motion deviation based on the net gun ballistic model, and generate aiming control parameters. The execution control unit is used to perform attitude adjustment control on the firing direction of the net gun based on the aiming control parameters, and to perform the firing operation according to the compensated aiming direction when the preset safety verification conditions are met.
[0069] In some embodiments, this application provides a terminal, including: The memory is used to store the pan-tilt-zoom (PTZ) aiming program for security operations. A processor is used to execute the steps of the security handling gimbal aiming system to implement the security handling gimbal aiming method.
[0070] In some embodiments, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the aforementioned PTZ aiming method for security operations.
[0071] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the protection scope of one or more embodiments of this specification.
Claims
1. A pan-tilt-zoom (PTZ) aiming method for security operations, characterized in that, Includes the following steps: Step S1: Acquire spatial environment data and establish a spatial coordinate system; Step S2: Obtain object data of the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the detection results; Step S3: After determining the target to be processed, acquire the target parameters in real time. The target parameters include the target's spatial position parameters, movement direction parameters, and movement speed parameters. Acquire the wind field parameters in the current working environment. The wind field parameters include wind speed parameters and wind direction parameters. Step S4: Perform time synchronization processing on the target parameters and wind field parameters; Step S5: Input the wind field parameters and target parameters after time synchronization into the pre-established net gun ballistic model. Calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind drift and target motion deviation based on the net gun ballistic model, and generate the corresponding aiming control parameters. Step S6: Based on the aiming control parameters, perform attitude adjustment control on the firing direction of the net gun. Under the condition that the preset safety verification conditions are met, perform the firing operation according to the compensated aiming direction.
2. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 1, characterized in that, Step S2 involves performing target detection processing on the object data to obtain detection results, including: Acquire target image data within the monitored area, and preprocess the target image data, including at least image normalization, noise suppression, and scale correction. Based on the preprocessed target image data, target image feature data is extracted to characterize the target's appearance, structural features, and spatial distribution features. The database of targets to be processed stores reference image feature data corresponding to multiple targets to be processed. The feature data of the target image is compared with the feature data of the reference image in the database of the target to be processed, and the matching relationship between the target image and the reference image is determined based on the feature comparison results. When the matching degree between the feature data of the target image and the feature data of any reference image meets the preset judgment condition, it is determined that the target image contains the corresponding target to be processed in the reference image; the target image containing the target to be processed is detected, and the target detection result is output. The target detection result includes at least the target existence information and the corresponding target spatial location parameters.
3. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 2, characterized in that, The determination of the target to be processed based on the detection results includes: The hazard level information corresponding to each target to be processed is read from the target database. The hazard level information is used to characterize the preset disposal priority of different targets to be processed. The hazard level information of each target to be processed is associated with the corresponding target detection results to generate target ranking data containing target identification information and their corresponding hazard levels; Based on the target ranking data, the targets to be treated are ranked in order of their danger level from high to low. Select the target with the highest risk level from the sorted targets as the targets to be processed.
4. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 1, characterized in that, Step S3 involves acquiring the target parameters and wind field parameters in real time, including: Perform target localization processing on continuously acquired target image data to determine the real-time position parameters of the target in the spatial coordinate system; Based on the relationship between the changes in the target's position parameters at adjacent time points, the target's motion direction parameters and motion velocity parameters are calculated; While acquiring the target parameters, wind speed and wind direction data in the current working environment are acquired in real time and used as wind field parameters to characterize the environmental wind field state in the target area. The acquired target parameters and wind field parameters are respectively marked with the corresponding acquisition time information.
5. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 1, characterized in that, Step S4 includes: The target parameters and wind field parameters are labeled with their corresponding acquisition timestamps to construct time series of target parameters and time series of wind field parameters. Using the target acquisition time in the target parameter time series as the reference time, the wind field parameter with the smallest time difference from the reference time is selected from the wind field parameter time series within the preset time window and used as the synchronous wind field parameter corresponding to the target parameter. When the time difference between the target parameter acquisition time and the wind field parameter acquisition time exceeds a preset threshold, time interpolation or time extrapolation processing is performed on the wind field parameters to generate synchronous wind field parameters with the same time reference as the target parameters.
6. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 5, characterized in that, In step S5, the aiming azimuth and elevation angle compensation amounts are calculated based on the net gun ballistic model to compensate for wind drift and target motion deviation, generating aiming control parameters, including: Based on target azimuth Wind angle Calculate the angle between the wind direction and the firing direction: Based on wind speed parameters Flight time and drag correction factor Calculate the offset caused by crosswinds: Based on the target motion speed Angle with respect to the direction of motion of the target Calculate the lateral lead of the target during flight time: Calculate the total lateral offset: Based on the target distance D, the total lateral offset is converted into an azimuth compensation amount: Based on the included angle Calculate the longitudinal wind component: Based on the initial launch velocity With the initial pitch angle The corrected flight time is determined by combining the longitudinal wind component: Calculation of gravitational fall based on corrected time of flight: Calculation of range variation based on longitudinal wind component: Based on this, calculate the pitch angle compensation: Generate aiming control parameters so that the azimuth and elevation commands respectively satisfy: in, ; denoted as azimuth angle of the target to be processed relative to the launch position; D is the distance between the target to be processed and the launch position. and These are wind speed parameters and wind direction angle, respectively. and These are the target's velocity and the target's direction angle, respectively. This is the initial velocity of the net gun. θ is the initial pitch angle under uncompensated conditions; g is the acceleration due to gravity. This is a correction factor used to characterize the effect of air resistance; Flight time without considering longitudinal wind correction, To account for the flight time after longitudinal wind correction.
7. The pan-tilt-zoom (PTZ) aiming method for security operations according to claim 1, characterized in that, After completing the launch operation in step S6, the following steps are also included: Acquire target status data after launch, evaluate the handling results of the target to be handled based on the target status data, and determine whether the target to be handled has been effectively handled; When the evaluation results indicate that the target to be processed has been effectively handled, the target to be processed will be removed from the target candidate set. When the evaluation results indicate that the target to be processed has not been effectively dealt with, steps S3 to S6 are re-executed based on the updated target status data to perform aiming compensation and launch operations on the same target to be processed again.
8. A pan-tilt-zoom (PTZ) aiming system for security operations, used to implement the PTZ aiming method for security operations as described in claim 1, characterized in that, The system includes: The space environment modeling unit is used to acquire space environment data and establish a space coordinate system for target positioning and orientation calculation based on the space environment data. The target perception and determination unit is used to acquire object data in the monitored area, perform target detection processing on the object data, and determine the target to be processed based on the target detection results. The parameter acquisition unit is used to acquire the target parameters of the target and the wind field parameters in the current working environment in real time after the target to be processed is determined. The target parameters include at least the target's spatial position parameters, movement direction parameters, and movement speed parameters, and the wind field parameters include at least the wind speed parameters and wind direction parameters. A time synchronization processing unit is used to perform time synchronization processing on the target parameters and the wind field parameters to form target parameters and wind field parameters under the same time reference. The ballistic calculation and compensation unit is used to input the target parameters and wind field parameters after time synchronization into the pre-established net gun ballistic model, and calculate the aiming azimuth and elevation angle compensation amounts to compensate for wind deviation and target motion deviation based on the net gun ballistic model, and generate aiming control parameters. The execution control unit is used to perform attitude adjustment control on the firing direction of the net gun based on the aiming control parameters, and to perform the firing operation according to the compensated aiming direction when the preset safety verification conditions are met.
9. A terminal, characterized in that, include: The memory is used to store the pan-tilt-zoom (PTZ) aiming program for security operations. A processor is configured to implement the steps of the security handling gimbal aiming method as described in claim 1 when executing the security handling gimbal aiming device.
10. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions. When the computer reads the computer instructions from the storage medium, the computer executes the PTZ aiming method for security handling as described in claim 1.