CN103399319A - Space target positioning method applicable to video monitoring - Google Patents
Space target positioning method applicable to video monitoring Download PDFInfo
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- CN103399319A CN103399319A CN2013103078963A CN201310307896A CN103399319A CN 103399319 A CN103399319 A CN 103399319A CN 2013103078963 A CN2013103078963 A CN 2013103078963A CN 201310307896 A CN201310307896 A CN 201310307896A CN 103399319 A CN103399319 A CN 103399319A
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Abstract
The invention discloses a space target positioning method applicable to video monitoring. The method comprises the following steps of: (1) starting a holder, and when a monitored object appears in a video monitoring picture, controlling the holder to enable the monitored object to fall to the center of the picture; (2) measuring distance D between the holder and the monitored object by using a distance measuring device, and recording a horizontal angle theta and a pitching angle phi of the current holder; and (3) calculating actual distance F between an installation point of the holder and the monitored object according to the pitching angle phi and the distance D to obtain a relative position between the holder and the monitored object, and calculating the coordinate (N', E') of the monitored object according to the actual distance F, the horizontal angle theta and the coordinate (N, E) of the holder by using a coordinate division specification. The relative position and the absolute position of the monitored object can be acquired in real time according to the method.
Description
Technical field
The present invention relates to a kind of space target positioning method that is applicable to video monitoring.
Background technology
Video Supervision Technique is more and more universal, and the scope of application is more and more extensive; In the process of application, just keep away relative position or absolute position that unavoidable needs obtain monitoring objective.But due to the uncertainty in video monitoring, real-time, the characteristics such as sudden, the positioning equipments such as GPS, RFID label can't be installed to monitoring objective.Therefore, the main method that in video monitoring, target is positioned at present has:
1. pass through the analysis to video content, and calculate accordingly in conjunction with the angle of The Cloud Terrace and the optical parametric of CCTV camera, thereby draw the relative position of target with respect to CCTV camera; The location method of this acquisition target is too complicated, and accuracy is lower, and can't obtain the absolute position of monitoring objective.
2. adopt laser ranging system to find range to the monitoring objective in video, and draw the relative position of monitoring objective with respect to CCTV camera in conjunction with the angle of The Cloud Terrace; Only to have obtained the relative position of monitoring objective and the absolute position that can't obtain target equally.
In order more clearly to understand relevant issues, refer to as Chinese CN203001759U utility model patent Granted publication, the document proposes a kind of fire water monitor automatic fire extinguishing system based on image flame location, obviously, as previously mentioned, the target that is positioned, namely flame does not possess the possibility of installing as positioning equipments such as GPS, RFID labels.It utilizes image acquisition information and big gun body motion control situation to form closed-loop control, to carry out target localization.Its closed loop depends on detection, and optical monitoring equipment, relying on water spot to carry out closed-loop control in other words, and obviously, this mode lacks the detection factors of closed loop in pure monitoring, and can't realize.The location of macroscopic view, mainly rely on the equipment of video monitoring side to realize location.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of space target positioning method that is applicable to video monitoring, the relative position that obtains monitoring objective and absolute position that can be real-time.
The present invention is by the following technical solutions:
A kind of space target positioning method that is applicable to video monitoring, according to predetermined orientation, The Cloud Terrace and the contained video monitoring equipment of The Cloud Terrace are installed, and the configuration distance measuring equipment, record the current longitude and latitude (N of The Cloud Terrace, E) and height H, thus the method is further comprising the steps:
1) start The Cloud Terrace, when in the video monitoring picture, monitoring objective occurring, control The Cloud Terrace and make monitoring objective fall into the central authorities of picture;
2) utilize described distance measuring equipment to measure the distance B between The Cloud Terrace and monitoring objective, and record level angle θ and the luffing angle φ of current The Cloud Terrace;
3) according to luffing angle φ and distance B, calculate the actual range F of The Cloud Terrace mounting points to monitoring objective, obtain relative position between the two;
The division proper calculation that utilizes longitude and latitude according to level angle θ and the longitude and latitude (N, E) of actual range F, The Cloud Terrace goes out the longitude and latitude (N ', E ') of monitoring objective.
According to the above-mentioned space target positioning method that is applicable to video monitoring of the present invention, the method that matches based on video monitoring equipment self poisoning and laser ranging, identification equipment needn't be set on monitoring objective, thereby it is relatively easy to have a deployment, and can carry out to target immediately the advantage of video monitoring.Owing to feeding back by means of scene, make it when obtaining target relative position and absolute position, have real-time preferably.
When mounted, its zero-bit is over against a direction in east, south, west, north for the above-mentioned space target positioning method that is applicable to video monitoring, The Cloud Terrace.
In certain embodiments, the above-mentioned space target positioning method that is applicable to video monitoring, monitoring objective choose the target identification method based on Sample Storehouse, correspondingly, The Cloud Terrace carries monitoring equipment, thereby The Cloud Terrace is in automatic cruising, monitoring equipment detects when abnormal, based on Sample Storehouse, identify the abnormal target that has that monitors, then make The Cloud Terrace enter the tracking state to the target of identification from the automatic cruising state, make the target of identifying fall into video pictures central authorities, with the guiding distance measuring equipment, point to the target that is identified.
In further embodiments, the above-mentioned space target positioning method that is applicable to video monitoring, monitoring objective be chosen for the choosing method based on artificial cognition, when running into abnormal conditions, artificial frame selects corresponding monitoring objective in monitored picture, then control The Cloud Terrace and the target of artificial frame choosing be placed in to the central authorities of monitored picture, with the choosing of guiding distance measuring equipment energized north frame target.
The above-mentioned space target positioning method that is applicable to video monitoring, during less than 10Km, while calculating relative position and absolute position, ignore earth curvature in described distance B, utilizes trigonometric function to calculate relative position and absolute position.
The above-mentioned space target positioning method that is applicable to video monitoring, described distance measuring equipment is range finder using laser.
The accompanying drawing explanation
Fig. 1 is foundation a kind of space target positioning method flow diagram that is applicable to video monitoring of the present invention.
Fig. 2 is a kind of theory diagram that is applicable to the space target positioning equipment of video monitoring.
Embodiment
Because related factor is comparatively terse, the technique effect that below illustrates design of the present invention, technological means and adapt with an embodiment.
please refer to Figure of description 2, configuration is applicable to the space target positioning equipment of video monitoring, its ultimate principle shows as by pre-aligned having accurately determines the image collection module that rotational angle and luffing angle are controlled, with to Image Acquisition, the installation of mating this image collection module, configuration laser ranging module or other distance-measuring equipments, as the localization by ultrasonic module, radar fix module etc., distance-measuring equipment is configured on the carrier of image collection module, image collection module can be synchronizeed and be driven with range finder module in other words, nature can also adopt range finder module to follow image collection module and rotate, but do not produce pitching, simplify the operation as much as possible, only when the needs pitching, as the pitching to after target localization, put in place, just need to operate accordingly.
Then configuration control module, such as the such carrier of The Cloud Terrace, can realize above-mentioned accurate rotation and the control of luffing angle, self is furnished with the cradle head control module, range finder module, generally also all be loaded with corresponding control module for another example, and said control module is the module that the overall situation is controlled here, be analogous to the CPU(central processing unit on PC), and as the The Cloud Terrace control module, belong to the control system of dispersion, form and concentrate-scattered control system, fast response time.
Like this, as shown in Figure 2, a space target positioning equipment that is applicable to video monitoring may be summarized to be and comprises following basic composition: image collection module, equipment carrying The Cloud Terrace, laser ranging module, control module.
Image collection module wherein: be responsible for obtaining the image of monitoring objective, and the range finding position of indication laser ranging module.
The high precision The Cloud Terrace: be responsible for load image acquisition module, laser ranging module, and guiding laser ranging module points to monitoring objective, the position that can obtain monitoring objective simultaneously is with respect to the angle of pitch of installation site and horizontally rotate angle.
Laser ranging module: the distance of being responsible for obtaining monitoring objective and equipment installation site.
Control module: be responsible for the overall operation of system, can send control command to high precision The Cloud Terrace, laser ranging module, image collection module, and receive their feedback data, obtain relative position and the latitude and longitude information of monitoring objective by the computing of inside.
As shown in Figure 1, localization method for object be the location of fire point in forest fire protection, do not possess the possibility that positioning equipment is set at the fire point this moment, thereby, by means of the present embodiment, by the location of other positions, and the position relationship of other equipment and fire point can be determined the accurate location of fire point.Certainly, method of the present invention is not limited to this embodiment.Enforcement for the location of fire point in forest fire protection is carried out according to following steps:
(1) on the one hand can this system be installed at the correct position of the forest of needs monitoring, when mounted, need by the zero-bit of high precision The Cloud Terrace towards the positive north my direction of directly guiding of latitude in other words, obviously, also can due south, due east, positive west arranges, and a calculating benchmark that can reduce calculated amount is set.While northwards installing, doing this setting is because in the computing formula of longitude and latitude, The Cloud Terrace level angle used is the north orientation angle, as clockwise 0 °～360 °.
And then use the GPS locating device accurately measure the longitude and latitude (N, E) of installation site and absolute altitude H is installed, be set to these parameters in equipment or be set in monitor supervision platform software.
The said one side in front, so on the other hand, positioning equipment can be arranged on the carrier that moves about, as vehicle, owing on carrier, having the GPS that arranges as GPS, thereby be not subjected to the restriction of natural conditions, that is to say that positioning equipment can not be fixedly installed.
(2) while the high temp objects higher than the early warning temperature value in video capture device is the monitoring range of video camera, occurring, at this moment, the Intelligent Target of control module is chosen program and is thought in monitoring range and fire Alarm Call Point occurs, and the pitching of guiding The Cloud Terrace and the action of level, fire Alarm Call Point is placed in to the central point of video pictures, make laser ranging system aim at fire Alarm Call Point, start laser ranging system, the fire point is found range.In this step, can obtain level angle value θ and the luffing angle value φ of The Cloud Terrace, impact point is apart from the hypotenuse distance B of watch-dog.
(3) by level angle value θ and luffing angle value φ, impact point uploads to Surveillance center apart from the hypotenuse distance B of watch-dog and carries out computing.
(4) Surveillance center according to the longitude and latitude of the installation site that reports, highly, the information such as the level angle of the luffing angle of The Cloud Terrace, The Cloud Terrace, position, control point calculate the longitude and latitude of fire point, and, monitoring the real-time position that indicates fire point on map, for providing, the user shows intuitively information.
Its computation process is as follows:
The air line distance of impact point and watch-dog is: DR=D*cos φ;
Calculate the latitude value of impact point: all parts of the world latitude differs the gap length of 1 ° and all equates to be R/180 ° of L=2 π (R is the radius of the earth) on same warp, can directly obtain like this latitude value of another point: N '=N+DR*cos θ/L.
Calculate the longitude of target: by above step, we have obtained the some longitude N that equipment is installed, latitude value E, the latitude value N ' of control point, the air line distance DR of impact point and watch-dog, if the level angle θ of The Cloud Terrace (the θ angle is clockwise 0 °～360 ° of north orientation angle), can obtain: so 180 °>=θ>=0 °, E '=E+arcos{[1+sinN*sinN '-2sin
2(DR/R)]/(cosN*cosN ') }
If 360 ° >=θ >=180 °,
E’=E-arcos{[1+sinN*sinN’-2sin
2(DR/R)]/(cosN*cosN’)}。
Simple declaration to top some means of using, due to video monitoring the distance usually between 0 ~ 10KM, therefore, when calculating the latitude and longitude coordinates of monitoring objective point, can neglect the curvature of the earth, it is a positive spheroid that the earth is regarded as, rather than actual spheroid, can effectively reduce calculated amount like this, this is also after the air line distance between 2 on the known earth and latitude and longitude coordinates wherein, calculates the common method of some latitude and longitude coordinates in addition.
monitoring objective chosen two kinds of methods, the one, adopt and manually go identification, and on monitored picture, carry out the frame choosing, can automatically be placed in the central authorities of picture so that range finder using laser is aimed to measured target by the target of artificial frame choosing this moment by the motion of controlling The Cloud Terrace, the secondth, adopt existing Target Recognition Algorithms go to identify monitoring objective (such as adopt Algorithms for Moving Target Recogntion to go to identify to enter guarded region moving target, perhaps adopt the high-temperature targets that surpasses the early warning temperature value in thermal imaging system identification guarded region etc.), and by the motion of controlling The Cloud Terrace will identify target automatically be placed in the central authorities of picture so that range finder using laser is aimed to measured target), use range finder using laser to carry out range observation to monitoring objective and can obtain distance value D, this distance value D forms by the hypotenuse of calculated amount, and record the current level angle value θ of The Cloud Terrace and luffing angle value φ.
Claims (6)
1. a space target positioning method that is applicable to video monitoring, is characterized in that, according to predetermined orientation, The Cloud Terrace and the contained video monitoring equipment of The Cloud Terrace is installed, and configuration distance measuring equipment, record The Cloud Terrace current longitude and latitude (N, E) and height H, thereby the method is further comprising the steps:
1) start The Cloud Terrace, when in the video monitoring picture, monitoring objective occurring, control The Cloud Terrace and make monitoring objective fall into the central authorities of picture;
2) utilize described distance measuring equipment to measure the distance B between The Cloud Terrace and monitoring objective, and record level angle θ and the luffing angle φ of current The Cloud Terrace;
3) according to luffing angle φ and distance B, calculate the actual range F of The Cloud Terrace mounting points to monitoring objective, obtain relative position between the two;
The division proper calculation that utilizes longitude and latitude according to level angle θ and the longitude and latitude (N, E) of actual range F, The Cloud Terrace goes out the longitude and latitude (N ', E ') of monitoring objective.
2. the space target positioning method that is applicable to video monitoring according to claim 1, is characterized in that, when mounted, its zero-bit is over against a direction in east, south, west, north for The Cloud Terrace.
3. the space target positioning method that is applicable to video monitoring according to claim 1 and 2, it is characterized in that, monitoring objective choose the target identification method based on Sample Storehouse, correspondingly, The Cloud Terrace carries monitoring equipment, thereby The Cloud Terrace is in automatic cruising, monitoring equipment detects when abnormal, based on Sample Storehouse, identify the abnormal target that has that monitors, then make The Cloud Terrace enter the tracking state to the target of identification from the automatic cruising state, make the target of identifying fall into video pictures central authorities, with the guiding distance measuring equipment, point to the target that is identified.
4. the space target positioning method that is applicable to video monitoring according to claim 1 and 2, it is characterized in that, monitoring objective be chosen for the choosing method based on artificial cognition, when running into abnormal conditions, artificial frame selects corresponding monitoring objective in monitored picture, then control The Cloud Terrace and the target of artificial frame choosing be placed in to the central authorities of monitored picture, with the choosing of guiding distance measuring equipment energized north frame target.
5. the space target positioning method that is applicable to video monitoring according to claim 1, it is characterized in that, in described distance B during less than 10Km, while calculating relative position and absolute position, ignore earth curvature, utilize trigonometric function to calculate relative position and absolute position.
6. the space target positioning method that is applicable to video monitoring according to claim 1, is characterized in that, described distance measuring equipment is range finder using laser.
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| CN104184995A (en) * | 2014-08-26 | 2014-12-03 | 天津市亚安科技股份有限公司 | Method and system for achieving real-time linkage monitoring of networking video monitoring system |
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| CN105676564A (en) * | 2016-03-25 | 2016-06-15 | 山东华光光电子股份有限公司 | Laser night-vision device with target distance measuring and positioning functions |
| CN106020451A (en) * | 2016-05-10 | 2016-10-12 | 罗阳军 | Positioning and movement identification system |
| CN106441278A (en) * | 2016-09-29 | 2017-02-22 | 长沙开元仪器股份有限公司 | Unmanned aerial vehicle indoor positioning system and method |
| CN106468539A (en) * | 2015-08-18 | 2017-03-01 | 北京艾肯拓科技有限公司 | Method and apparatus for generating geographical coordinate |
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| CN112330917A (en) * | 2020-11-10 | 2021-02-05 | 浙江大华技术股份有限公司 | Method, device and system for positioning fire point |
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| CN109307477A (en) * | 2018-12-04 | 2019-02-05 | 福建汇川物联网技术科技股份有限公司 | Displacement measurement system and method |
| CN112330917A (en) * | 2020-11-10 | 2021-02-05 | 浙江大华技术股份有限公司 | Method, device and system for positioning fire point |
| CN112330917B (en) * | 2020-11-10 | 2022-07-22 | 浙江大华技术股份有限公司 | Method, device and system for positioning fire point |
| CN113378782A (en) * | 2021-07-01 | 2021-09-10 | 应急管理部天津消防研究所 | Vehicle-mounted fire identification and automatic tracking method |
| CN114396940A (en) * | 2021-12-09 | 2022-04-26 | 浙江大华技术股份有限公司 | Target positioning method and device of monitoring equipment |
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Application publication date: 20131120 |