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CN-122018566-A - Cloud deck tracking control method and device, monitoring equipment and medium

CN122018566ACN 122018566 ACN122018566 ACN 122018566ACN-122018566-A

Abstract

The application relates to a cloud deck tracking control method and device, monitoring equipment and medium, wherein the method comprises the steps of identifying position change data of a target object in each frame of an image stream based on the image stream acquired by a camera fixed on a cloud deck; the method comprises the steps of generating tracking control data for reflecting the effective motion trend of a target object according to position change data, triggering a motion state switching event required for tracking the target object based on the tracking control data, wherein the event is correspondingly associated with a specific motion state mode, responding to the motion state switching event, and controlling a stepping motor to perform motion compensation according to the motion state mode corresponding to the event so as to enable the cradle head to be switched to an effective tracking state. The application can accurately prevent the motor from losing steps and realize stable and smooth automatic tracking of the cradle head.

Inventors

  • YU JUNJIE

Assignees

  • 深圳市灵智无界科技有限公司

Dates

Publication Date
20260512
Application Date
20251124

Claims (10)

  1. 1. A cloud deck tracking control method is characterized by comprising the following steps: identifying position change data of a target object in each frame of an image stream based on the image stream acquired by a camera fixed on a cloud deck; Generating tracking control data for reflecting the effective movement trend of the target object according to the position change data; triggering a motion state switching event required for tracking the target object based on the tracking control data, wherein the event is correspondingly associated with a specific motion state mode; And responding to the motion state switching event, and controlling the stepping motor to perform motion compensation according to a motion state mode corresponding to the event so as to enable the cradle head to be switched to an effective tracking state.
  2. 2. The pan-tilt tracking control method according to claim 1, wherein identifying the position change data of the target object in each frame of the image stream comprises: determining an initial position state vector of the target object based on target detection of an initial image frame in the image stream; corresponding to a subsequent image frame in the image stream, predicting the predicted position of the target object in the current frame through a motion model based on the updated position state vector of the previous frame, and determining an image search area corresponding to the predicted position; In the search area, determining the actual position of the target object in the current frame by matching the visual characteristics of the target object, and updating the position state vector of the previous frame by using the actual position and the predicted position to serve as the position state vector of the current frame; And taking the updated position state vector of the continuous multiframes as the position change data.
  3. 3. The pan-tilt tracking control method according to claim 1, wherein generating tracking control data for reflecting an effective movement trend of a target object from the position change data, comprises: Determining an instantaneous motion trend feature of the target object based on the position change data of consecutive multiframes within a sliding time window, wherein the instantaneous motion trend feature comprises a motion direction and a motion amplitude of the target object; Performing persistence judgment and significance judgment on the instantaneous movement trend characteristics, wherein the persistence judgment is used for confirming whether the corresponding movement trend is stably maintained in the time window, and the significance judgment is used for confirming whether the movement amplitude of the corresponding movement trend exceeds a preset amplitude threshold; determining that an effective movement trend exists in the time window when the instantaneous movement trend characteristic passes through the persistence judgment and the significance judgment simultaneously; and packaging the effective movement trend and the movement trend characteristics thereof to serve as the tracking control data corresponding to the time window.
  4. 4. The pan-tilt tracking control method according to claim 1, wherein triggering a motion state switching event required for tracking the target object based on the tracking control data, the event being associated with a specific motion state pattern, comprises: traversing motion trend features corresponding to effective motion trends provided by a plurality of corresponding time windows in the tracking control data; If the tracking control data corresponding to the current time window indicate that an effective motion trend exists, and the motion direction of the effective motion trend is inconsistent with the current tracking direction of the cradle head, triggering a motion state switching event correspondingly associated with a motion steering mode; If the tracking control data corresponding to the current time window indicate that an effective movement trend exists, and the cradle head is in a static state or does not enter a low-speed state of effective tracking, triggering a movement state switching event corresponding to and associated with a movement starting mode; and if the tracking control data corresponding to the current time window indicates that no effective motion trend exists and the cloud deck is in a motion tracking state currently, triggering a motion state switching event corresponding to and associated with a motion continuous mode.
  5. 5. The pan-tilt tracking control method according to any one of claims 1 to 4, wherein, in response to the motion state switching event, the stepping motor is controlled to perform motion compensation according to a motion state mode corresponding to the event, so that the pan-tilt is switched to an effective tracking state, including any one or more of: When the motion state mode is a motion starting mode, a starting control instruction is output, a static friction corresponding current higher than a normal working current of the stepping motor is provided for the stepping motor to realize starting through the instruction, and then the stepping motor is smoothly accelerated to a target rotating speed to complete motion compensation so as to drive the cradle head to enter an effective tracking state; When the motion state mode is a motion steering mode, outputting a steering control instruction, providing a return clearance step number for the stepping motor to perform motion compensation through the instruction, and driving the stepping motor to perform steering compensation according to the return clearance step number so as to drive the cradle head to maintain an effective tracking state; And when the motion state mode is a motion continuous mode, outputting a uniform speed control instruction, and driving the stepping motor to continuously rotate according to the target rotating speed by the instruction so as to maintain an effective tracking state.
  6. 6. The pan-tilt tracking control method according to claim 5, wherein before identifying the position change data of the target object in each frame of the image stream based on the image stream acquired by the camera fixed to the pan-tilt, comprising: Responding to a current calibration starting instruction, and applying a driving current which slowly increases from zero to the stepper motor; detecting whether the cradle head starts to actually rotate or not through a preset motion sensor; And acquiring a current value corresponding to the moment when the cradle head starts to generate continuous rotation, and taking the current value as the current corresponding to static friction.
  7. 7. The pan-tilt tracking control method according to claim 5, wherein before identifying the position change data of the target object in each frame of the image stream based on the image stream acquired by the camera fixed to the pan-tilt, comprising: Responding to a step number calibration starting instruction, and controlling the stepping motor to drive the cradle head to rotate along a first direction for a preset distance and then stopping; The step motor is controlled to run step by step along a second direction opposite to the first direction, and whether the cradle head starts to rotate actually or not is monitored through a preset motion sensor; and recording the accumulated motor steps from the start of the stepping motor to the start of the actual rotation of the cradle head in the second direction, and taking the accumulated motor steps as the return clearance steps.
  8. 8. A cradle head tracking control device, comprising: The position identification module is used for identifying position change data of a target object in each frame of an image stream based on the image stream acquired by a camera fixed on the cloud deck; A tracking analysis module configured to generate tracking control data reflecting an effective movement trend of the target object according to the position change data; An event recognition module configured to trigger a motion state switching event required for tracking the target object based on the tracking control data, the event being associated with a specific motion state pattern; And the mode driving module is set to respond to the motion state switching event, and controls the stepping motor to perform motion compensation according to the motion state mode corresponding to the event so as to drive the cradle head to enter an effective tracking state.
  9. 9. A monitoring device comprising a camera, a holder, a stepper motor and a controller, wherein the controller comprises a processor and a memory, the camera is fixed on the holder, the stepper motor is used for driving the holder to rotate so as to drive the camera to track a target object to acquire an image stream, and the controller is characterized in that the processor invokes a computer program in the memory to execute the steps of the holder tracking control method according to any one of claims 1 to 7.
  10. 10. A computer-readable storage medium, characterized in that it stores in the form of computer-readable instructions a computer program implemented according to the method of any one of claims 1 to 7, which, when invoked by a computer, performs the steps comprised by the corresponding method.

Description

Cloud deck tracking control method and device, monitoring equipment and medium Technical Field The present application relates to the field of intelligent control, and in particular, to a method and apparatus for tracking and controlling a pan/tilt, a monitoring device, and a medium. Background In the field of intelligent control of monitoring equipment driven by a tripod head, particularly in an automatic tracking scene aiming at moving targets such as humanoid targets, the technical scheme is generally adopted that the position of a target object in a picture is identified by analyzing continuous image frames acquired by a camera, and then a control instruction is generated to drive a tripod head stepping motor to rotate, so that the target is always kept in an image center area. Under the technical framework, the stepping motor is widely adopted because of the advantages of accurate positioning, simple control, position maintenance after power failure and the like. However, the conventional pan-tilt tracking scheme based on the stepper motor has inherent technical defects, which directly affect the reliability and user experience of tracking. The defect is caused by the control characteristic of the stepping motor and the physical limitation of the mechanical structure of the cradle head. Specifically, a holder transmission system has a static friction and a gear return clearance. In the tracking process, when the cradle head needs to be started or the rotation direction of the cradle head is changed, the stepping motor firstly needs to output enough torque to overcome the static friction force of the system to drive the cradle head to actually move, and when the cradle head is reversed, the motor firstly needs to idle and transition to drop the return clearance between gears to effectively engage transmission again. The traditional control strategy often generates a motor motion command directly according to the position of the tracked target, and the nonlinear influence caused by the mechanical characteristics cannot be fully considered. When the direction is changed, reversing step loss is caused by a gap, so that the actual rotation angle of the cradle head is smaller than the instruction angle, and the tracking target is deviated. In order to solve the problem of step loss, the prior art generally adopts a single fixed acceleration curve or a method for simply increasing the torque margin of a motor. However, the former cannot adaptively compensate for the commutation gap, and the latter causes side effects such as increased power consumption and increased noise, which is not an optimal solution. The root cause is that the improvements still stay at the local optimization level of the bottom layer of the motor control instruction, so that the bottom layer control is separated from the logic phase of the upper layer image identification, and the systematic thinking is not performed from the source of the whole tracking control link, namely how to intelligently decide the working state of the motor according to the target motion information. Therefore, related improvements need to be explored in order to effectively radically solve the motor step loss phenomenon. Disclosure of Invention The primary objective of the present application is to solve at least one of the above problems and provide a pan-tilt tracking control method and apparatus, a monitoring device and a medium. In order to meet the purposes of the application, the application adopts the following technical scheme: the application provides a cradle head tracking control method adapting to one of the purposes of the application, which comprises the following steps: identifying position change data of a target object in each frame of an image stream based on the image stream acquired by a camera fixed on a cloud deck; Generating tracking control data for reflecting the effective movement trend of the target object according to the position change data; triggering a motion state switching event required for tracking the target object based on the tracking control data, wherein the event is correspondingly associated with a specific motion state mode; And responding to the motion state switching event, and controlling the stepping motor to perform motion compensation according to a motion state mode corresponding to the event so as to enable the cradle head to be switched to an effective tracking state. A cradle head tracking control device according to one of the present application includes: The position identification module is used for identifying position change data of a target object in each frame of an image stream based on the image stream acquired by a camera fixed on the cloud deck; A tracking analysis module configured to generate tracking control data reflecting an effective movement trend of the target object according to the position change data; An event recognition module configured to trigger a motion state switching event r