CN118276608B - A scene sensing pan/tilt motor adjustment system - Google Patents

Abstract

The present invention relates to the field of scene sensing control technology, specifically a scene sensing pan-tilt battery adjustment system, the system comprising: an environmental data acquisition module performs data detection through a sensor array, collects external environmental data, including light intensity, weather conditions, temperature information, and synchronously records the position, direction and speed of the pan-tilt, analyzes the impact of the external environment on the pan-tilt action, and generates an environmental state data set. In the present invention, the system can instantly reflect environmental changes through the environmental state data set, which improves the real-time operation. The optimization of target recognition enhances the system's ability to distinguish between dynamic and static targets through the application of image processing technology, improves the accuracy of target tracking, and introduces causal relationship analysis so that the system can predict future situations based on historical and real-time data, make adjustments in advance, increase the predictability and initiative of the system, finely adjust the motion parameters of the pan-tilt, and ensure the continuity and accuracy of tracking.

Description

A scene sensing pan/tilt motor adjustment system

Technical Field

The present invention relates to the technical field of scene sensing control, and in particular to a scene sensing pan/tilt motor regulating system.

Background Art

Scene sensing control technology involves the use of various sensors and data processing systems to automatically detect and respond to environmental changes. This technology is often used in areas such as video surveillance, smart homes, robotics, and interactive media. The core function is to enable devices to understand and adapt to their operating environment to optimize performance and user experience. By analyzing data collected from cameras, infrared sensors, light sensors, etc., the system is able to identify environmental changes such as lighting changes, object movement, or user behavior, and adjust device settings or behaviors accordingly. For example, in a smart lighting system, scene sensing control can automatically adjust light brightness and color based on the activities of people in the room.

Among them, the scene sensing pan-tilt motor adjustment system is a system that specifically applies scene sensing control technology, which aims to optimize the camera's capture effect by automatically adjusting the direction and angle of the pan-tilt. The pan-tilt is a rotatable mechanism that supports the camera or other equipment and can move in multiple directions. The system adjusts the position of the pan-tilt by sensing changes in the scene (such as moving objects in the monitoring area) to ensure that the camera is always aimed at key areas or objects. This system has a wide range of uses and can be applied to security monitoring, video conferencing, filmmaking, automatic tracking shooting and other fields, providing a more intelligent and automated operation method to enhance monitoring effects and user interaction experience.

Existing technologies often have difficulty adjusting settings in real time to adapt to new conditions in rapidly changing environments, resulting in operational delays and reduced tracking effectiveness. This lag may lead to the omission of critical information in applications with extremely high real-time requirements, such as security monitoring. In addition, traditional technologies are insufficient in their ability to predict future environmental changes and can usually only passively respond to changes that have already occurred rather than proactively pre-adjust, which limits the overall efficiency and effectiveness of the system. In terms of target identification, the lack of effective dynamic and static distinction and priority setting may result in resources being wasted on the processing of low-priority targets. These deficiencies result in unsatisfactory application results of existing technologies in complex or changing environments. For example, in multi-target tracking scenarios, key targets may not be effectively distinguished and prioritized, affecting the overall performance of the system and user experience.

Summary of the invention

The purpose of the present invention is to solve the shortcomings in the prior art and to propose a scene sensing pan/tilt motor adjustment system.

In order to achieve the above object, the present invention adopts the following technical solution: A scene sensing pan/tilt motor adjustment system comprises:

The environmental data acquisition module detects data through the sensor array, collects external environmental data, including light intensity, weather conditions, temperature information, and simultaneously records the position, direction, and speed of the gimbal, analyzes the impact of the external environment on the gimbal's movements, and generates an environmental status data set;

The target detection and classification module uses the environmental state data set to perform target recognition and classification, distinguish dynamic targets and static backgrounds in the scene, calculate the speed and movement direction of dynamic targets, and set tracking priorities for each dynamic target according to the speed and movement direction, and generate target classification and priority results;

The causal relationship analysis module uses the target classification and priority results to confirm the association between the target behavior and the external environmental variables, analyze the impact of light and temperature changes on the target behavior, and obtain a causal relationship estimation result;

The gimbal control execution module calls the gimbal driving device to adjust the speed, angle and focal length of the gimbal according to the causal relationship estimation result, and generates adjusted tracking parameters based on the priority tracking target.

As a further solution of the present invention, the step of acquiring the environmental status data set is specifically:

The sensor array synchronously measures the light intensity, weather conditions, and temperature information of the external environment to obtain the original readings. , , , get a preliminary set of environmental readings;

For each reading in the preliminary set of environmental readings , , , apply the composite filtering algorithm to get the filtered reading , , , the reference formula is as follows:

in, represents the filtered environmental variable reading, Represents the reading at a time point before the current moment. Indicates the current reading. Represents a reading at a point in time after the current moment;

Analyze the filtered environmental readings , , Position with PTZ ,direction ,speed The relationship between them is analyzed by using a linear regression model to evaluate the impact of multiple environmental variables on the gimbal action. The reference formula is as follows:

Calculate the statistical correlation between the external environment and the gimbal motion parameters to form an environmental state data set Relationship model with the PTZ action to obtain the environment status data set;

Among them, Impact represents the comprehensive impact score of environmental variables and gimbal motion parameters. is the intercept term, representing the basic impact value in the model, Light intensity The regression coefficient of is the square root of the light intensity, For weather conditions The regression coefficient of is the square of the weather conditions, For temperature The regression coefficient of is the logistic function of temperature information, PTZ position The regression coefficient of For direction The regression coefficient of is the cosine of the direction, For speed The regression coefficient of is the logarithmic transformation of speed, is the base of natural logarithms.

As a further solution of the present invention, the steps of obtaining the target classification and priority results are specifically as follows:

Receiving the environmental state data set, performing target recognition, distinguishing dynamic targets and static background in the scene, and obtaining preliminary classification results;

Calculate the speed and moving direction of the dynamic target in the preliminary classification result, and use the speed formula to calculate the speed of the dynamic target and direction , the reference formula is as follows:

in, is a dynamic target in The velocity component in the axial direction, is a dynamic target in The velocity component in the axial direction, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation;

According to the speed and moving direction Set the tracking priority for each dynamic target and generate the target classification and priority results according to the following formula:

in, is the adjustment factor used to weight the direct contribution of the speed value to the priority, is the adjustment coefficient, which is used to adjust the slope of the speed log probability function. is the adjustment factor used to weight the contribution of the sine value of the direction angle to the priority, is the adjustment factor, which is used to adjust the influence of the direction angle in the priority setting. The minimum tracking speed threshold is set to define the lower limit of the speed that starts to significantly affect the tracking priority.

As a further solution of the present invention, the step of confirming the association between the target behavior and the external environment variable is specifically:

Using the target classification and priority results, collecting target behavior data and external environmental variable data, including light and temperature, to obtain an environmental and behavioral data set;

Statistical analysis was performed on the environmental and behavioral data sets, and the lighting was calculated using the formula and temperature Target Behavior The correlation coefficient after adjustment is obtained by referring to the formula as follows:

in, is the light intensity value of a single data point, is the temperature value of a single data point, is the target behavior value corresponding to a single data point of light and temperature, is the average light intensity of the data points, is the average temperature of the data points, is the average of the target behavior of the data points, is the adjustment coefficient of the effect of light intensity on target behavior, is the adjustment coefficient of the temperature effect on the target behavior, is the frequency parameter used to adjust for the effects of periodic changes in light and temperature data. is the correlation coefficient between light intensity and target behavior, is the correlation coefficient between temperature and target behavior;

Based on the adjusted correlation coefficient, statistical significance was assessed, and an association was determined to exist if the correlation coefficient showed that light and temperature significantly affected the target behavior.

As a further solution of the present invention, the step of analyzing the effects of light and temperature changes on target behavior is specifically as follows:

Utilizing the association between the target behavior and the external environmental variables, extracting the illumination from the target behavior and external environmental variable datasets and temperature Data and target behavior The data are paired to generate paired analysis data;

The changing trends of light and temperature in the paired analysis data were analyzed, and the impact on the target behavior was calculated using a quantitative formula. The reference formula is as follows:

in, For the influence of light, is the measured value of light intensity, is the adjustment coefficient in the first term, is the power of the light intensity, is the adjustment coefficient in the second term, which affects the weighting of the light intensity through the threshold adjustment function. The coefficient for adjusting the sensitivity of the threshold function determines the rate at which the impact increases when the light intensity exceeds the threshold. For the temperature effect, is the measured value of temperature, is the adjustment coefficient in the first term, is the power of temperature, is the adjustment coefficient in the second term, which affects the weighting of the temperature through the threshold adjustment function, The coefficient for adjusting the sensitivity of the threshold function determines the rate at which the impact increases when the temperature exceeds the threshold. is the temperature threshold;

The light and temperature effects are analyzed to evaluate the overall effects on the target behavior and generate the effects of light and temperature on the target behavior. The reference formula is as follows:

in, It represents the quantitative results of the impact of two environmental factors, light and temperature, on the target behavior. , are the weight coefficients representing the light and temperature in the total influence.

As a further solution of the present invention, the step of obtaining the adjusted tracking parameters is specifically as follows:

Analyze the data obtained from the causal relationship estimation result, determine the key environmental factors affecting the movement of the gimbal, and obtain the key influencing parameters;

According to the key influencing parameters, calculate the new speed that the pan/tilt drive device should adjust ,angle and focal length , the reference formula is as follows:

in, For the new speed, is the original speed of the pan/tilt or turntable, is the scaling factor used to adjust the effect of the Gaussian function on the speed adjustment. is the center of the Gaussian function, is the standard deviation, controlling the Gaussian function around The diffusion of For a new angle, is the original angle of the pan/tilt or turntable, is the scaling factor for angle adjustment, is the coefficient that affects the slope of the logistic function, is the midpoint of the angle adjustment, is the new focal length, is the original focal length of the gimbal or camera, is the adjustment factor used to scale the effect of the logarithmic function, is the sensitivity parameter for focus adjustment, is the conventional or standard value of focal length;

Integrating the new speed , New Angle and new focal length , forming the adjusted tracking parameters.

Compared with the prior art, the advantages and positive effects of the present invention are:

In the present invention, the system's adaptability and accuracy to external changes are improved through the precise collection and real-time processing of environmental status data sets. The integrated data enables the system to instantly reflect environmental changes, improving the real-time nature of the operation. The optimization of target recognition enhances the system's ability to distinguish between dynamic and static targets and improves the accuracy of target tracking through the application of image processing technology. The introduction of causal relationship analysis enables the system to predict future situations based on historical and real-time data and make adjustments in advance, increasing the predictability and initiative of the system. Fine-tuning the motion parameters of the gimbal ensures the continuity and accuracy of tracking, greatly increasing the probability of the target remaining in the best field of view.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a system flow chart of the present invention;

FIG2 is a flow chart of the steps for obtaining an environmental status data set of the present invention;

FIG3 is a flow chart of the steps of obtaining target classification and priority results of the present invention;

FIG4 is a flowchart of the steps of confirming the association between the target behavior and the external environmental variables of the present invention;

FIG5 is a flowchart of the steps of analyzing the effects of light and temperature changes on target behavior according to the present invention;

FIG. 6 is a flow chart of the steps for obtaining the adjusted tracking parameters of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

Example 1

Referring to FIG. 1 , a scene sensing pan/tilt motor adjustment system includes:

The environmental data acquisition module detects data through the sensor array, collects external environmental data, including light intensity, weather conditions, temperature information, and simultaneously records the position, direction, and speed of the gimbal, analyzes the impact of the external environment on the gimbal's movements, and generates an environmental status data set;

The target detection and classification module uses the environmental status data set to perform target recognition and classification, distinguish dynamic targets from static backgrounds in the scene, calculate the speed and movement direction of dynamic targets, set tracking priorities for each dynamic target based on speed and movement direction, and generate target classification and priority results;

The causal relationship analysis module uses the target classification and priority results to confirm the association between the target behavior and external environmental variables, analyze the impact of light and temperature changes on the target behavior, and obtain causal relationship estimation results;

The gimbal control execution module calls the gimbal drive device to adjust the speed, angle and focal length of the gimbal according to the causal relationship estimation result, and generates adjusted tracking parameters based on the priority tracking target.

The environmental status data set includes temperature readings, humidity levels, and wind speed measurements. The target classification and priority results are specifically dynamic target recognition, static background distinction, and priority grading. The causal relationship estimation results include illumination impact analysis, temperature change impact, and behavior change prediction. The adjusted tracking parameters are specifically gimbal rotation angle, focal distance, and tracking speed.

Please refer to Figure 2, the steps for obtaining the environmental status data set are as follows:

The sensor array synchronously measures the light intensity, weather conditions, and temperature information of the external environment to obtain the original readings. , , , get a preliminary set of environmental readings;

For each reading in the initial set of environmental readings , , , apply the composite filtering algorithm to get the filtered reading , , , the reference formula is as follows:

in, represents the filtered environmental variable reading, Represents the reading at a time point before the current moment. Indicates the current reading. Represents a reading at a point in time after the current moment;

Analyze filtered environmental readings , , Position with PTZ ,direction ,speed The relationship between them is analyzed by using a linear regression model to evaluate the impact of multiple environmental variables on the gimbal action. The reference formula is as follows:

Calculate the statistical correlation between the external environment and the gimbal motion parameters to form an environmental state data set Relationship model with the PTZ action to obtain the environment status data set;

Among them, Impact represents the comprehensive impact score of environmental variables and gimbal motion parameters. is the intercept term, representing the basic impact value in the model, Light intensity The regression coefficient of is the square root of the light intensity, For weather conditions The regression coefficient of is the square of the weather conditions, For temperature The regression coefficient of is the logistic function of temperature information, PTZ position The regression coefficient of For direction The regression coefficient of is the cosine of the direction, For speed The regression coefficient of is the logarithmic transformation of speed, is the base of natural logarithms.

formula:

Purpose: This formula is used to calculate the filtered average of time series data to reduce noise and smooth data. It is suitable for data at continuous time points, such as light intensity. The readings.

Parameter explanation:

: Light intensity reading at the previous moment.

: The light intensity reading at the current moment.

: Light intensity reading at the next moment.

Calculation process:

Assume that at three consecutive time points , , The light intensity readings are 100, 120, and 110 units respectively.

Step 1: Take the reading from the previous moment:

Step 2: Get the current reading:

Step 3: Take the next reading:

Step 4: Apply the formula to calculate the filtered reading:

Result: The filtered light intensity reading was 112.5 units.

formula:

This formula is used to evaluate the impact of environmental conditions such as light intensity, weather conditions, and temperature information on gimbal movements.

Parameter explanation:

: The intercept of the regression model.

, , , , , : Regression coefficients, corresponding to the influence intensity of different environmental variables and PTZ data.

, , : are the filtered light, weather and temperature readings, respectively.

, , : The position, direction and speed of the gimbal.

Calculation process: Assuming the regression coefficient , , , , , , ;

Also assume , , , , , .

Step 1: Calculate the effect of light intensity:

Step 2: Calculate the impact of weather conditions:

Step 3: Calculate the impact of temperature information using a logistic function:

Step 4: Calculate the effects of position, orientation, and velocity, taking into account the periodicity of orientation:

, Step 5: Apply regression model to calculate total impact:

Result: The calculated total impact value is , which represents the combined effect of all environmental factors and gimbal parameters on gimbal motion.

Please refer to Figure 3, the steps for obtaining target classification and priority results are as follows:

Receiving the environmental state data set, performing target recognition, distinguishing dynamic targets and static background in the scene, and obtaining preliminary classification results;

Calculate the speed and moving direction of the dynamic targets in the preliminary classification results, and use the speed formula to calculate the speed of the dynamic targets and direction , the reference formula is as follows:

in, is a dynamic target in The velocity component in the axial direction, is a dynamic target in The velocity component in the axial direction, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation;

According to speed and moving direction Set the tracking priority for each dynamic target and generate the target classification and priority results according to the following formula:

in, is the adjustment factor used to weight the direct contribution of the speed value to the priority, is the adjustment coefficient, which is used to adjust the slope of the speed log probability function. is the adjustment factor used to weight the contribution of the sine value of the direction angle to the priority, is the adjustment factor, which is used to adjust the influence of the direction angle in the priority setting. The minimum tracking speed threshold is set to define the lower limit of the speed that starts to significantly affect the tracking priority.

Calculation of speed and direction:

formula: Parameter interpretation and derivation:

, ：Respectively represent the dynamic targets in and The velocity component in a direction, such as raw data acquired from a sensor or vision system.

a, b, c, d: These are weight parameters used to adjust the contribution of each direction in the velocity calculation and the scaling of the direction angle. These parameters can be set based on the calibration of the system or experience. Here we assume , , , , representing an unweighted case.

Example: Assume that a target has a velocity of 3 units/second in the x direction and 4 units/second in the y direction (a common 3-4-5 right triangle example).

Speed calculation process:

Direction calculation process:

Using a calculator or programming language, Approximately equal to 53.13 degrees.

Priority setting: Formula:

Parameter interpretation and derivation:

, , : Adjustment coefficient, here it is set to 1 to simplify the calculation.

: Angle adjustment coefficient, set to 1, no angle scaling is performed.

: Minimum tracking speed threshold, assumed to be 2 units/second.

Example: Continue using the above speed Units/second and direction Spend.

Priority calculation process:

.

Please refer to Figure 4. The steps to confirm the association between the target behavior and the external environment variable are as follows:

Using the target classification and priority results, collect target behavior data and external environmental variable data, including light and temperature, to obtain an environmental and behavioral data set;

Perform statistical analysis on the environment and behavior datasets and use formulas to calculate the illumination and temperature Target Behavior The correlation coefficient after adjustment is obtained by referring to the formula as follows:

in, is the light intensity value of a single data point, is the temperature value of a single data point, is the target behavior value corresponding to a single data point of light and temperature, is the average light intensity of the data points, is the average temperature of the data points, is the average of the target behavior of the data points, is the adjustment coefficient of the effect of light intensity on target behavior, is the adjustment coefficient of the temperature effect on the target behavior, is the frequency parameter used to adjust for the effects of periodic changes in light and temperature data. is the correlation coefficient between light intensity and target behavior, is the correlation coefficient between temperature and target behavior;

Statistical significance was assessed based on the adjusted correlation coefficient, and if the correlation coefficient showed that light and temperature significantly affected the target behavior, an association was determined to exist.

Formula explanation and derivation process: correlation coefficient of light on behavior ;formula:

: Light value of a single data point.

: The average illumination value of all data points.

: corresponds to the light value behavioral data points.

: The average of all behavioral data points.

: Adjustment coefficient, used to adjust the effect of periodic changes in light on behavior.

: Frequency parameter, used to adjust the frequency of the periodic function.

Calculation process and example: Assume the following data points:

Lighting Data ;

Behavioral data .

First, calculate the mean:

Calculate the differences:

Calculate the numerator:

Calculate the denominator:

;

Finally, suppose , :

.

Detailed explanation and derivation of the formula: Correlation coefficient of temperature on behavior ;formula:

The meaning of the parameters is similar to before, except that here they are data points about temperature.

Calculation process and examples

Assuming temperature data Corresponding to the same behavioral data points .

calculate and Same as above.

The process of calculating the correlation coefficient is similar to The calculation process of .

Please refer to Figure 5. The specific steps for analyzing the effects of light and temperature changes on target behavior are:

Utilize the association between target behavior and external environmental variables to extract illumination from target behavior and external environmental variable datasets and temperature Data and target behavior The data are paired to generate paired analysis data;

Analyze the changing trends of light and temperature in the paired analysis data, and use a quantitative formula to calculate the impact on the target behavior. The reference formula is as follows:

in, For the influence of light, is the measured value of light intensity, is the adjustment coefficient in the first term, is the power of the light intensity, is the adjustment coefficient in the second term, which affects the weighting of the light intensity through the threshold adjustment function. The coefficient for adjusting the sensitivity of the threshold function determines the rate of increase of the impact when the light intensity exceeds the threshold. is the threshold of light intensity, For the temperature effect, is the measured value of temperature, is the adjustment coefficient in the first term, is the power of temperature, is the adjustment coefficient in the second term, which affects the weighting of the temperature through the threshold adjustment function, The coefficient for adjusting the sensitivity of the threshold function determines the rate at which the impact increases when the temperature exceeds the threshold. is the temperature threshold;

The results of light and temperature effects are analyzed to evaluate the overall impact on the target behavior and generate the effects of light and temperature on the target behavior. The reference formula is as follows:

in, It represents the quantitative results of the impact of two environmental factors, light and temperature, on the target behavior. , are the weight coefficients representing the light and temperature in the total influence.

Detailed explanation of the formula and calculation process: Lighting influence formula ;formula:

Parameter Description:

a, b, c, d: These are adjustment coefficients that can be obtained by fitting experimental data or determined based on previous research or expert opinion.

: Light intensity value, which can be obtained directly from environmental sensor data.

: The threshold of light exposure is determined based on behavioral experiments and indicates the critical point of light intensity that affects behavioral changes.

Calculation process and example: Assumptions have been determined:

, , , ;

Light intensity unit,

Light intensity unit,

Part I calculate:

;

Part 2 calculate:

Final lighting impact: .

Temperature Effect Formula ,formula:

Parameter Description:

, , , : It is also the adjustment coefficient.

: Temperature value, obtained directly from environmental sensor data.

: Temperature threshold, also determined based on behavioral experiments.

Calculation process and example: Assuming the parameters are fixed:

, , , ;

Temperature units,

Temperature units,

Part I calculate:

;

Part 2 calculate:

Final temperature impact:

.

Comprehensive Impact Formula ,formula:

Parameter Description:

, : Weight coefficient, adjusted according to the relative importance of light and temperature.

Calculation process and examples: Assumptions: , ;

Calculate the combined impact:

.

Please refer to FIG6 , the steps for obtaining the adjusted tracking parameters are as follows:

Analyze the data obtained from the causal relationship estimation results, determine the key environmental factors that affect the gimbal movement, and obtain the key influencing parameters;

Calculate the new speed that the pan/tilt drive should adjust based on the key influencing parameters ,angle and focal length , the reference formula is as follows:

in, For the new speed, is the original speed of the pan/tilt or turntable, is the scaling factor used to adjust the effect of the Gaussian function on the speed adjustment. is the center of the Gaussian function, is the standard deviation, controlling the Gaussian function around The diffusion of For a new angle, is the original angle of the pan/tilt or turntable, is the scaling factor for angle adjustment, is the coefficient that affects the slope of the logistic function, is the midpoint of the angle adjustment, is the new focal length, is the original focal length of the gimbal or camera, is the adjustment factor used to scale the effect of the logarithmic function, is the sensitivity parameter for focus adjustment, is the conventional or standard value of focal length;

Integrating new speed , New Angle and new focal length , forming the adjusted tracking parameters.

Formula explanation and calculation process: Speed adjustment formula:

Parameter explanation:

: original speed;

: speed adjustment strength coefficient;

: Target speed (expected speed);

: Standard deviation of adjustment sensitivity, which determines the sensitivity of speed adjustment to speed deviation;

: Adjusted speed.

Calculation process and examples:

Assuming the original speed of the gimbal , expected speed , adjust the intensity , standard deviation .

Calculate the adjusted speed:

.

Angle adjustment formula:

Parameter explanation:

: original angle;

: Angle adjustment strength;

: Adjust sensitivity;

: Target middle angle (expected angle);

: The adjusted angle.

Calculation process and examples:

Assume the original angle of the gimbal , target middle angle , adjust the intensity , sensitivity . Calculate the adjusted angle:

.

Focal length adjustment formula:

Parameter explanation:

: original focal length;

Focus adjustment strength;

: Focus adjustment sensitivity;

: standard focal length (desired focal length);

: Adjusted focal length.

Calculation process and examples:

Assuming the original focal length of the gimbal , standard focal length , adjust the intensity , sensitivity .

Calculate the adjusted focal length:

.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims (3)

1. A scene sensing pan/tilt motor adjustment system, characterized in that the system comprises: The environmental data acquisition module detects data through the sensor array, collects external environmental data, including light intensity, weather conditions, temperature information, and simultaneously records the position, direction, and speed of the gimbal, analyzes the impact of the external environment on the gimbal's movements, and generates an environmental status data set; The target detection and classification module uses the environmental state data set to perform target recognition and classification, distinguish dynamic targets and static backgrounds in the scene, calculate the speed and movement direction of dynamic targets, and set tracking priorities for each dynamic target according to the speed and movement direction, and generate target classification and priority results; The steps for obtaining the target classification and priority results are specifically as follows: Receiving the environmental state data set, performing target recognition, distinguishing dynamic targets and static background in the scene, and obtaining preliminary classification results; Calculate the speed and moving direction of the dynamic target in the preliminary classification result, and use the speed formula to calculate the speed of the dynamic target and direction , the reference formula is as follows: in, is a dynamic target in The velocity component in the axial direction, is a dynamic target in The velocity component in the axial direction, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, is an adjustment parameter used to weight The square of the velocity component in the axial direction affects the total velocity calculation and enhances the velocity vector in The influence of the axis, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation, It is an adjustment parameter used to adjust The weight of the axial velocity component in the direction angle calculation; According to the speed and moving direction Set the tracking priority for each dynamic target and generate the target classification and priority results according to the following formula: in, is the adjustment factor used to weight the direct contribution of the speed value to the priority, is the adjustment coefficient, which is used to adjust the slope of the speed log probability function. is the adjustment factor used to weight the contribution of the sine value of the direction angle to the priority, is the adjustment factor, which is used to adjust the influence of the direction angle in the priority setting. It is the minimum tracking speed threshold set, which is used to define the lower limit of speed that starts to significantly affect the tracking priority; The causal relationship analysis module uses the target classification and priority results to confirm the association between the target behavior and the external environmental variables, analyze the impact of light and temperature changes on the target behavior, and obtain a causal relationship estimation result; The step of confirming the association between the target behavior and the external environment variable is specifically as follows: Using the target classification and priority results, collecting target behavior data and external environmental variable data, including light and temperature, to obtain an environmental and behavioral data set; Statistical analysis was performed on the environmental and behavioral data sets, and the lighting was calculated using the formula and temperature Target Behavior The correlation coefficient after adjustment is obtained by referring to the formula as follows: in, is the light intensity value of a single data point, is the temperature value of a single data point, is the target behavior value corresponding to a single data point of light and temperature, is the average light intensity of the data points, is the average temperature of the data points, is the average of the target behavior of the data points, is the adjustment coefficient of the effect of light intensity on target behavior, is the adjustment coefficient of the temperature effect on the target behavior, is the frequency parameter used to adjust for the effects of periodic changes in light and temperature data. is the correlation coefficient between light intensity and target behavior, is the correlation coefficient between temperature and target behavior; According to the adjusted correlation coefficient, the statistical significance is evaluated, and if the correlation coefficient shows that light and temperature significantly affect the target behavior, it is determined that there is an association; The steps of analyzing the effects of light and temperature changes on target behavior are specifically as follows: Utilizing the association between the target behavior and the external environmental variables, extracting the illumination from the target behavior and external environmental variable datasets and temperature Data and target behavior The data are paired to generate paired analysis data; The changing trends of light and temperature in the paired analysis data were analyzed, and the impact on the target behavior was calculated using a quantitative formula. The reference formula is as follows: in, For the influence of light, is the measured value of light intensity, is the adjustment coefficient in the first term, is the power of the light intensity, is the adjustment coefficient in the second term, which affects the weighting of the light intensity through the threshold adjustment function. The coefficient for adjusting the sensitivity of the threshold function determines the rate at which the impact increases when the light intensity exceeds the threshold. For the temperature effect, is the measured value of temperature, is the adjustment coefficient in the first term, is the power of temperature, is the adjustment coefficient in the second term, which affects the weighting of the temperature through the threshold adjustment function, The coefficient for adjusting the sensitivity of the threshold function determines the rate at which the impact increases when the temperature exceeds the threshold. is the temperature threshold; The light and temperature effects are analyzed to evaluate the overall effects on the target behavior and generate the effects of light and temperature on the target behavior. The reference formula is as follows: in, It represents the quantitative results of the impact of two environmental factors, light and temperature, on the target behavior. , are the weight coefficients representing the light and temperature in the total impact respectively; The gimbal control execution module calls the gimbal driving device to adjust the speed, angle and focal length of the gimbal according to the causal relationship estimation result, and generates adjusted tracking parameters based on the priority tracking target. 2. The scene sensing pan/tilt motor adjustment system according to claim 1, wherein the step of acquiring the environmental state data set is specifically: The sensor array synchronously measures the light intensity, weather conditions, and temperature information of the external environment to obtain the original readings. , , , get a preliminary set of environmental readings; For each reading in the preliminary set of environmental readings , , , apply the composite filtering algorithm to get the filtered reading , , , the reference formula is as follows: in, represents the filtered environmental variable reading, Represents the reading at a time point before the current moment. Indicates the current reading. Represents a reading at a point in time after the current moment; Analyze the filtered environmental readings , , Position with PTZ ,direction ,speed The relationship between them is analyzed by using a linear regression model to evaluate the impact of multiple environmental variables on the gimbal action. The reference formula is as follows: Calculate the statistical correlation between the external environment and the gimbal motion parameters to form an environmental state data set Relationship model with the PTZ action to obtain the environment status data set; Among them, Impact represents the comprehensive impact score of environmental variables and gimbal motion parameters. is the intercept term, representing the basic impact value in the model, Light intensity The regression coefficient of is the square root of the light intensity, For weather conditions The regression coefficient of is the square of the weather conditions, For temperature The regression coefficient of is the logistic function of temperature information, PTZ position The regression coefficient of For direction The regression coefficient of is the cosine of the direction, For speed The regression coefficient of is the logarithmic transformation of speed, is the base of natural logarithms. 3. The scene sensing pan/tilt motor adjustment system according to claim 1, wherein the step of obtaining the adjusted tracking parameters is specifically: Analyze the data obtained from the causal relationship estimation result, determine the key environmental factors affecting the movement of the gimbal, and obtain the key influencing parameters; According to the key influencing parameters, calculate the new speed that the pan/tilt drive device should adjust ,angle and focal length , the reference formula is as follows: in, For the new speed, is the original speed of the pan/tilt or turntable, is the scaling factor used to adjust the effect of the Gaussian function on the speed adjustment. is the center of the Gaussian function, is the standard deviation, controlling the Gaussian function around The diffusion of For a new angle, is the original angle of the pan/tilt or turntable, is the scaling factor for angle adjustment, is the coefficient that affects the slope of the logistic function, is the midpoint of the angle adjustment, is the new focal length, is the original focal length of the gimbal or camera, is the adjustment factor used to scale the effect of the logarithmic function, is the sensitivity parameter for focus adjustment, is the conventional or standard value of focal length; Integrating the new speed , New Angle and new focal length , forming the adjusted tracking parameters.