Positioning method and regulation system

Abstract

The application discloses a positioning method and an adjusting system, the adjusting system comprising a positioning device, a first base station and a second base station which is the same structure as the first base station, the first base station is provided with a camera to be positioned, the second base station is provided with an initial camera, the positioning method comprises determining the direction of the axis of the coordinate system of the first base station and determining the spatial position of the positioning device relative to the first base station based on the direction; moving the positioning device and connecting it with the camera to be positioned; obtaining the included angle value between the axis of the preset coordinate system of the initial camera and the axis of the coordinate system of the second base station; based on the spatial position coordinate system, adjusting the positioning device and the camera to be positioned according to the included angle value between the axis of the preset coordinate system and the axis of the coordinate system of the second base station, so as to determine the spatial position and the shooting angle of the camera to be positioned. The application aims to realize the rapid adjustment of the spatial position and the shooting angle of the camera through the positioning method, effectively improve the installation and debugging efficiency, and ensure that the cameras have unified and accurate shooting angles during batch installation.

Description

Technical Field

[0001] This invention relates to the field of police surveillance technology, and in particular to a positioning method and adjustment system. Background Technology

[0002] With the widespread use of surveillance equipment in grassroots policing, police cars at the grassroots level are gradually being equipped with police lights with surveillance cameras to effectively perform functions such as evidence preservation, real-time tracking and monitoring, remote command, and intelligent facial recognition and vehicle recognition.

[0003] Currently, there are a large number of police cars at the grassroots level in China. In order to ensure that the cameras have a better shooting angle and a wider shooting coverage, each police car is usually equipped with multiple cameras to monitor multiple directions. Therefore, the actual number of cameras installed is huge. Usually, when installing cameras on each police car, it is necessary to manually adjust and correct the position of the cameras multiple times based on experience to ensure that the shooting angle of cameras in the same position on each police car is consistent.

[0004] However, with a large number of cameras, adjusting and calibrating each one individually requires a lot of manpower and time, resulting in low installation and debugging efficiency. Furthermore, under manual operation, the consistency and accuracy of camera installation are also poor, making it impossible to ensure that cameras have a uniform and accurate shooting angle when installed in batches. Summary of the Invention

[0005] The main objective of this invention is to provide a positioning method and adjustment system, which aims to enable rapid adjustment of the spatial position and shooting angle of the camera, effectively improve the efficiency of installation and debugging, and ensure that the cameras have a uniform and accurate shooting angle during batch installation.

[0006] To achieve the above objectives, this invention proposes a positioning method applied to an adjustment system. The adjustment system includes a positioning device, a first base, and a second base. The positioning device is detachably connected to the first base and the second base. The second base has the same structure as the first base. The first base is equipped with a camera to be positioned, and the second base is equipped with an initial camera. The position of the initial camera on the second base is the same as the position of the camera to be positioned on the first base. The positioning device is used to locate the spatial position and shooting angle of the camera to be positioned. The positioning method includes:

[0007] Determine the orientation of the first base coordinate system axis, and determine the spatial position coordinate system of the positioning device relative to the first base based on the orientation of the first base coordinate system axis;

[0008] Move the positioning device and connect the positioning device and the camera to be positioned;

[0009] Obtain the angle between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base station;

[0010] Based on the spatial coordinate system, and according to the angle between the preset coordinate system axis and the second base coordinate system axis, the positioning device and the camera to be positioned are adjusted to determine the spatial position and shooting angle of the camera to be positioned.

[0011] In one embodiment, the step of determining the direction of the first base coordinate system axis and the spatial position coordinate system of the positioning device relative to the first base includes:

[0012] Establish a reference coordinate system for the first base;

[0013] Determine the directions of the X, Y, and Z axes in the reference coordinate system;

[0014] The positioning device is calibrated in the reference coordinate system;

[0015] Determine the spatial position coordinate system of the positioning device in the reference coordinate system.

[0016] In one embodiment, the positioning device includes a positioning element and a calibration element, the positioning element and the calibration element being disposed opposite to and spaced apart from each other on the first base, and the step of calibrating the positioning device in the reference coordinate system includes:

[0017] Control the calibration component to transmit a positioning signal;

[0018] Adjust the position of the positioning element so that the positioning element receives the positioning signal, and determine whether the positioning signal is successfully received;

[0019] If so, the calibration is successful, thus determining the spatial position coordinate system established by the positioning device relative to the first base and the directions of the X, Y, and Z axes in the reference coordinate system;

[0020] If not, the calibration is unsuccessful, and the position of the positioning element should be adjusted.

[0021] In one embodiment, the positioning device is provided with a positioning element, and the positioning element is provided with a reading sensor. The step of obtaining the angle value between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base includes:

[0022] Determine the orientation of the axes of the second base coordinate system and the spatial position coordinate system of the positioning device relative to the second base;

[0023] Adjust the initial camera to determine its spatial position and shooting angle;

[0024] Move the positioning device and connect the positioning device and the initial camera;

[0025] The reading sensor is controlled to read the angle between the current coordinate system axis of the initial camera and the coordinate system axis of the second base station;

[0026] Store the angle values ​​between the current coordinate system axis and the second base coordinate system axis to form the angle values ​​between the preset coordinate system axis of the initial camera and the second base coordinate system axis.

[0027] In one embodiment, after the step of obtaining the angle between the preset coordinate system axis of the camera to be positioned and the coordinate system axis of the second base, the positioning method further includes:

[0028] Obtain the angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base station;

[0029] Compare whether the angle between the real-time coordinate system axis and the first base station coordinate system axis is consistent with the angle between the preset coordinate system axis and the second base station coordinate system axis;

[0030] If so, the spatial position and shooting angle of the camera to be located are kept consistent with those of the initial camera to complete the positioning;

[0031] If not, continue to adjust the spatial position and shooting angle of the camera to be located.

[0032] In one embodiment, the step of obtaining the angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base includes:

[0033] Determine the spatial position coordinate system of the positioning device in the first base coordinate system;

[0034] Move the positioning device and connect the positioning device and the initial camera;

[0035] The reading sensor is controlled to read the angle between the real-time coordinate system axis of the camera to be located and the coordinate system axis of the first base.

[0036] In one embodiment, the first base includes a plurality of cameras to be positioned, and the second base includes a plurality of initial cameras. Each camera to be positioned corresponds to the position of one of the initial cameras. The step of obtaining the angle between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base further includes:

[0037] The initial cameras are sorted sequentially.

[0038] Adjust the spatial position and shooting angle of the multiple initial cameras according to their order;

[0039] Obtain the angle between the current coordinate system axis and the second base coordinate system axis of each initial camera in order;

[0040] The angle values ​​between the current coordinate system axis and the second base coordinate system axis are stored sequentially to form the angle values ​​between the preset coordinate system axis of the initial camera and the second base coordinate system axis.

[0041] In one embodiment, the positioning method further includes:

[0042] Based on the initial camera's sorting order, the multiple cameras to be located are sorted sequentially.

[0043] The positioning components and each of the cameras to be positioned are connected in sequence.

[0044] Read the angle values ​​between the real-time coordinate system axis of each camera to be located and the coordinate system axis of the first base in order;

[0045] Determine whether the angle between the real-time coordinate system axis of the camera to be located and the first base coordinate system axis is consistent with the angle between the corresponding preset coordinate system axis and the second base coordinate system axis;

[0046] If so, the positioning of the camera to be located is now complete;

[0047] If not, continue adjusting the spatial position of the camera to be located.

[0048] In one embodiment, the positioning device is provided with a positioning element that is detachably connected to the first base. Before the step of determining the spatial position of the positioning device relative to the first base, the positioning method further includes positioning element calibration.

[0049] And / or, the positioning device is provided with a positioning element, the positioning element is detachably connected to the first base, the positioning element is provided with a mode conversion button, and the positioning method further includes obtaining the angle value between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base, the mode conversion button is used to switch between the angle value between the preset coordinate system axis and the second base coordinate system axis obtained by the positioning device and the angle value between the real-time coordinate system axis and the first base coordinate system axis obtained by the positioning device.

[0050] The present invention also proposes an adjustment system, the adjustment system comprising:

[0051] The base includes a first base and a second base; and

[0052] A positioning device includes a calibration element, a positioning element, a processor, and a memory. The calibration element and the positioning element are detachably connected to a first base and a second base. The positioning element is communicatively connected to the processor, and the processor is communicatively connected to the memory. The memory stores instructions that can be executed by the processor. The instructions are executed by the processor to enable the processor to perform the steps of the positioning method described above.

[0053] The positioning method of this invention is applied to an adjustment system, which includes a positioning device, a first base, and a second base. The positioning device is detachably connected to the first and second bases. The second base has the same structure as the first base. The first base is equipped with a camera to be positioned, and the second base is equipped with an initial camera. The position of the initial camera on the second base is the same as the position of the camera to be positioned on the first base. The positioning device is used to locate the spatial position and shooting angle of the camera to be positioned. Specifically, the positioning method first determines the orientation of each axis of the coordinate system of the first base in space, and then determines the spatial position of the positioning device relative to the first base. A position coordinate system is established, and a mobile positioning device is connected to the camera to be positioned. The positioning device obtains the angle between the initial camera's preset coordinate system axis and the second base coordinate system axis. Based on the obtained angle between the preset coordinate system axis and the second base coordinate system axis, the positioning device and the camera to be positioned are adjusted simultaneously to ensure that the current coordinate angle of the camera to be positioned is consistent with the angle between the preset coordinate system axis and the second base coordinate system axis. This achieves rapid adjustment of the spatial position and shooting angle of the camera to be positioned, effectively improving the efficiency of installation and debugging, and ensuring that the cameras have a uniform and accurate shooting angle during batch installation. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the structure of the adjustment system in one embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram of the adjustment system in another embodiment of the present invention;

[0057] Figure 3 This is a flowchart illustrating a positioning method in one embodiment of the present invention;

[0058] Figure 4This is a flowchart illustrating the process of determining the spatial position of the positioning device relative to the first base in one embodiment of the present invention.

[0059] Figure 5 This is a schematic diagram of the process of calibrating and positioning device in a reference coordinate system according to an embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of the process for obtaining the angle between the preset coordinate system axis of the camera to be positioned and the coordinate system axis of the second base in one embodiment of the present invention.

[0061] Figure 7 This is a partial flowchart of the positioning method in another embodiment of the present invention;

[0062] Figure 8 This is a schematic diagram of the process for obtaining the angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base in one embodiment of the present invention.

[0063] Figure 9 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention.

[0064] Explanation of icon numbers:

[0065] label name label name 100 Regulation system 10b Initial camera 1a First base 2 Positioning device 10a Camera to be located 21 Positioning components 1b Second base 22 Calibration parts

[0066] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0067] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0068] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0069] Meanwhile, the meaning of "and / or" or "and / or" appearing throughout the text is that it includes three options. Taking "A and / or B" as an example, it includes option A, option B, or an option that satisfies both A and B.

[0070] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0071] This invention proposes a positioning method applied to an adjustment system. The adjustment system includes a positioning device 2, a first base 1a, and a second base 1b. The positioning device 2 is detachably connected to the first base 1a and the second base 1b. The second base 1b has the same structure as the first base 1a. The first base 1a is provided with a camera 10a to be positioned, and the second base 1b is provided with an initial camera 10b. The position of the initial camera 10b on the second base 1b is the same as the position of the camera 10a to be positioned on the first base 1a. The positioning device 2 is used to locate the spatial position and shooting angle of the camera 10a to be positioned. The positioning method includes:

[0072] Step S10: Determine the direction of the coordinate system axis of the first base 1a, and determine the spatial position coordinate system of the positioning device 2 relative to the first base 1a based on the direction of the coordinate system axis of the first base 1a;

[0073] Step S20: Move the positioning device 2 and connect the positioning device 2 and the camera 10a to be positioned;

[0074] Step S30: Obtain the angle between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b;

[0075] Step S40: Based on the spatial coordinate system and according to the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b, adjust the positioning device 2 and the camera 10a to be positioned to determine the spatial position and shooting angle of the camera 10a to be positioned.

[0076] In this embodiment, as Figures 1 to 3As shown, the adjustment system 100 includes a positioning device 2, a first base 1a, and a second base 1b. The first base 1a and the second base 1b are structural support components of the adjustment system 100, used to mount the positioning device 2 and the camera to be positioned. The first base 1a and the second base 1b are used in police cars, usually mounted on the top or perimeter of the police car, or combined with the police light structure to form a police light monitoring platform. The structure and position of the first base 1a are the same as those of the second base 1b. The camera to be positioned is mounted on the first base 1a. The positioning device 2 can also be detachably connected to the first base 1a. Specifically, the first base 1a has a mounting surface and a side peripheral surface connected to each other. The mounting surface is the side with the larger area of ​​the first base 1a, which is usually used to install large structures such as main cameras and warning lights. The positioning device 2 can be detachably set on the mounting surface. The side peripheral surface is set around the periphery of the first base 1a and surrounds the mounting surface. The camera to be positioned is movably installed on the side peripheral surface, that is, the camera can rotate relative to the first base 1a to adjust its spatial position and shooting angle.

[0077] It is understandable that the positioning device 2 is used to locate the spatial position and shooting angle of the camera 10a to be positioned. The positioning device 2 can be detachably connected to the first base 1a. When the positioning device 2 is connected to the first base 1a, the spatial position of the positioning device 2 relative to the first base 1a is first determined, that is, the initial position of the positioning device 2 is determined. Specifically, the first base 1a has a coordinate system that is the same as the inertial coordinate system, that is, the geodetic coordinate system, which is called the basic coordinate system. First, it is necessary to determine the direction of each coordinate axis in the basic coordinate system of the first base 1a. The positioning device 2 has its own flight coordinate system relative to the first base 1a, which is called the relative coordinate system. That is, during the movement of the positioning device 2 relative to the first base 1a, the relative coordinate system also changes relative to the basic coordinate system, thereby realizing the position of the positioning device 2 in space based on the direction of each coordinate axis of the first base 1a, and representing it in the form of a coordinate system.

[0078] After determining the direction of the coordinate system axis of the first base 1a and the spatial position coordinate system of the positioning device 2 relative to the first base 1a, the positioning device 2 needs to be moved and connected to the camera to be positioned so that the positioning device 2 and the camera 10a to be positioned form a whole. At this time, the positioning device 2 and the camera 10a to be positioned can move together. By adjusting the positioning device 2, the spatial position and shooting angle of the camera 10a to be positioned can be adjusted, which is convenient for the subsequent direct adjustment of the spatial position and shooting angle of the camera 10a to be positioned through the positioning device 2.

[0079] Furthermore, based on the spatial coordinate system of the positioning device 2, the angle between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b is obtained through the positioning device 2. The angle between the preset coordinate system axis and the coordinate system axis of the second base 1b is the spatial coordinate parameter preset by the initial camera 10b. That is, the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b is the spatial coordinate parameter when the camera 10a to be positioned has the best spatial position and shooting angle. At this time, the camera has the best monitoring angle and the widest monitoring range. Obtaining the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b can be done by manually adjusting the position of the initial camera 10b in advance to achieve the best shooting angle, thereby providing a data basis for subsequent batch installation and debugging of cameras; or it can be done by collecting the spatial coordinate position parameters of a camera with a good shooting angle and storing and retaining them as the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b.

[0080] Furthermore, based on the angle between the preset coordinate system axis and the coordinate system axis of the second base station 1b, the positioning device 2 is adjusted to adjust the camera 10a to be positioned. Using the positioning device 2 and the angle between the preset coordinate system axis and the coordinate system axis of the second base station 1b, the cameras 10a to be positioned in a large batch of base stations can be installed and debugged, ensuring that each camera 10a in each base station has the same and optimal monitoring angle and the widest monitoring range. This effectively guarantees high consistency and accuracy during batch camera installation, while also improving installation and debugging efficiency and avoiding a large amount of repetitive work for installation personnel.

[0081] The positioning method of this technical solution is applied in an adjustment system 100, which includes a positioning device 2 and a first base 1a. The positioning device 2 is detachably connected to the first base 1a, and a camera to be positioned is set on the first base 1a. The positioning device 2 is used to locate the spatial position and shooting angle of the camera 10a to be positioned. Specifically, the positioning method first determines the spatial position of the positioning device 2 relative to the first base 1a, then moves the positioning device 2 and connects the positioning device 2 and the camera 10a to be positioned, obtains the angle value between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b, and simultaneously adjusts the positioning device 2 and the camera 10a to be positioned according to the angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b, so that the current coordinate angle of the camera 10a to be positioned is consistent with the angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b, thereby achieving rapid adjustment of the spatial position and shooting angle of the camera 10a to be positioned, effectively improving the efficiency of installation and debugging, and ensuring that the cameras have a uniform and accurate shooting angle during batch installation.

[0082] In one embodiment, the steps of determining the orientation of the coordinate system axis of the first base 1a and the spatial position coordinate system of the positioning device 2 relative to the first base 1a include:

[0083] Step S101: Establish the reference coordinate system of the first base 1a;

[0084] Step S102: Determine the directions of the X, Y, and Z axes in the reference coordinate system;

[0085] Step S103: Calibrate the positioning device 2 in the reference coordinate system;

[0086] Step S104: Determine the spatial position coordinate system of the positioning device 2 in the reference coordinate system.

[0087] In this embodiment, as Figure 4 As shown, before adjusting the camera 10a to be positioned, it is necessary to determine the directions of the X, Y, and Z axes in the reference system of the first base 1a, and to determine the spatial position coordinate system of the positioning device 2 relative to the coordinate system of the first base 1a. That is, to place the positioning device 2 in the reference coordinate system of the first base 1a and determine its position, firstly, the reference coordinate system of the first base 1a needs to be established, and then the directions of the X, Y, and Z axes in the reference system need to be determined. The positioning device 2 is calibrated and positioned in the reference coordinate system so that the coordinate system of the positioning device 2 itself and the reference coordinate system coincide in the initial state, thereby determining the spatial position of the positioning device 2 in the reference coordinate system in the initial state.

[0088] It is understandable that the reference coordinate system is the geodetic coordinate system, also known as the inertial coordinate system. By calibrating the positioning device 2, its own coordinate system (also known as the flight coordinate system) is made to coincide with the reference coordinate system, thereby determining the position of the positioning device 2 in its initial state. Furthermore, when the positioning device 2 subsequently adjusts the position of the camera 10a to be positioned, it provides a reference or target object to enhance the efficiency and accuracy of the position adjustment of the camera 10a to be positioned.

[0089] In one embodiment, the positioning device 2 includes a positioning element 21 and a calibration element 22, which are disposed opposite to and spaced apart on the first base 1a. The step of calibrating the positioning device 2 in a reference coordinate system includes:

[0090] Step S1021: Control the calibration component 22 to transmit a positioning signal;

[0091] Step S1022: Adjust the position of the positioning component 21 so that the positioning component 21 receives the positioning signal, and determine whether the positioning signal is successfully received;

[0092] If the step S1022a is correct, then the calibration is successful, and the direction of the X, Y, and Z axes in the spatial position coordinate system and reference coordinate system established by the positioning device 2 relative to the first base 1a is determined.

[0093] If not, step S1022b: calibration is unsuccessful, continue adjusting the position of positioning element 21.

[0094] In this embodiment, as Figure 1 , Figure 2 as well as Figure 5 As shown, the positioning device 2 includes a positioning element 21 and a calibration element 22. Both the calibration element 22 and the positioning element 21 are detachably disposed on the first base 1a and are arranged opposite each other along a straight line and spaced apart. The calibration element 22 is used to transmit positioning signals to the positioning element 21. The calibration element 22 can be a laser emitter or an infrared emitter to transmit signals to the positioning element 21. On the first base 1a, in a direction along the straight line with the calibration element 22, a first receiving area is provided at a distance. The positioning element 21 is detachably disposed in the first receiving area and can receive the positioning signals emitted by the calibration element 22. The positioning element 21 is provided with a signal receiver to receive infrared or laser signals.

[0095] It is understandable that after the positioning component 21 receives the positioning signal emitted by the calibration component 22 in the first receiving area, the position of the positioning component 21 needs to be adjusted so that it can accurately receive the positioning signal emitted by the calibration component 22. At this time, the positioning component 21 has a definite spatial position in the reference coordinate system. Specifically, an adjustment base is provided in the first receiving area on the first base 1a, and the positioning component 21 is located on the adjustment base. The adjustment base can adjust the angle and spatial position of the positioning component 21 so that the positioning component 21 can accurately receive the positioning signal emitted by the calibration component 22.

[0096] Simultaneously, the positioning component 21 internally determines whether it has successfully received the positioning signal emitted by the calibration component 22. This can be achieved by incorporating a buzzer or flashlight within the positioning component 21. When the positioning component 21 accurately receives the positioning signal, the buzzer sounds or the flashlight illuminates, alerting the operator that the positioning component 21 has received the signal and its spatial position has been successfully calibrated. If calibration fails, the spatial position of the positioning component 21 needs to be adjusted until it successfully receives the positioning signal from the calibration component 22, thus completing the initial spatial positioning of the positioning component 21 and determining the spatial coordinate system of the first base 1a and the orientation of each axis. It is understandable that by determining whether the positioning component 21 has successfully received the positioning signal, the operator can be informed in real time whether the spatial position of the positioning component 21 has been successfully positioned. Furthermore, after accurately positioning the initial position of the positioning component 21, the operator is alerted through sound and light, facilitating actual operation.

[0097] In one embodiment, the adjustment system 100 further includes a second base 1b, which is equipped with an initial camera 10b. The second base 1b is identical to the first base 1a, and the position of the initial camera 10b on the second base 1b is the same as the position of the camera 10a to be positioned on the first base 1a. The positioning device 2 is equipped with a positioning element 21, which is equipped with a reading sensor. The step of obtaining the angle value between the preset coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the second base 1b includes:

[0098] Step S301: Determine the direction of the coordinate system axis of the second base 1b and the spatial position coordinate system of the positioning device 2 relative to the second base 1b;

[0099] Step S302: Adjust the initial camera 10b to determine the spatial position and shooting angle of the initial camera 10b;

[0100] Step S303: Move the positioning device 2 and connect the positioning device 2 and the initial camera 10b;

[0101] Step S304: Control the reading sensor to read the angle value between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b;

[0102] Step S305: Store the angle values ​​between the current coordinate system axis and the coordinate system axis of the second base 1b to form the angle values ​​between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b.

[0103] In this embodiment, as Figure 1 , Figure 2 as well as Figure 6 As shown, the second base 1b is equipped with an initial camera 10b, and the structure of the second base 1b is completely consistent with the mechanism of the first base 1a. The position of the initial camera 10b on the second base 1b is also completely consistent with the position of the camera 10a to be positioned on the first base 1a. At this time, a positioning device 2 is also provided on the second base 1b.

[0104] It is understandable that the method for determining the spatial position of the positioning device 2 relative to the second base 1b is the same as the method for determining the spatial position of the positioning device 2 relative to the first base 1a. The positioning device 21 is determined by controlling the calibration component 22 to transmit a positioning signal to the positioning component 21 in order to determine the spatial position and flight coordinate system of the positioning component 21 in the reference coordinate system of the second base 1b. The specific calibration process will not be described in detail here.

[0105] In this embodiment, after determining the spatial position of the positioning element 21 in the second base 1b, the spatial position and shooting angle of the initial camera 10b on the second base 1b are adjusted. This adjustment can be manual or automatic to ensure that the initial camera 10b has the best monitoring angle and the widest monitoring range, forming the best shooting angle. Then, the positioning device 2 is moved and connected to the initial camera 10b. At this time, the angle between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b is read by the reading sensor in the positioning element 21. The reading sensor is usually a sensor assembly with an accelerometer, a gyroscope and a magnetometer. The acceleration, rotation angle and position offset angle of the positioning element 21 in a specific direction are calculated respectively, and the above acceleration, rotation angle and offset angle are fused and calculated to obtain the angle between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b.

[0106] It is understandable that the spatial position of the positioning component 21 after calibration in the reference coordinate system of the first base 1a or the second base 1b is represented by the spatial coordinate angle. That is, after calibration, the spatial coordinate angle of the positioning component 21 at this time is the original coordinate angle. The original coordinate angle can be (0,0,0) or can be defined as other values, which are not limited here. After the positioning component 21 is moved, the spatial coordinate angle of the positioning component 21 in the reference coordinate system changes relative to the original coordinate angle. When the positioning component 21 is connected to the initial camera 10b, the spatial coordinate angle of the positioning component 21 at this time can be read by the reading sensor. The spatial coordinate angle at this time is read relative to the original coordinate angle. The spatial coordinate angle at this time is also the angle value between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b.

[0107] Furthermore, after the positioning component 21 reads the angle between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b, it stores the angle value in the memory of the positioning component 21. The result is the angle value between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b. The subsequent cameras to be positioned are adjusted using the angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b. The angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b is the original parameter data for adjusting the spatial position and shooting angle of each camera 10a to be positioned in the same model police car, the same base, and the same location. The subsequent installed cameras are adjusted and corrected using the original parameter data, thereby effectively ensuring high consistency and accuracy when installing cameras in batches. At the same time, it also effectively improves the efficiency of installation and debugging and avoids a lot of repetitive work for the installation personnel.

[0108] In one embodiment, after obtaining the angle between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b, the positioning method further includes:

[0109] Step A301: Obtain the angle between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a;

[0110] Step A302: Compare whether the angle between the real-time coordinate system axis and the coordinate system axis of the first base 1a base and the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b base are consistent.

[0111] If so, in step A302a, the spatial position and shooting angle of the camera 10a to be located are kept consistent with those of the initial camera 10b to complete the positioning.

[0112] Step A302b: If not, continue to adjust the spatial position and shooting angle of the camera 10a to be positioned.

[0113] It is understandable that, such as Figure 1 , Figure 2 as well as Figure 7 As shown, after obtaining the angle between the preset coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the second base 1b, it is also necessary to obtain the angle between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a. The angle between the real-time coordinate system axis and the coordinate system axis of the first base 1a is also relative to the original coordinate angle of the positioning component 21. The angle between the real-time coordinate system axis of the positioning component 21 and the coordinate system axis of the first base 1a and the original coordinate angle are both under the same reference coordinate system of the same base. To obtain the angle between the real-time coordinate system axis and the coordinate system axis of the first base 1a, the positioning component 21 still needs to be connected to the camera 10a to be positioned. At this time, the positioning component 21 and the camera 10a to be positioned can move together in the first base 1a. During the movement, the angle between the real-time coordinate system axis of the positioning component 21 and the coordinate system axis of the first base 1a changes, which reflects that the current position of the camera 10a to be positioned is also constantly changing.

[0114] By comparing the angle between the current real-time coordinate system axis of the positioning component 21 and the coordinate system axis of the first base 1a with the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b stored in the positioning component 21, it is determined whether the spatial position and shooting angle of the camera 10a to be positioned are consistent with the initial position of the camera 10b. When the operator adjusts the spatial position and shooting angle of the camera 10a to be positioned through the positioning component 21, it is also a process of continuously comparing the angle between the real-time coordinate system axis and the coordinate system axis of the first base 1a with the angle between the preset coordinate system axis and the coordinate system axis of the second base 1b. When the angle between the coordinate system axis of platform 1a and the angle between the preset coordinate system axis and the coordinate system axis of the second platform 1b are consistent, it indicates that the camera 10a to be positioned has been adjusted to have the same optimal monitoring angle and the widest monitoring range as the initial camera 10b. This allows for rapid adjustment of the spatial position and shooting angle of the camera 10a to be positioned during the subsequent adjustment of a large number of cameras by directly comparing the angle between the real-time coordinate system axis and the coordinate system axis of the first platform 1a and the angle between the preset coordinate system axis and the coordinate system axis of the second platform 1b, effectively improving the efficiency of installation and debugging. Conversely, when the angle between the real-time coordinate system axis and the coordinate system axis of the first platform 1a and the angle between the preset coordinate system axis and the coordinate system axis of the second platform 1b are inconsistent, it is necessary to continue adjusting the spatial position and shooting angle of the camera 10a to be positioned until the angle between the real-time coordinate system axis of the positioning component 21 and the coordinate system axis of the first platform 1a is consistent with the stored angle between the preset coordinate system axis and the coordinate system axis of the second platform 1b.

[0115] In one embodiment, the step of obtaining the angle between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a includes:

[0116] Step A3011: Determine the spatial position coordinate system of the positioning device 2 in the coordinate system of the first base 1a;

[0117] Step A3012: Move the positioning device 2 and connect the positioning device 2 and the initial camera 10b;

[0118] Step A3013: Control the reading sensor to read the angle between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a.

[0119] It is understandable that, such as Figure 8As shown, the method for obtaining the angle between the real-time coordinate system axis of the camera to be positioned 10a and the coordinate system axis of the first base 1a is the same as the method for obtaining the angle between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b. First, it is necessary to determine the spatial position coordinate system of the positioning device 2 under the reference coordinate system of the first base 1a, that is, to determine the original coordinate angle of the positioning component 21 under the reference coordinate system. Then, the positioning device 2 is moved and connected to the initial camera 10b. The angle between the real-time coordinate system axis of the camera to be positioned 10a and the coordinate system axis of the first base 1a is read by the reading sensor in the positioning component 21. The angle between the real-time coordinate system axis and the coordinate system axis of the first base 1a is also generated relative to the original coordinate angle of the positioning component 21, which represents the current spatial position and shooting angle of the camera to be positioned 10a.

[0120] In one embodiment, the first base 1a includes a plurality of cameras 10a to be positioned, and the second base 1b includes a plurality of initial cameras 10b. Each camera 10a to be positioned corresponds to the position setting of an initial camera 10b. The step of obtaining the angle value between the preset coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b further includes:

[0121] The initial cameras 10b are sorted sequentially.

[0122] Adjust the spatial position and shooting angle of multiple initial cameras 10b in sequence;

[0123] Obtain the angle between the current coordinate system axis of each initial camera 10b and the coordinate system axis of the second base 1b in order;

[0124] The angle values ​​between multiple current coordinate system axes and the coordinate system axes of the second base 1b are stored sequentially to form the angle values ​​between the preset coordinate system axes of multiple initial cameras 10b and the coordinate system axes of the second base 1b.

[0125] In this embodiment, as Figure 1 and Figure 2 As shown, the second base station 1b includes multiple initial cameras 10b, which are spaced apart on the side surface of the second base station 1b. The multiple initial cameras 10b are sorted and numbered in a clockwise or counterclockwise direction to determine the position of each initial camera 10b in the second base station 1b. Each initial camera 10b can rotate in the second base station 1b to adjust the shooting angle of each initial camera 10b. This adjustment can be made manually by the operator or automatically by the servo motor, without limitation, so that each initial camera 10b can have the best monitoring angle and the widest monitoring range.

[0126] Understandably, the spatial positions and shooting angles of multiple initial cameras 10b are adjusted sequentially according to the order. Then, after adjusting the spatial position and shooting angle of each initial camera 10b, the positioning component 21 is moved and connected to the initial camera 10b. The positioning component 21 is used to obtain the angle value between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b, and the angle value between the current coordinate system axis of the initial camera 10b and the coordinate system axis of the second base 1b is stored. This process of adjustment, recording, and storage is repeated until the angle values ​​between the current coordinate system axes of multiple initial cameras 10b on the second base 1b and the coordinate system axes of the second base 1b are all stored.

[0127] Understandably, existing base stations typically have cameras installed in multiple directions to obtain the best monitoring angle and the widest monitoring range, and to meet the needs of grassroots law enforcement. Therefore, when adjusting the shooting angle of the cameras on subsequent batches of base stations, it is necessary to first adjust the initial camera 10b and record the angle between the preset coordinate system axis of its best monitoring angle and the coordinate system axis of the second base station 1b.

[0128] In one embodiment, the first base 1a includes a plurality of cameras 10a to be positioned, each camera 10a corresponding to the position setting of an initial camera 10b, and the positioning method further includes:

[0129] Based on the sorting of the corresponding initial camera 10b, the multiple cameras 10a to be located are sorted in sequence.

[0130] The positioning element 21 and each camera 10a to be positioned are connected in sequence.

[0131] Read the angle values ​​between the real-time coordinate system axis of each camera 10a to be positioned and the coordinate system axis of the first base 1a in order.

[0132] Determine whether the angle between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a is consistent with the angle between the corresponding preset coordinate system axis and the coordinate system axis of the second base 1b.

[0133] If so, then the positioning of the current camera 10a to be located is completed;

[0134] If not, continue adjusting the spatial position of the current camera 10a to be located.

[0135] In this embodiment, as Figure 1 and Figure 2As shown, the first base station 1a includes multiple cameras 10a to be positioned, and the structure of the first base station 1a is completely identical to that of the second base station 1b. Each camera 10a to be positioned on the first base station 1a corresponds one-to-one with the multiple initial cameras 10b on the second base station 1b.

[0136] Understandably, based on the sorting of multiple initial cameras 10b on the second base station 1b, the corresponding multiple cameras to be positioned 10a are sorted and positioned sequentially to correspond the cameras to be positioned 10a and the initial cameras 10b at the same position. At this time, the positioning component 21 is moved and connected to each camera to be positioned in sequence according to the sorting. When the positioning component 21 is connected to the corresponding camera to be positioned 10a, the positioning component 21 reads the angle between the real-time coordinate system axis of the camera to be positioned 10a and the coordinate system axis of the first base station 1a through the reading sensor. The angle between the real-time coordinate system axis and the coordinate system axis of the first base station 1a is a real-time position data formed by fusing the current acceleration, angular velocity and offset angle of the positioning component 21 and the camera to be positioned 10a in a specific direction in a specific direction and the offset angle relative to the geomagnetic field, which accurately reflects the current space of the camera to be positioned 10a.

[0137] After reading the angle between the real-time coordinate system axis of a certain camera 10a to be positioned and the coordinate system axis of the first base 1a, the positioning component 21 determines whether the angle between the real-time coordinate system axis of the current camera 10a to be positioned and the coordinate system axis of the first base 1a is consistent with the angle between the preset coordinate system axis of the corresponding initial camera 10b and the coordinate system axis of the second base 1b. If they are consistent, it means that the spatial position and shooting angle of the camera 10a to be positioned have been adjusted to be completely consistent with the corresponding initial camera 10b. At this time, the camera 10a to be positioned has a better shooting angle and a wider shooting range, and the positioning of the camera 10a to be positioned is completed. If they are inconsistent, the spatial position of the current camera 10a to be positioned needs to be adjusted.

[0138] By sequentially arranging multiple cameras 10a to be positioned and multiple initial cameras 10b, it is possible to quickly make corresponding adjustments to bases equipped with multiple cameras, so as to efficiently complete the batch adjustment of multiple cameras or even multiple bases, while ensuring that the cameras have uniform and accurate shooting angles during batch installation, thus guaranteeing the consistency of camera shooting angles.

[0139] In one embodiment, the positioning device 2 is provided with a positioning element 21, which is detachably connected to the first base 1a. Before the step of determining the spatial position of the positioning device 2 relative to the first base 1a, the positioning method further includes calibrating the positioning element 21. It is understood that before determining the spatial position of the positioning device 2 on the first base 1a, the positioning element 21 needs to be calibrated to ensure that the reading sensor inside the positioning element 21 is working properly, and to ensure that the positioning element 21 has high reading accuracy when the initial position of the positioning element 21 is subsequently located, thereby improving the positioning accuracy of the camera.

[0140] Optionally, the positioning device 2 is provided with a positioning element 21, which is detachably connected to the first base 1a. The positioning element 21 is provided with a mode conversion button. The positioning method further includes obtaining the angle value between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a. The mode conversion button is used to switch between the angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b obtained by the positioning device 2 and the angle value between the real-time coordinate system axis and the coordinate system axis of the first base 1a obtained by the positioning device 2.

[0141] Understandably, the mode switching button is used to switch between the angle values ​​between the preset coordinate system axis and the second base 1b coordinate system axis obtained by the positioning device 2 and the angle values ​​between the real-time coordinate system axis and the first base 1a coordinate system axis obtained by the positioning device 2. When the mode switching button is pressed and held, the positioning component 21 enters the mode of obtaining the angle values ​​between the preset coordinate system axis and the second base 1b coordinate system axis. At this time, when the positioning component 21 reads the angle values ​​between the preset coordinate system axis and the second base 1b coordinate system axis of an initial camera 10b, it can press the mode switching button once to obtain and store the current angle values ​​between the preset coordinate system axis and the second base 1b coordinate system axis of the initial camera 10b. When using the positioning component 2... When adjusting and positioning the camera 10a to be positioned on the first base 1a, the mode conversion button can be pressed briefly. At this time, the positioning component 21 enters the mode of obtaining the angle value between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a. The angle value between the real-time coordinate system axis of the camera 10a to be positioned and the coordinate system axis of the first base 1a is obtained and compared with the stored angle value between the preset coordinate system axis and the coordinate system axis of the second base 1b to determine the spatial position and shooting angle of the camera 10a to be positioned. After adjusting each camera 10a to be positioned, the mode conversion button can be pressed briefly to enter the adjustment of the next camera 10a to be positioned.

[0142] The present invention also proposes an adjustment system 100, which includes a base and a positioning device 2. The base includes a first base 1a and a second base 1b. The positioning device 2 includes a calibration element 22, a positioning element 21, a processor, and a memory. The calibration element 22 and the positioning element 21 are detachably connected to the first base 1a and the second base 1b. The positioning element 21 is communicatively connected to the processor, and the processor is communicatively connected to the memory. The memory stores instructions that can be executed by the processor. The instructions are executed by the processor to enable the processor to perform the steps of the positioning method described above. The specific steps of the positioning method are as described in the foregoing embodiments. Since the adjustment system 100 adopts all the technical solutions of all the foregoing embodiments, it has at least all the beneficial effects brought about by the technical solutions of the foregoing embodiments, which will not be repeated here.

[0143] It is understandable that, such as Figure 9 As shown, an embodiment of the present invention provides an adjustment system 100, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the positioning method in the first embodiment described above.

[0144] The adjustment system 100 in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The illustrated adjustment system 100 is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0145] The regulation system 100 may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the regulation system 100. The processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus.

[0146] Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009.

[0147] The communication device allows the regulating system 100 to communicate wirelessly or wiredly with other devices to exchange data. Although the regulating system 100 with various systems is shown in the figure, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0148] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0149] The adjustment system 100 provided by this invention, employing the positioning method described in the above embodiments, solves the problems of low installation and debugging efficiency, as well as poor installation consistency and accuracy, when dealing with a large number of cameras. Compared with the prior art, the beneficial effects of the adjustment system 100 provided by this invention are the same as those of the positioning method provided in the above embodiments, and other technical features of the adjustment system 100 are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0150] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0151] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A positioning method applied to a control system, characterized in that, The adjustment system includes a positioning device, a first base, and a second base. The positioning device is detachably connected to the first base and the second base. The second base has the same structure as the first base. The first base is equipped with a camera to be positioned, and the second base is equipped with an initial camera. The position of the initial camera on the second base is the same as the position of the camera to be positioned on the first base. The positioning device is used to locate the spatial position and shooting angle of the camera to be positioned. The positioning method includes: Determine the orientation of the first base coordinate system axis, and determine the spatial position coordinate system of the positioning device relative to the first base based on the orientation of the first base coordinate system axis; Move the positioning device and connect the positioning device and the camera to be positioned; Obtain the angle between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base; Based on the spatial coordinate system, and according to the angle between the preset coordinate system axis and the second base coordinate system axis, the positioning device and the camera to be positioned are adjusted to determine the spatial position and shooting angle of the camera to be positioned. The step of determining the direction of the first base coordinate system axis and the spatial position coordinate system of the positioning device relative to the first base includes: Establish a reference coordinate system for the first base; Determine the directions of the X, Y, and Z axes in the reference coordinate system; The positioning device is calibrated in the reference coordinate system; Determine the spatial position coordinate system of the positioning device in the reference coordinate system; The positioning device includes a positioning element and a calibration element, the positioning element and the calibration element being disposed opposite to and spaced apart on the first base. The step of calibrating the positioning device in the reference coordinate system includes: Control the calibration component to transmit a positioning signal; Adjust the position of the positioning element so that the positioning element receives the positioning signal, and determine whether the positioning signal is successfully received; If so, the calibration is successful, thus determining the spatial position coordinate system established by the positioning device relative to the first base and the directions of the X, Y, and Z axes in the reference coordinate system; If not, the calibration is unsuccessful, and the position of the positioning component is adjusted; by calibrating the positioning device, its own coordinate system is made to coincide with the reference coordinate system; The positioning device is equipped with a positioning component, and the positioning component is equipped with a reading sensor. The step of obtaining the angle value between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base includes: Determine the orientation of the axes of the second base coordinate system and the spatial position coordinate system of the positioning device relative to the second base; Adjust the initial camera to determine its spatial position and shooting angle; Move the positioning device and connect the positioning device and the initial camera; The system controls the reading sensor to read the angle between the current coordinate system axis of the initial camera and the coordinate system axis of the second base station. The reading sensor is a sensor assembly with an accelerometer, a gyroscope, and a magnetometer. It calculates the acceleration of the positioning component in a specific direction, the rotation angle in a specific direction, and the position offset angle relative to the geomagnetic field, and fuses the above acceleration, rotation angle, and offset angle to obtain the angle between the current coordinate system axis of the initial camera and the coordinate system axis of the second base station. Store the angle values ​​between the current coordinate system axis and the second base coordinate system axis to form the angle values ​​between the preset coordinate system axis of the initial camera and the second base coordinate system axis.

2. The positioning method according to claim 1, characterized in that, After the step of obtaining the angle between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base, the positioning method further includes: Obtain the angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base station; Compare whether the angle between the real-time coordinate system axis and the first base coordinate system axis is consistent with the angle between the preset coordinate system axis and the second base coordinate system axis; If so, the spatial position and shooting angle of the camera to be located are kept consistent with those of the initial camera to complete the positioning; If not, continue to adjust the spatial position and shooting angle of the camera to be located.

3. The positioning method according to claim 2, characterized in that, The step of obtaining the angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base includes: Determine the spatial position coordinate system of the positioning device in the first base coordinate system; Move the positioning device and connect the positioning device and the camera to be positioned; The reading sensor is controlled to read the angle between the real-time coordinate system axis of the camera to be located and the coordinate system axis of the first base.

4. The positioning method according to claim 2, characterized in that, The first base includes a plurality of cameras to be positioned, and the second base includes a plurality of initial cameras. Each camera to be positioned corresponds to the position of one of the initial cameras. The step of obtaining the angle between the preset coordinate system axis of the initial camera and the coordinate system axis of the second base further includes: The initial cameras are sorted sequentially. Adjust the spatial position and shooting angle of the multiple initial cameras according to their order; Obtain the angle between the current coordinate system axis and the second base coordinate system axis of each initial camera in order; The angle values ​​between the current coordinate system axis and the second base coordinate system axis are stored sequentially to form the angle values ​​between the preset coordinate system axis of the initial camera and the second base coordinate system axis.

5. The positioning method according to claim 4, characterized in that, The positioning method further includes: Based on the initial camera's sorting order, the multiple cameras to be located are sorted sequentially. The positioning components and each of the cameras to be positioned are connected in sequence. Read the angle values ​​between the real-time coordinate system axis of each camera to be located and the coordinate system axis of the first base in order; Determine whether the angle between the real-time coordinate system axis of the camera to be located and the first base coordinate system axis is consistent with the angle between the corresponding preset coordinate system axis and the second base coordinate system axis; If so, the positioning of the camera to be located is now complete; If not, continue adjusting the spatial position of the camera to be located.

6. The positioning method according to any one of claims 1 to 5, characterized in that, The positioning device is provided with a positioning element, which is detachably connected to the first base, and the positioning element is provided with a mode conversion button; Before the step of determining the spatial position coordinate system of the positioning device relative to the first base based on the orientation of the first base coordinate system axis, the positioning method further includes: The angle between the real-time coordinate system axis of the camera to be positioned and the coordinate system axis of the first base is obtained. The mode conversion button is used to switch between the angle between the preset coordinate system axis and the coordinate system axis of the second base and the angle between the real-time coordinate system axis and the coordinate system axis of the first base.

7. A regulating system, characterized in that, The regulating system includes: The base includes a first base and a second base; and A positioning device includes a calibration element, a positioning element, a processor, and a memory. The calibration element and the positioning element are detachably connected to a first base and a second base. The positioning element is communicatively connected to the processor, and the processor is communicatively connected to the memory. The memory stores instructions that can be executed by the processor, and the instructions are executed by the processor to enable the processor to perform the steps of the positioning method according to any one of claims 1 to 6.

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