Target tracking method, system and equipment based on positioning and orientation camera and medium

Abstract

The invention discloses a target tracking method, system and device based on a positioning and orientation camera and a medium, and relates to the technical field of camera monitoring and satellite positioning, and the method comprises the steps: obtaining a first positioning coordinate of any camera in a to-be-monitored area and a corresponding first horizontal direction angle; determining a second positioning coordinate of the to-be-monitored object based on a positioning terminal carried by the to-be-monitored object; determining a second horizontal direction angle between the camera and the to-be-monitored object according to any positioning coordinate and the second positioning coordinate; and determining a rotation angle and a rotation direction of the camera according to the first horizontal direction angle of any camera and the second horizontal direction angle corresponding to the camera, so that the camera tracks and monitors the to-be-monitored object. According to the invention, target tracking can be carried out according to the angle, the problem of monitoring failure caused by tracking interruption due to object shielding when the intelligent camera carries out target monitoring based on image recognition is avoided, and the integrity and reliability of video monitoring are improved.

Description

Background Art

[0002] In the field of camera monitoring applications, most cameras are currently video surveillance cameras with manually controlled shooting angles. The shooting angles of such video surveillance cameras remain fixed for a long time and will only respond to control instructions when manual intervention is obtained. In addition, some smart cameras can automatically identify and track targets through image processing technology. However, due to factors such as long shooting distance and object occlusion, the reliability of tracking shooting cannot be guaranteed.

[0003] For some key events or people, it is often impossible to record the development process of the event, the whereabouts of the people or the location of the people in the first place, and there is a certain lag in shooting. For objects that are far away or blocked by objects, the camera will fail to detect the shooting target and the shooting angle control will fail. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the prior art, specifically to address the problems of tracking failure caused by manual control of the camera angle, long shooting distance and object occlusion, and specifically to provide a target tracking method, system, device and medium based on a positioning and directional camera, as follows:

[0005] 1) In the first aspect, the present invention provides a target tracking method based on a positioning and directional camera, and the specific technical solution is as follows:

[0006] Obtaining the first positioning coordinates and the corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the area to be monitored; determining the second positioning coordinates of the object to be monitored based on a positioning terminal carried by the object to be monitored located in the area to be monitored;

[0007] The second positioning coordinate and any first positioning coordinate form a positioning coordinate pair, and determine a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair;

[0008] The horizontal rotation angle and the horizontal rotation direction of the camera are determined according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the object to be monitored, so that the camera can track and monitor the object to be monitored.

[0009] The beneficial effects of a target tracking method based on a positioning and directional camera provided by the present invention are as follows:

[0010] By calculating the position of the camera and the monitored object, determining the relative angle between the two, and tracking the target based on the relative angle, it can avoid the problem of monitoring failure caused by tracking interruption due to object occlusion when the smart camera monitors the target based on image recognition; at the same time, based on the positioning information of the camera and the monitored object, it can shoot the monitored object that is far away and cannot be identified clearly, thus improving the integrity and reliability of video monitoring.

[0011] Based on the above solution, the present invention can also be improved as follows.

[0012] Further, the determining of the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object is specifically:

[0013] Get the horizontal viewing angle of the camera;

[0014] When the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is smaller than the horizontal viewing angle, the monitored object is within the horizontal monitoring range of the camera, and the camera does not need to rotate horizontally.

[0015] Further, the method of determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object further includes:

[0016] When the difference between the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, the object to be monitored is at the boundary of the horizontal monitoring range of the camera, and the horizontal rotation angle and horizontal rotation direction of the camera are determined according to the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera.

[0017] Furthermore, it also includes:

[0018] Obtain the height, the corresponding first vertical direction angle and the corresponding vertical viewing angle of any camera;

[0019] Determine the distance between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair;

[0020] Determine a second vertical angle between the camera and the object to be monitored according to the height of the camera and the distance between the camera and the object to be monitored;

[0021] When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is smaller than the vertical viewing angle, the monitored object is within the vertical monitoring range of the camera, and the camera does not need to rotate vertically.

[0022] Furthermore, it also includes:

[0023] When the difference between the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, the object to be monitored is located at the boundary of the vertical monitoring range of the camera. The vertical rotation angle and the vertical transmission direction of the camera are determined according to the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera.

[0024] Furthermore, it also includes:

[0025] The second positioning coordinates include a preset positioning error;

[0026] The positioning error angle corresponding to any camera is determined according to the first positioning coordinates corresponding to the camera and the preset positioning error.

[0027] Furthermore, the horizontal rotation angle and the vertical rotation angle corresponding to any camera include a positioning error angle and a preset error angle corresponding to the camera.

[0028] 2) In a second aspect, the present invention also provides a target tracking system based on a positioning and directional camera, and the specific technical scheme is as follows: comprising: a positioning module, an angle module and an adjustment module;

[0029] The positioning module is used to obtain the first positioning coordinates and the corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the monitored area; determine the second positioning coordinates of the monitored object based on the positioning terminal carried by the monitored object located in the monitored area;

[0030] The angle module is used to form a positioning coordinate pair with the second positioning coordinate and any first positioning coordinate, and determine a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the monitored object according to any positioning coordinate pair;

[0031] The adjustment module is used to determine the rotation angle and rotation direction of any camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the object to be monitored, so that the camera tracks and monitors the object to be monitored.

[0032] Based on the above solution, the present invention can also be improved as follows.

[0033] Further, the determining of the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object is specifically:

[0034] Get the horizontal viewing angle of the camera;

[0035] When the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is smaller than the horizontal viewing angle, the monitored object is within the horizontal monitoring range of the camera, and the camera does not need to rotate horizontally.

[0036] Further, the method of determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object further includes:

[0037] When the difference between the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, the object to be monitored is at the boundary of the horizontal monitoring range of the camera, and the horizontal rotation angle and horizontal rotation direction of the camera are determined according to the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera.

[0038] Furthermore, it also includes:

[0039] Obtain the height, the corresponding first vertical direction angle and the corresponding vertical viewing angle of any camera;

[0040] Determine the distance between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair;

[0041] Determine a second vertical angle between the camera and the object to be monitored according to the height of the camera and the distance between the camera and the object to be monitored;

[0042] When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is smaller than the vertical viewing angle, the monitored object is within the vertical monitoring range of the camera, and the camera does not need to rotate vertically.

[0043] Furthermore, it also includes:

[0044] When the difference between the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, the object to be monitored is located at the boundary of the vertical monitoring range of the camera. The vertical rotation angle and the vertical transmission direction of the camera are determined according to the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera.

[0045] Furthermore, it also includes:

[0046] The second positioning coordinates include a preset positioning error;

[0047] The positioning error angle corresponding to any camera is determined according to the first positioning coordinates corresponding to the camera and the preset positioning error.

[0048] Furthermore, the horizontal rotation angle and the vertical rotation angle corresponding to any camera include a positioning error angle and a preset error angle corresponding to the camera.

[0049] 3) In a third aspect, the present invention further provides a computer device, comprising a processor, wherein the processor is coupled to a memory, wherein the memory stores at least one computer program, and wherein the at least one computer program is loaded and executed by the processor so that the computer device implements any of the above methods.

[0050] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above methods.

[0051] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0053] Figure 1 A schematic flow chart of a target tracking method based on a positioning and directional camera according to an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of a server, a camera cluster and a terminal user in a monitored area according to an embodiment of the present invention;

[0055] Figure 3A schematic diagram of horizontal shooting of a camera according to an embodiment of the present invention;

[0056] Figure 4 It is a schematic diagram of horizontal shooting of a camera and a monitored object according to an embodiment of the present invention;

[0057] Figure 5 A schematic diagram of vertical shooting of a camera and an object to be monitored according to an embodiment of the present invention;

[0058] Figure 6 A schematic diagram of a second positioning coordinate error range according to an embodiment of the present invention;

[0059] Figure 7 A schematic diagram of a camera cluster according to an embodiment of the present invention;

[0060] Figure 8 A schematic diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0062] like Figure 1 As shown, a target tracking method based on a positioning and directional camera according to an embodiment of the present invention comprises the following steps:

[0063] S1, obtaining the first positioning coordinates and the corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the area to be monitored; determining the second positioning coordinates of the object to be monitored based on the positioning terminal carried by the object to be monitored located in the area to be monitored;

[0064] S2, combining the second positioning coordinates with any of the first positioning coordinates to form a positioning coordinate pair, and determining a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the monitored object according to any of the positioning coordinate pairs;

[0065] S3, determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, so that the camera can track and monitor the monitored object.

[0066] The beneficial effects of a target tracking method based on a positioning and directional camera provided by the present invention are as follows:

[0067] By calculating the position of the camera and the monitored object, determining the relative angle between the two, and tracking the target based on the relative angle, it can avoid the problem of monitoring failure caused by tracking interruption due to object occlusion when the smart camera monitors the target based on image recognition; at the same time, based on the positioning information of the camera and the monitored object, it can shoot the monitored object that is far away and cannot be identified clearly, thus improving the integrity and reliability of video monitoring.

[0068] S1, obtaining the first positioning coordinates and the corresponding first horizontal direction angle of any camera with positioning and orientation function located in the monitored area; determining the second positioning coordinates of the monitored object based on the positioning terminal carried by the monitored object located in the monitored area.

[0069] Areas to be monitored refer to production or transshipment sites with strict monitoring requirements, such as ports, closed parks, enterprise production plants, and places with dense traffic or complex environments. Taking ports as an example, there are generally many cargo containers in ports. If conventional monitoring equipment is set up to monitor personnel or goods, the monitoring may be ineffective due to the obstruction of large containers. Figure 2 This is a schematic diagram of the server, camera cluster and terminal users in the monitored area. Multiple cameras and positioning terminals are connected to the unified service.

[0070] Positioning and orientation refers to the ability to determine current location information and monitor orientation information.

[0071] The camera refers to a camera with positioning and orientation functions, that is, the camera can obtain the current position coordinates and current orientation angle in real time.

[0072] The first positioning coordinate refers to: the current positioning coordinate of the camera. The positioning coordinate can be divided according to the longitude and latitude information, or the entire monitored area can be divided into a coordinate system to determine the positioning coordinate of the camera.

[0073] The first horizontal direction angle refers to: the horizontal angle of the current orientation of the camera. In this embodiment, the angle between the center line of the camera's horizontal field of view and the North Pole coordinate is the first horizontal direction angle, such as Figure 3 : is a horizontal schematic diagram of a certain camera, in which β is the first horizontal direction angle, α is the angle between the midline of the field of view and the boundary of the field of view, and N is the geographic north direction.

[0074] The objects to be monitored refer to: people, containers, vehicles, goods, and mechanical equipment in the area to be monitored.

[0075] A positioning terminal refers to a terminal device with a positioning function, which can be a special positioning terminal or a mobile phone that has obtained positioning authorization.

[0076] The second positioning coordinates refer to: the positioning coordinates of the object to be monitored; similar to the first positioning coordinates, the positioning coordinates can be divided according to the longitude and latitude information, or the entire area to be monitored can be divided into a coordinate system to determine the positioning coordinates of the object to be monitored.

[0077] S2, the second positioning coordinate and any first positioning coordinate form a positioning coordinate pair, and determine the second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the monitored object according to any positioning coordinate pair.

[0078] The second horizontal direction angle refers to: the direction angle between the camera and the object to be monitored. In this embodiment, the angle between the line between the camera and the object to be monitored and the North Pole is taken as the second horizontal direction angle.

[0079] like Figure 4 It is a horizontal schematic diagram of a certain camera and an object to be monitored, in which point A is the second positioning coordinate point of the object to be monitored, and θ1 is the angle between the line between the camera and the object to be monitored and the North Pole of the coordinate, i.e., the second horizontal direction angle. It should be noted that: the subsequent θ1, θ2 and θ3 all represent the second horizontal direction angle, and in the embodiment, in order to distinguish the process before and after the movement, they are distinguished by subscripts; similarly, the subsequent c1 and c2 all represent the second vertical direction angle, and in the embodiment, in order to distinguish the process before and after the movement, they are distinguished by subscripts. For details, please refer to the specific attached drawings for introduction.

[0080] S3, determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, so that the camera can track and monitor the monitored object.

[0081] The horizontal rotation angle and the horizontal rotation direction of any camera are determined according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, specifically:

[0082] Get the horizontal viewing angle of the camera;

[0083] When the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is smaller than the horizontal viewing angle, the monitored object is within the horizontal monitoring range of the camera, and the camera does not need to rotate horizontally.

[0084] Determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object also includes:

[0085] When the difference between the second horizontal angle between the camera and the monitored object and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, the monitored object is at the boundary of the horizontal monitoring range of the camera, and the horizontal rotation angle and horizontal rotation direction of the camera are determined according to the second horizontal angle between the camera and the monitored object and the first horizontal angle corresponding to the camera. Wherein:

[0086] The horizontal viewing angle refers to the maximum angle that the camera can monitor in the horizontal direction. Figure 4 , α is the angle between the center line of the field of view and the boundary of the field of view. In this embodiment, in order to better track the monitored object and make the monitored object as close to the central axis of the image as possible, α is used as the horizontal viewing angle to participate in subsequent calculations. It should be noted that in this embodiment, the purpose of using α as the horizontal viewing angle to participate in subsequent calculations is to make the monitored object as close to the central axis of the image as possible. If the requirements for image monitoring are not high, the horizontal viewing angle participating in subsequent calculations can be adjusted according to demand.

[0087] Considering the horizontal rotation error of the camera pan / tilt, a preset error angle δ is set.

[0088] like Figure 4 As shown, the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is less than the horizontal viewing angle, which can be converted into a first formula. The first formula is as follows:

[0089] θ1-β<α-δ,

[0090] At this time, it means that the object to be monitored is within the horizontal monitoring range of the camera, and the camera does not need to be rotated horizontally.

[0091] When the monitored object gradually moves from point A to point B, the second horizontal angle gradually increases, and the monitored object gradually moves to the edge of the horizontal field of view of the camera. At this time, the second positioning coordinate of the monitored object is point B, and the second horizontal angle is θ2. The difference between the second horizontal angle between the camera and the monitored object and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, which can be converted into the second formula. The second formula is as follows:

[0092] θ2-β=α-δ,

[0093] At this time, the object to be monitored is at the boundary of the horizontal monitoring range of the camera, and the camera needs to be rotated horizontally. The horizontal rotation angle is the absolute value of the difference between the second horizontal angle and the first horizontal angle, that is: |θ2-β|; when the difference between the second horizontal angle and the first horizontal angle is a positive number, the horizontal rotation direction is clockwise, and when the difference between the second horizontal angle and the first horizontal angle is a negative number, the horizontal rotation direction is counterclockwise. It should be noted that clockwise rotation and counterclockwise rotation here refer to treating the cross-section of the horizontal field of view of the camera as a clock face, with the geographic North Pole as the 12 o'clock of the clock face.

[0094] Therefore, for the horizontal rotation angle of the camera, after considering the preset error angle of the camera rotation, the angle threshold θ for triggering the camera rotation can be determined by the third formula, which is as follows:

[0095] θ = α + β - δ;

[0096] The advantage of adopting the above solution is that after the camera rotates, the monitored object returns to the vicinity of the central axis of the shooting angle of view, thereby ensuring that the target is always in a tracking state.

[0097] The above embodiment introduces the situation that the object to be monitored is located in the initial field of view of the camera and gradually moves to the edge of the field of view of the camera. However, when the object to be monitored is not initially in the initial field of view of the camera, as follows:

[0098] The camera may have just finished monitoring the last monitored object or in other situations, and the monitored object is not within the initial field of view of the camera. When the camera detects that the monitored object enters the preset monitoring range, the fourth formula is as follows:

[0099] θ3-β>α-δ,

[0100] Wherein, θ3 is a second horizontal direction angle when the monitored object is not within the initial field of view of the camera.

[0101] In order to monitor the object to be monitored near the center axis of the image, the camera needs to be rotated horizontally by an angle of |θ3-β|. When the difference between the second horizontal angle and the first horizontal angle is a positive number, the horizontal rotation direction is clockwise. When the difference between the second horizontal angle and the first horizontal angle is a negative number, the horizontal rotation direction is counterclockwise.

[0102] In addition, it also includes:

[0103] Obtain the height, the corresponding first vertical direction angle and the corresponding vertical viewing angle of any camera;

[0104] Determine the distance between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair;

[0105] Determine a second vertical angle between the camera and the object to be monitored according to the height of the camera and the distance between the camera and the object to be monitored;

[0106] When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is smaller than the vertical viewing angle, the monitored object is within the vertical monitoring range of the camera, and the camera does not need to rotate vertically.

[0107] When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, the monitored object is located at the boundary of the vertical monitoring range of the camera, and the vertical rotation angle and vertical transmission direction of the camera are determined according to the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera. Wherein:

[0108] The first vertical direction angle refers to: the vertical angle of the current orientation of the camera. In this embodiment, the angle between the center line of the vertical field of view of the camera and the vertical direction is taken as the first vertical direction angle.

[0109] The vertical viewing angle refers to the maximum angle that the camera can monitor in the vertical direction. In this embodiment, in order to better track the monitored object and make the monitored object as close to the central axis of the image as possible, half of the maximum angle that can be monitored in the vertical direction is used as the vertical viewing angle in subsequent calculations. In this embodiment, a represents the vertical viewing angle.

[0110] like Figure 5 , is a schematic diagram of vertical shooting between a camera and an object to be monitored, in which s1 is the distance between the camera and the object to be monitored. In this embodiment, the distance refers to the horizontal distance between the camera and the object to be monitored, in order to calculate the direction angle between the two with the height of the camera. c1 is the second vertical direction angle between the camera and the object to be monitored, b is the first vertical direction angle of the camera, and h is the height of the camera.

[0111] The second vertical direction angle is determined by the fourth formula, and the fifth formula is as follows:

[0112]

[0113] Considering the vertical rotation error of the camera pan / tilt, a preset error angle δ is set.

[0114] The difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is less than the vertical viewing angle, which can be converted into the sixth formula. The sixth formula is as follows:

[0115] c1-b<a-δ,

[0116] Among them, a is the vertical viewing angle. It should be noted that the letter after the less than sign in the formula is a (lowercase letter A), which is similar to but different from α (pronounced alpha) in the first to fourth formulas, and will not be repeated later.

[0117] At this time, it means that the object to be monitored is within the vertical monitoring range of the camera, and the camera does not need to be rotated vertically.

[0118] When the monitored object gradually moves from point A to point B, the second vertical angle gradually increases, and the monitored object gradually moves to the edge of the vertical field of view of the camera. At this time, the second positioning coordinate of the monitored object is point B, and the second vertical angle is c2. The difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, which can be converted into the sixth formula. The seventh formula is as follows:

[0119] c2-b=a-δ,

[0120] At this time, the object to be monitored is at the boundary of the vertical monitoring range of the camera, and the camera needs to be rotated vertically. The vertical rotation angle is the absolute value of the difference between the second vertical angle and the first vertical angle, that is: |θ2-β|; when the difference between the second vertical angle and the first vertical angle is a positive number, the vertical rotation direction is upward rotation, and when the difference between the second vertical angle and the first vertical angle is a negative number, the vertical rotation direction is downward rotation. It should be noted that the upward rotation and downward rotation here refer to the ground as a reference, the direction away from the ground is upward rotation, and the direction close to the ground is downward rotation.

[0121] Therefore, for the vertical rotation angle of the camera, after considering the preset error angle of the camera rotation, the angle threshold c for triggering the camera rotation is determined by the eighth formula, which is as follows:

[0122] c=a+b-δ.

[0123] In addition, it also includes:

[0124] The second positioning coordinates include a preset positioning error;

[0125] The positioning error angle corresponding to any camera is determined based on the first positioning coordinates corresponding to the camera and the preset positioning error. Where:

[0126] like Figure 6, is a schematic diagram of the error range of the second positioning coordinate. Considering the positioning error of the positioning terminal carried by the monitored object, the error value is r. The current positioning terminal is located at point A, then it may actually be located at any position within the circle formed by point A as the center and r as the radius. And the maximum error angle is the angle between the line connecting the camera and the center of the circle and the tangent line between the camera and the circle, represented by ε. According to the first positioning coordinates corresponding to the camera and the first positioning coordinates of the monitored object, the distance ι between the two is calculated, then:

[0127]

[0128] Therefore, considering the positioning error of the positioning terminal, in the third formula above, the angle threshold θ for triggering the horizontal rotation of the camera can be updated as:

[0129] θ = α + β - δ - ε;

[0130] Similarly, in the eighth formula above, the angle threshold c for triggering the vertical rotation of the camera can be updated as:

[0131] c=a+b-δ-ε.

[0132] It should be noted that the angle setting and positioning selection in this embodiment are both set based on the absolute value of the geographic reference axis and are independent of the camera's installation angle. Therefore, this method is generally applicable to such camera devices with built-in positioning and orientation functions.

[0133] The target tracking method of the positioning and directional camera implemented based on the above method can be deployed in a specific area to form a camera cluster, such as Figure 7 As shown. Cameras X, Y, and Z are deployed on both sides of the road in sequence, and the monitoring visible area of ​​each camera can be simplified as a circle with the camera as the center and a certain radius. The target to be monitored moves from the left and enters the visible area of ​​camera X from position P1. The system automatically controls camera X to track the target. When the target moves to position P2, camera Z rotates and tracks the target. When the target reaches position P3, it leaves the shooting range of camera X, and camera X exits tracking. In the P2 to P3 section of the process, cameras X and Z simultaneously track and shoot the target at different angles, forming a complementary relationship, thereby effectively avoiding the problem of missing records caused by factors such as occlusion. The principle of linkage shooting in which camera Y participates in the subsequent figure is basically the same as the above process and will not be repeated.

[0134] At the same time, in the specific implementation of this solution, the rotation reference coordinate system of the camera pan / tilt should be considered. Therefore, when the angle value calculated by the above method is input into the camera, the conversion relationship with the camera's own pan / tilt reference coordinate system needs to be considered. This conversion relationship has nothing to do with the spatial attributes of the camera and is not discussed in this patent.

[0135] The beneficial effects of adopting the above scheme are as follows:

[0136] The overall solution consists of a full-time and space camera with integrated positioning and orientation functions, a monitoring platform server, and a positioning terminal to be monitored. Among them, the camera and the positioning terminal can be connected to the monitoring server and report the current position and other information in real time. The monitoring platform server calculates the horizontal and vertical rotation angles of the camera based on the positions of the two and the current visual azimuth of the camera, and inputs the angles into the camera, and the camera pan / tilt performs the corresponding rotation action. At the same time, when the shooting target is in the visual area of ​​multiple cameras at the same time, the system will automatically control these cameras in linkage and shoot the target at the same time to achieve multi-angle recording, avoiding invalid shooting of a single camera due to inappropriate viewing angle, long distance or foreign object obstruction. Based on the above method, the camera can realize real-time tracking and shooting of the positioning terminal. This method combines satellite positioning information, and the tracking and shooting effect is stable, reliable and accurate.

[0137] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0138] The present invention also provides a target tracking system based on a positioning and directional camera, and the specific technical scheme is as follows: comprising: a positioning module, an angle module and an adjustment module;

[0139] A positioning module, used to obtain a first positioning coordinate and a corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the area to be monitored; and determine a second positioning coordinate of the object to be monitored based on a positioning terminal carried by the object to be monitored located in the area to be monitored;

[0140] An angle module, used for combining the second positioning coordinate with any first positioning coordinate to form a positioning coordinate pair, and determining a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the monitored object according to any positioning coordinate pair;

[0141] The adjustment module is used to determine the rotation angle and rotation direction of any camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, so that the camera can track and monitor the monitored object.

[0142] Based on the above solution, the present invention can also be improved as follows.

[0143] Further, the horizontal rotation angle and the horizontal rotation direction of the camera are determined according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, specifically:

[0144] Get the horizontal viewing angle of the camera;

[0145] When the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is smaller than the horizontal viewing angle, the monitored object is within the horizontal monitoring range of the camera, and the camera does not need to rotate horizontally.

[0146] Further, the horizontal rotation angle and the horizontal rotation direction of the camera are determined according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object, and further includes:

[0147] When the difference between the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, the object to be monitored is at the boundary of the horizontal monitoring range of the camera. The horizontal rotation angle and horizontal rotation direction of the camera are determined according to the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera.

[0148] Furthermore, it also includes:

[0149] Obtain the height, the corresponding first vertical direction angle and the corresponding vertical viewing angle of any camera;

[0150] Determine the distance between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair;

[0151] Determine a second vertical angle between the camera and the object to be monitored according to the height of the camera and the distance between the camera and the object to be monitored;

[0152] When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is smaller than the vertical viewing angle, the monitored object is within the vertical monitoring range of the camera, and the camera does not need to rotate vertically.

[0153] Furthermore, it also includes:

[0154] When the difference between the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, the object to be monitored is located at the boundary of the vertical monitoring range of the camera. The vertical rotation angle and the vertical transmission direction of the camera are determined according to the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera.

[0155] Furthermore, it also includes:

[0156] The second positioning coordinates include a preset positioning error;

[0157] The positioning error angle corresponding to any camera is determined according to the first positioning coordinates corresponding to the camera and the preset positioning error.

[0158] Furthermore, the horizontal rotation angle and the vertical rotation angle corresponding to any camera include a positioning error angle and a preset error angle corresponding to the camera.

[0159] It should be noted that the beneficial effects of the target tracking system based on a positioning and directional camera provided in the above embodiment are the same as the beneficial effects of the target tracking method based on a positioning and directional camera, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0160] like Figure 8 As shown, a computer device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the computer device 300 implements any of the above methods, specifically:

[0161] The computer device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the computer device 300 implements a target tracking method based on a positioning and directional camera provided in the above embodiment. Of course, the computer device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the computer device 300 may also include other components for realizing the functions of the device, which will not be described in detail here.

[0162] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0163] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0164] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above-mentioned target tracking methods based on positioning and orienting cameras.

[0165] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0166] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0167] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0168] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A target tracking method based on a positioning and directional camera, characterized in that: include: Obtaining a first positioning coordinate and a corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the area to be monitored; Determine the second positioning coordinates of the object to be monitored based on a positioning terminal carried by the object to be monitored and located in the area to be monitored; The second positioning coordinate and any first positioning coordinate form a positioning coordinate pair, and determine a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair; The horizontal rotation angle and the horizontal rotation direction of the camera are determined according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the object to be monitored, so that the camera can track and monitor the object to be monitored.

2. The target tracking method based on a positioning and directional camera according to claim 1, characterized in that: The determining of the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object is specifically: Get the horizontal viewing angle of the camera; When the difference between the second horizontal direction angle between the camera and the monitored object and the first horizontal direction angle corresponding to the camera is smaller than the horizontal viewing angle, the monitored object is within the horizontal monitoring range of the camera, and the camera does not need to rotate horizontally.

3. The target tracking method based on a positioning and directional camera according to claim 2, characterized in that: The method of determining the horizontal rotation angle and the horizontal rotation direction of the camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the monitored object also includes: When the difference between the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera is equal to the horizontal viewing angle, the object to be monitored is at the boundary of the horizontal monitoring range of the camera, and the horizontal rotation angle and horizontal rotation direction of the camera are determined according to the second horizontal angle between the camera and the object to be monitored and the first horizontal angle corresponding to the camera.

4. The target tracking method based on a positioning and directional camera according to claim 1, characterized in that: Also includes: Obtain the height, the corresponding first vertical direction angle and the corresponding vertical viewing angle of any camera; Determine the distance between the camera corresponding to the positioning coordinate pair and the object to be monitored according to any positioning coordinate pair; Determine a second vertical angle between the camera and the object to be monitored according to the height of the camera and the distance between the camera and the object to be monitored; When the difference between the second vertical angle between the camera and the monitored object and the first vertical angle corresponding to the camera is smaller than the vertical viewing angle, the monitored object is within the vertical monitoring range of the camera, and the camera does not need to rotate vertically.

5. The target tracking method based on positioning and orientation camera according to claim 4, characterized in that: Also includes: When the difference between the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera is equal to the vertical viewing angle, the object to be monitored is located at the boundary of the vertical monitoring range of the camera. The vertical rotation angle and the vertical transmission direction of the camera are determined according to the second vertical angle between the camera and the object to be monitored and the first vertical angle corresponding to the camera.

6. A target tracking method based on a positioning and directional camera according to any one of claims 1 to 5, characterized in that: Also includes: The second positioning coordinates include a preset positioning error; The positioning error angle corresponding to any camera is determined according to the first positioning coordinates corresponding to the camera and the preset positioning error.

7. The target tracking method based on a positioning and directional camera according to claim 6, characterized in that: The horizontal rotation angle and the vertical rotation angle corresponding to any camera include the positioning error angle and the preset error angle corresponding to the camera.

8. A target tracking system based on a positioning and directional camera, characterized in that: include: Positioning module, angle module and adjustment module; The positioning module is used to obtain the first positioning coordinates and the corresponding first horizontal direction angle of any camera with positioning and orientation functions located in the area to be monitored; Determine the second positioning coordinates of the object to be monitored based on a positioning terminal carried by the object to be monitored and located in the area to be monitored; The angle module is used to form a positioning coordinate pair with the second positioning coordinate and any first positioning coordinate, and determine a second horizontal direction angle between the camera corresponding to the positioning coordinate pair and the monitored object according to any positioning coordinate pair; The adjustment module is used to determine the rotation angle and rotation direction of any camera according to the first horizontal direction angle corresponding to any camera and the second horizontal direction angle between the camera and the object to be monitored, so that the camera tracks and monitors the object to be monitored.

9. A computer device, characterized in that: The computer device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the computer device implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements the method according to any one of claims 1 to 7.

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