Multi-target monitoring method and device

Abstract

The invention discloses a multi-target monitoring method and device, and the method comprises the steps: transmitting a pitch angle return-to-zero instruction, and enabling the pitch angle of a monitoring ball lens to return to zero; acquiring orientation azimuth angles of the monitoring ball lenses; acquiring three-dimensional coordinates of the deploy and control ball; acquiring three-dimensional coordinates of all monitoring targets bound with the same deploy and control ball in advance; according to the number of the bound monitoring targets and the collinear and coplanar conditions of all the bound monitoring targets, selecting a preset lens angle adjustment strategy and a focal length adjustment strategy, and calculating to obtain a horizontal rotation direction and a rotation angle of a to-be-adjusted lens, a pitch angle of the to-be-adjusted lens and a to-be-adjusted focal length; and the horizontal rotation direction and rotation angle of the to-be-adjusted lens, the pitch angle of the to-be-adjusted lens and the focal length of the to-be-adjusted lens are sent, so that the monitoring ball adjusts the angle and the focal length of the lens, and a clear monitoring target monitoring picture is obtained. Multiple targets can be monitored on the same ball and on the same picture, the lens angle and the focal length can be automatically adjusted according to the positions of the multiple monitored targets, and the monitored targets are presented in the lens picture in a high-definition mode.

Description

Technical Field

[0001] The present invention relates to the technical field of security monitoring, and in particular to a multi-target monitoring method and device. Background Art

[0002] In order to ensure the safety and compliance of the operation at the work site, the work site needs to be supervised. The common supervision method is that after the power grid operator arrives at the site, he / she first places the monitoring equipment such as the control ball at the designated location, and then puts on the safety helmet and terminal modules such as the recorder to start the construction. The general monitoring room views the operator's operation process on the large screen. If the operator exceeds the monitoring area of ​​the control ball, the operator needs to actively reverse the field of view of the control ball or the background supervisor remotely operates the control ball to switch to a different angle, so that the operator can re-enter the field of view of the control ball monitoring camera. This operation process is cumbersome, not intelligent enough, and inefficient.

[0003] The current automatic target tracking method generally uses a single ball to track a single operator, such as locking a single person or randomly selecting a single person for tracking, which cannot achieve multi-target tracking and monitoring. For scenes with a large operating range, a single ball tracking a single person will cause too much audio and video data to be transmitted back, which increases the difficulty of data processing in the background and the workload and difficulty of supervision for supervisors. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-target monitoring method to solve the current technical problem that it is impossible to track and supervise multiple targets at the same time, resulting in high control costs, heavy workload and great difficulty for supervisors.

[0005] In one aspect, the present invention provides a multi-target monitoring method, comprising the following steps:

[0006] Send a pitch angle reset command to reset the pitch angle of the control ball camera to zero;

[0007] Get the azimuth angle of the control ball camera;

[0008] Get the three-dimensional coordinates of the control ball;

[0009] Obtain the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball;

[0010] According to the number of bound monitoring targets, the colinearity and coplanarity of all bound monitoring targets, the preset lens angle adjustment strategy and focal length adjustment strategy are selected to calculate the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted;

[0011] Send the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball can adjust the lens angle and focal length to obtain a clear monitoring picture of the monitoring target.

[0012] In some embodiments, the preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets, the colinearity and coplanarity of all bound monitoring targets, specifically including: if the number of bound monitoring targets is one, a first lens angle adjustment strategy and a first focal length adjustment strategy are adopted, and the first lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with one monitoring target.

[0013] In some embodiments, the preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets, the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 2 and are colinear, a second lens angle adjustment strategy and a second focal length adjustment strategy are adopted, and the second lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center point of a line segment, and the line segment is the longest line segment composed of multiple monitoring terminals.

[0014] In some embodiments, the preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 3 and are not colinear but coplanar, a third ball lens angle adjustment strategy and a third focal length adjustment strategy are adopted, and the third ball lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a circle, at least 3 monitoring targets are on the circle, and the remaining monitoring targets are within the circle.

[0015] In some embodiments, the preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 4 and are not coplanar, a fourth lens angle adjustment strategy and a fourth focal length adjustment strategy are adopted, and the fourth lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a sphere, at least 4 monitoring targets are on the sphere, and the remaining monitoring targets are inside the sphere.

[0016] In some embodiments, the first lens angle adjustment strategy and the first focal length adjustment strategy include:

[0017] According to the coordinates of the monitoring target and the control ball, the azimuth and horizontal offset angle of the monitoring target relative to the control ball are calculated;

[0018] By monitoring the azimuth and horizontal offset angle of the target relative to the control ball and the azimuth of the lens, the horizontal rotation direction and rotation angle of the lens to be adjusted are calculated;

[0019] According to the coordinates of the monitoring target and the control ball, the pitch angle of the lens to be adjusted is obtained;

[0020] The distance between the monitoring target and the control ball is obtained, and the focal length f to be adjusted is obtained according to the distance D between the monitoring target and the control ball, the lens screen size v, and the preset monitoring target size V through the formula f=v×D / V.

[0021] In some embodiments, the second lens angle adjustment strategy and the second focal length adjustment strategy include:

[0022] Obtain the coordinates of the monitoring targets at both ends of the longest line segment formed by multiple monitoring terminals, and calculate the coordinates of the center point of the longest line segment using the midpoint coordinate formula;

[0023] According to the coordinates of the center point and the control sphere, the azimuth and horizontal offset angle of the center point relative to the control sphere are calculated;

[0024] The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the orientation and horizontal offset angle of the center point relative to the control ball and the orientation angle of the lens;

[0025] According to the center point and the coordinates of the control ball, the pitch angle of the lens to be adjusted is obtained;

[0026] Calculate the distance d from a monitored target at the end of the longest line segment to the line connecting the center point and the control ball. According to the distance l between the center point and the control ball, the lens screen size v and the distance d, the focal length f to be adjusted is obtained through the formula f=v×l / 2d.

[0027] In some embodiments, the third ball lens angle adjustment strategy and the third focal length adjustment strategy include:

[0028] Every three monitoring targets form a group. According to the mathematical theorem that a circle can be determined by three points that are not collinear but coplanar, the center coordinates and radius of the circle determined by the three monitoring targets in each group are obtained. The circles in each group are traversed. According to the distance formula, it is determined whether the monitoring targets in different groups are inside or on the circle of the group, until a circle in which all monitoring targets are inside or on is found. Let the center of the circle be o.

[0029] According to the coordinates of the circle center o and the control sphere, the azimuth and horizontal offset angle of the circle center o relative to the control sphere are calculated;

[0030] The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the orientation and horizontal offset angle of the center o relative to the control ball and the orientation angle of the lens;

[0031] According to the center o of the circle and the coordinates of the control ball, the pitch angle of the lens to be adjusted is obtained;

[0032] Calculate the distance from each monitoring target to the line connecting the center o of the circle and the control ball, and record the maximum value of the distance R , max ;

[0033] According to the distance s between the center of the circle o and the control ball, the lens screen size v and the distance R ,max , through the formula f = v × s / 2R ， max , obtain the focal length f to be adjusted.

[0034] In some embodiments, the fourth lens angle adjustment strategy and the fourth focal length adjustment strategy include:

[0035] Every 4 monitoring targets form a group. According to the mathematical theorem that 4 non-coplanar points will definitely share a sphere, the coordinates and radius of the center of the sphere determined by the four monitoring targets in each group are obtained. The spheres in each group are traversed, and according to the distance formula, it is determined whether the monitoring targets in different groups are inside or on the sphere, until a sphere in which all monitoring targets are inside or on is found. Let the center of the sphere be O and the radius of the sphere be R.

[0036] According to the coordinates of the sphere center O and the control sphere coordinates, the azimuth and horizontal offset angle of the circle center O relative to the control sphere are calculated;

[0037] The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the azimuth and horizontal offset angle of the ball center O relative to the control ball and the azimuth of the lens orientation;

[0038] According to the sphere center O and the control sphere coordinates, obtain the pitch angle of the lens to be adjusted

[0039] According to the distance k between the center of the ball O and the control ball, the lens screen size v and the radius R of the ball, the focal length f to be adjusted is obtained through the formula f=v×k / 2R.

[0040] On the other hand, the present invention also provides a multi-target monitoring device, characterized in that it includes:

[0041] The pitch angle zeroing module sends a pitch angle zeroing command to reset the pitch angle of the control ball camera to zero;

[0042] A module for acquiring a direction azimuth angle, used to acquire a direction azimuth angle of a control ball lens;

[0043] The control ball positioning module is used to obtain the three-dimensional coordinates of the control ball;

[0044] The monitoring target positioning module is used to obtain the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball;

[0045] The lens angle to be adjusted and the focal length to be adjusted calculation module are used to select the preset lens angle adjustment strategy and focal length adjustment strategy according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, and calculate the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted;

[0046] The lens angle and focal length adjustment module sends the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball adjusts the lens angle and focal length to obtain a clear monitoring image of the monitoring target.

[0047] The beneficial effects of the present invention are as follows: the present invention can not only monitor a single target, but also monitor multiple targets at the same time. The lens angle and focal length can be automatically adjusted according to the positions of multiple monitored targets, so that the monitored targets can be presented in the lens picture with high definition no matter where they are. When adjusting the lens angle and focal length, different angle adjustment and focal length adjustment algorithms are selected according to the number of monitored targets and the relative positions of these monitored targets (collinear or coplanar), so as to be suitable for various monitoring scenarios with different numbers of monitored targets and different distribution positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a flow chart of a method according to an embodiment of the present invention;

[0050] Figure 2 Schematic diagram of adjusting the lens angle when monitoring a single target;

[0051] Figure 3 Schematic diagram of lens angle adjustment when monitoring 2-n collinear targets;

[0052] Figure 4 Schematic diagram of lens angle adjustment when monitoring 3-n coplanar but non-colinear targets;

[0053] Figure 5 Schematic diagram of lens angle adjustment when monitoring 4-n non-coplanar targets. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0055] like Figure 1 As shown, the present invention provides a multi-target monitoring method, comprising:

[0056] S1, send a pitch angle reset command to reset the pitch angle of the control ball camera to zero;

[0057] The monitoring device involved in the multi-target monitoring method of the present invention uses a control ball. Before the processing device (such as a server) sends a pitch angle zeroing instruction, it is necessary to first deploy the control ball in place and establish a connection with the server. Then the control ball receives the pitch angle zeroing instruction sent by the server, detects the initial pitch angle of the lens through the IMU sensor integrated in the lens module, and then adjusts the pitch angle to zero so that the lens is parallel to the ground.

[0058] S2, obtaining the azimuth angle of the control ball camera;

[0059] The lens module integrates a geomagnetic sensor, which can obtain the lens azimuth and send the lens azimuth information to the server.

[0060] S3, obtaining the three-dimensional coordinates of the control ball;

[0061] S4, obtaining the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball;

[0062] A positioning device is integrated in the control ball. The location information of the control ball is collected through the positioning device and forwarded to the server. The monitoring target in the embodiment of the present invention refers to the operating personnel. The positioning device is worn by the operating personnel to obtain the location information of the monitoring target and forward it to the server. The positioning device of the monitoring target can be integrated in a safety helmet or a recorder. The operating personnel can wear a safety helmet or a recorder to perform construction work, so as to obtain the location information.

[0063] The positioning device can use single Beidou RTK positioning, UWB positioning, or both, and switch between them according to the environmental conditions of the construction site.

[0064] The monitoring method of the present invention needs to bind the control ball to the positioning device before starting. The binding or unbinding operation can be performed by the supervisor on the platform. For example, if a certain operation scene requires a control ball to monitor three monitoring targets A, B, and C, the three positioning terminals worn by A, B, and C will be bound to the control ball.

[0065] S5. According to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, a preset lens angle adjustment strategy and a focal length adjustment strategy are selected to calculate and obtain the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted;

[0066] According to the number of monitoring targets bound to the same control ball and the relative positions of these monitoring targets (collinear or coplanar), the angle adjustment strategy and focal length adjustment strategy of the control ball are selected.

[0067] In some embodiments, if there is one monitoring target bound, a first lens angle adjustment strategy and a first focal length adjustment strategy are adopted. The first lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with one monitoring target, specifically:

[0068] S510, calculating and obtaining the azimuth and horizontal offset angle of the monitored target relative to the control ball according to the coordinates of the monitored target and the control ball;

[0069] The three-dimensional coordinates are established as follows Figure 2 As shown, the positive direction of the x-axis points to the east, and the positive direction of the y-axis points to the south. By comparing the x and y coordinate values ​​of the control ball and the monitoring target, the relative direction can be calculated. By substituting the coordinates of the monitoring target and the control ball into the formula Calculate the horizontal offset angle α relative to the control ball. Taking the monitoring target at point A as an example, the monitoring target is located α north-east relative to the control ball.

[0070] S511, calculating and obtaining the horizontal rotation direction and rotation angle of the lens to be adjusted by monitoring the azimuth and horizontal offset angle of the target relative to the control ball and the azimuth of the lens orientation;

[0071] For example, the azimuth angle of the lens obtained in step S2 is β west of north, and the horizontal rotation direction and rotation angle of the lens to be adjusted are the clockwise horizontal rotation angle α+β.

[0072] S512, obtaining the pitch angle of the lens to be adjusted according to the coordinates of the monitoring target and the control ball;

[0073] By substituting the coordinates of the monitoring target and the control ball into the formula

[0074] Calculate and obtain the pitch angle of the lens to be adjusted.

[0075] S513, obtaining the distance D between the monitoring target and the control ball, and obtaining the focal length f to be adjusted according to the distance D between the monitoring target and the control ball, the lens screen size v, and the preset monitoring target size V through the formula f=v×D / V.

[0076] According to the two-point distance formula, the distance D between the monitoring target and the control ball and the lens screen size v are obtained. The control ball can be read from the lens chip and sent to the server after reading. In the embodiment of the present invention, the monitoring target is a staff member, and the upper limit of the height of the staff member can be calculated and set as the size V of the monitoring target. The focal length f to be adjusted of the lens is obtained through the focal length calculation formula.

[0077] In some embodiments, if the number of bound monitoring targets is not less than 2 and they are collinear, a second lens angle adjustment strategy and a second focal length adjustment strategy are adopted. The second lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center point of a line segment, and the line segment is the longest line segment composed of multiple monitoring terminals, specifically:

[0078] S520, obtaining the coordinates of the monitoring targets at both ends of the longest line segment formed by the multiple monitoring terminals, and obtaining the coordinates of the center point of the longest line segment by calculating the midpoint coordinate formula;

[0079] like Figure 3 As shown, the monitoring targets in the embodiment of the present invention are on a line, and the longest line segment is a line segment including all the monitoring targets. Figure 3 The midpoint of the longest line segment is the center point O.

[0080] S521, calculating the azimuth and horizontal offset angle of the center point relative to the control sphere according to the coordinates of the center point and the control sphere coordinates;

[0081] For the specific calculation idea of ​​this step, please refer to the detailed explanation of step S410.

[0082] S522, calculating the horizontal rotation direction and rotation angle of the lens to be adjusted through the orientation and horizontal offset angle of the center point relative to the control ball and the orientation angle of the lens;

[0083] For the specific calculation idea of ​​this step, please refer to the detailed explanation of step S411.

[0084] S523, obtaining the pitch angle of the lens to be adjusted according to the center point and the coordinates of the control ball;

[0085] For the specific calculation idea of ​​this step, please refer to the detailed explanation of step S412.

[0086] After adjusting the lens according to the horizontal rotation direction and rotation angle of the lens to be adjusted and the pitch angle of the lens to be adjusted obtained in steps S422-S423, the lens can be aligned with the center point of the longest line segment.

[0087] S524. Calculate the distance d from a monitoring target at the end of the longest line segment to the line connecting the center point and the control ball. According to the distance l between the center point and the control ball, the lens screen size v and the distance d, obtain the focal length f to be adjusted through the formula f=v×l / 2d.

[0088] The distance d can be obtained by the formula Wherein point C represents the monitoring target at the end of the longest line segment, and point M represents the control ball.

[0089] In some embodiments, if the number of bound monitoring targets is not less than 3 and they are not collinear but coplanar, a third ball lens angle adjustment strategy and a third focal length adjustment strategy are adopted. The third ball lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a circle, at least 3 monitoring targets are on the circle, and the remaining monitoring targets are within the circle, specifically:

[0090] S530, such as Figure 4 As shown, every three monitoring targets form a group. According to the mathematical theorem that a circle can be determined by three non-collinear but coplanar points, the center coordinates and radius of the circle determined by the three monitoring targets in each group are obtained. The circles in each group are traversed, and according to the distance formula, it is determined whether the monitoring targets in different groups are in or on the circle of the group, until a circle in which all monitoring targets are in or on is found. Let the center of the circle be o;

[0091] The coordinates of the center of the circle and the radius can be obtained by deducing using commonly used mathematical theorems, which will not be repeated here.

[0092] S531, calculating the azimuth and horizontal offset angle of the circle center o relative to the control sphere according to the coordinates of the circle center o and the control sphere coordinates;

[0093] S532, calculating the horizontal rotation direction and rotation angle of the lens to be adjusted through the orientation and horizontal offset angle of the center o relative to the control ball and the orientation angle of the lens;

[0094] S533, obtaining the pitch angle of the lens to be adjusted according to the center o and the coordinates of the control ball;

[0095] The detailed calculation ideas of S531-S533 refer to steps S510-S512 to obtain the lens adjustment angle to be adjusted so as to rotate the lens center o.

[0096] S534, calculate the distance from each monitoring target to the line connecting the center o of the circle and the control ball, and record the maximum value R of the distance , max;

[0097] The distance formula from the point to the line in step S524 can be referred to to obtain the distance from each monitored target to the line connecting the center o of the circle and the control ball.

[0098] S535, based on the distance s between the center of the circle o and the control ball, the lens screen size v and the distance R , max , through the formula f = v × s / 2R ， max , obtain the focal length f to be adjusted.

[0099] In some embodiments, if the number of bound monitoring targets is not less than 4 and they are not coplanar, a fourth lens angle adjustment strategy and a fourth focal length adjustment strategy are adopted. The fourth lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a ball, at least 4 monitoring targets are on the ball, and the remaining monitoring targets are inside the ball, specifically:

[0100] S541, such as Figure 5 As shown, every 4 monitoring targets form a group. According to the mathematical theorem that 4 non-coplanar points will definitely share a sphere, the center coordinates and radius of the sphere determined by the four monitoring targets in each group are obtained. The spheres in each group are traversed, and according to the distance formula, it is determined whether the monitoring targets in different groups are inside or on the sphere, until a sphere in which all monitoring targets are inside or on is found. Let the center of the sphere be O and the radius of the sphere be R.

[0101] S542, calculating the azimuth and horizontal offset angle of the center O relative to the control ball according to the coordinates of the center O and the control ball coordinates;

[0102] S543, calculating the horizontal rotation direction and rotation angle of the lens to be adjusted through the azimuth and horizontal offset angle of the ball center O relative to the control ball and the azimuth of the lens orientation;

[0103] S544, obtaining the pitch angle of the lens to be adjusted according to the sphere center O and the coordinates of the control sphere;

[0104] Steps S542-S544, the detailed calculation ideas refer to steps S510-S512, and the lens adjustment angle to be adjusted to rotate the lens relative to the spherical center O is obtained.

[0105] S545. According to the distance k between the center of the ball O and the control ball, the lens image size v and the radius R of the ball, the focal length f to be adjusted is obtained by the formula f=v×k / 2R.

[0106] S6. Send the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball adjusts the lens angle and focal length to obtain a clear monitoring picture of the monitoring target.

[0107] After the control ball obtains the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, it starts to adjust the lens angle adjustment and focal length adjustment, and finally clearly presents multiple targets that need to be supervised in the lens picture.

[0108] The present invention does not require staff to manually adjust the control ball lens angle, can automatically track and monitor bound monitoring targets, and can not only monitor a single target but also monitor multiple targets with the same ball. The lens angle and focal length can be automatically adjusted according to the positions of the multiple monitoring targets, so that the monitoring targets can be presented in the lens picture with high definition no matter where they are. When adjusting the lens angle and focal length, different angle adjustment and focal length adjustment algorithms are selected according to the number of monitoring targets and the relative positions of these monitoring targets (collinear or coplanar), so as to be applicable to various monitoring target monitoring scenarios with different numbers of monitoring targets and different distribution positions.

[0109] Another aspect of the present invention provides a target monitoring device, comprising:

[0110] The pitch angle zeroing module sends a pitch angle zeroing command to reset the pitch angle of the control ball camera to zero;

[0111] A module for acquiring a direction azimuth angle, used to acquire a direction azimuth angle of a control ball lens;

[0112] The control ball positioning module is used to obtain the three-dimensional coordinates of the control ball;

[0113] The monitoring target positioning module is used to obtain the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball;

[0114] The lens angle to be adjusted and the focal length to be adjusted calculation module are used to select the preset lens angle adjustment strategy and focal length adjustment strategy according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, and calculate the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted;

[0115] The lens angle and focal length adjustment module sends the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball adjusts the lens angle and focal length to obtain a clear monitoring image of the monitoring target.

[0116] The device of the embodiment of the present invention corresponds to the above method embodiment. The specific method that can be implemented by the functional module of the present invention refers to the above method technical solution and will not be described in detail here.

[0117] The above is a detailed introduction to a multi-target monitoring method and device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0118] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

Claims

1. A multi-target monitoring method, characterized in that: The steps include: Send a pitch angle reset command to reset the pitch angle of the control ball camera to zero; Get the azimuth angle of the control ball camera; Get the three-dimensional coordinates of the control ball; Obtain the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball; According to the number of bound monitoring targets, the colinearity and coplanarity of all bound monitoring targets, the preset lens angle adjustment strategy and focal length adjustment strategy are selected to calculate the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted; Send the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball can adjust the lens angle and focal length to obtain a clear monitoring picture of the monitoring target.

2. A multi-target monitoring method according to claim 1, characterized in that: include: The preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, specifically including: if the number of bound monitoring targets is one, a first lens angle adjustment strategy and a first focal length adjustment strategy are adopted, and the first lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with one monitoring target.

3. A multi-target monitoring method according to claim 1, characterized in that: The preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 2 and they are colinear, a second lens angle adjustment strategy and a second focal length adjustment strategy are adopted, and the second lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center point of a line segment, and the line segment is the longest line segment composed of multiple monitoring terminals.

4. A multi-target monitoring method according to claim 1, characterized in that: The preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 3 and are not colinear but coplanar, a third ball lens angle adjustment strategy and a third focal length adjustment strategy are adopted, and the third ball lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a circle, at least 3 monitoring targets are on the circle, and the remaining monitoring targets are within the circle.

5. A multi-target monitoring method according to claim 1, characterized in that: The preset lens angle adjustment strategy and focal length adjustment strategy are selected according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, including: if the number of bound monitoring targets is not less than 4 and are not coplanar, a fourth lens angle adjustment strategy and a fourth focal length adjustment strategy are adopted, and the fourth lens angle adjustment strategy includes adjusting the rotation angle of the lens so that the center of the lens is aligned with the center of a sphere, at least 4 monitoring targets are on the sphere, and the remaining monitoring targets are inside the sphere.

6. A multi-target monitoring method according to claim 2, characterized in that: The first lens angle adjustment strategy and the first focal length adjustment strategy include: According to the coordinates of the monitoring target and the control ball, the azimuth and horizontal offset angle of the monitoring target relative to the control ball are calculated; By monitoring the azimuth and horizontal offset angle of the target relative to the control ball and the azimuth of the lens, the horizontal rotation direction and rotation angle of the lens to be adjusted are calculated; According to the coordinates of the monitoring target and the control ball, the pitch angle of the lens to be adjusted is obtained; The distance between the monitoring target and the control ball is obtained, and the focal length f to be adjusted is obtained according to the distance D between the monitoring target and the control ball, the lens screen size v, and the preset monitoring target size V through the formula f=v×D / V.

7. A multi-target monitoring method according to claim 3, characterized in that: The second lens angle adjustment strategy and the second focal length adjustment strategy include: Obtain the coordinates of the monitoring targets at both ends of the longest line segment formed by multiple monitoring terminals, and calculate the coordinates of the center point of the longest line segment using the midpoint coordinate formula; According to the coordinates of the center point and the control sphere, the azimuth and horizontal offset angle of the center point relative to the control sphere are calculated; The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the orientation and horizontal offset angle of the center point relative to the control ball and the orientation angle of the lens; According to the center point and the coordinates of the control ball, the pitch angle of the lens to be adjusted is obtained; Calculate the distance d from a monitored target at the end of the longest line segment to the line connecting the center point and the control ball. According to the distance l between the center point and the control ball, the lens screen size v and the distance d, the focal length f to be adjusted is obtained through the formula f=v×l / 2d.

8. A multi-target monitoring method according to claim 4, characterized in that: The third ball lens angle adjustment strategy and the third focal length adjustment strategy include: Every three monitoring targets form a group. According to the mathematical theorem that a circle can be determined by three points that are not collinear but coplanar, the center coordinates and radius of the circle determined by the three monitoring targets in each group are obtained. The circles in each group are traversed. According to the distance formula, it is determined whether the monitoring targets in different groups are inside or on the circle of the group, until a circle in which all monitoring targets are inside or on is found. Let the center of the circle be o. According to the coordinates of the circle center o and the control sphere, the azimuth and horizontal offset angle of the circle center o relative to the control sphere are calculated; The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the orientation and horizontal offset angle of the center o relative to the control ball and the orientation angle of the lens; According to the center o of the circle and the coordinates of the control ball, the pitch angle of the lens to be adjusted is obtained; Calculate the distance from each monitoring target to the line connecting the center o of the circle and the control ball, and record the maximum value of the distance R , max ; According to the distance s between the center of the circle o and the control ball, the lens screen size v and the distance R ,max , through the formula f = v × s / 2R ， max , obtain the focal length f to be adjusted.

9. A multi-target monitoring method according to claim 5, characterized in that: The fourth lens angle adjustment strategy and the fourth focal length adjustment strategy include: Every 4 monitoring targets form a group. According to the mathematical theorem that 4 non-coplanar points will definitely share a sphere, the coordinates and radius of the center of the sphere determined by the four monitoring targets in each group are obtained. The spheres in each group are traversed, and according to the distance formula, it is determined whether the monitoring targets in different groups are inside or on the sphere, until a sphere in which all monitoring targets are inside or on is found. Let the center of the sphere be O and the radius of the sphere be R. According to the coordinates of the sphere center O and the control sphere coordinates, the azimuth and horizontal offset angle of the circle center O relative to the control sphere are calculated; The horizontal rotation direction and rotation angle of the lens to be adjusted are calculated through the azimuth and horizontal offset angle of the ball center O relative to the control ball and the azimuth of the lens orientation; According to the sphere center O and the control sphere coordinates, obtain the pitch angle of the lens to be adjusted According to the distance k between the center of the ball O and the control ball, the lens screen size v and the radius R of the ball, the focal length f to be adjusted is obtained through the formula f=v×k / 2R.

10. A multi-target monitoring device, characterized in that: include: The pitch angle zeroing module sends a pitch angle zeroing command to reset the pitch angle of the control ball camera to zero; A module for acquiring a direction azimuth angle, used to acquire a direction azimuth angle of a control ball lens; The control ball positioning module is used to obtain the three-dimensional coordinates of the control ball; The monitoring target positioning module is used to obtain the three-dimensional coordinates of all monitoring targets pre-bound to the same control ball; The lens angle to be adjusted and the focal length to be adjusted calculation module are used to select the preset lens angle adjustment strategy and focal length adjustment strategy according to the number of bound monitoring targets and the colinearity and coplanarity of all bound monitoring targets, and calculate the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted; The lens angle and focal length adjustment module sends the horizontal rotation direction and rotation angle of the lens to be adjusted, the pitch angle of the lens to be adjusted, and the focal length to be adjusted, so that the control ball adjusts the lens angle and focal length to obtain a clear monitoring image of the monitoring target.

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