Ball machine and electronic map linkage method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a dome camera and electronic map linkage method and device, equipment and a storage medium. According to the technical scheme provided by the embodiment of the invention, the current parameter, the calibration parameter and the latitude and longitude of the dome camera are acquired; according to the current parameter and the calibration parameter, determining a current horizontal field angle and a current vertical field angle corresponding to the zoom of the dome camera lens; determining longitudes and latitudes of four vertexes of a current shooting area of the dome camera according to the current parameters, the calibration parameters, the longitudes and latitudes of the dome camera, the current horizontal field angle and the current vertical field angle; displaying a dome camera icon at a corresponding position on the electronic map according to the latitude and longitude of the dome camera, and displaying a corresponding shooting area range on the electronic map based on the dome camera icon according to the latitude and longitude of the four vertexes of the current shooting area of the dome camera; the problem of poor user experience can be solved, visualization of the shooting area range of the dome camera on the electronic map is realized, and the user experience is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of Internet of Things technology, and in particular to a method, device, equipment and storage medium for linking a ball camera with an electronic map. Background Art

[0002] In today's society, there are tens of thousands or even hundreds of thousands of dome cameras in every city, which mainly serve the monitoring and command and dispatch management of industries such as transportation and security. Due to the large number, these dome cameras are usually displayed as dome camera icons on electronic maps for users to view.

[0003] On the existing electronic map, the corresponding ball camera icon is displayed at the corresponding position only based on the current latitude and longitude of the ball camera. The user can only know the location of the ball camera but cannot know the current shooting area of ​​the ball camera. Since the user cannot know the current shooting area of ​​the ball camera, the user cannot remotely control the position of the ball camera, thus, the user experience is poor. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and storage medium for linking a ball camera with an electronic map, which can solve the technical problem of poor user experience and realize the visualization of the shooting area of ​​the ball camera on the electronic map, thereby improving the user experience.

[0005] In a first aspect, an embodiment of the present application provides a method for linking a ball camera with an electronic map, including:

[0006] Get the current parameters, calibration parameters and latitude and longitude of the ball camera. The current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt. The calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor.

[0007] According to the current parameters and calibration parameters, determine the current horizontal field of view angle and the current vertical field of view angle corresponding to the zoom factor of the ball camera lens;

[0008] According to the current parameters, calibration parameters, longitude and latitude of the ball camera, the current horizontal field of view angle and the current vertical field of view angle, the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are determined;

[0009] The ball camera icon is displayed at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and the corresponding shooting area range is displayed on the electronic map based on the ball camera icon according to the longitude and latitude of the four vertices.

[0010] Further, according to the current parameters, calibration parameters, longitude and latitude of the ball camera, the current horizontal field of view angle and the current vertical field of view angle, the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are determined, including:

[0011] Calculation is performed based on the installation height of the ball camera, the north deflection angle of the ball camera, the horizontal rotation angle of the pan / tilt, the vertical rotation angle of the pan / tilt, the current horizontal field of view angle, and the current vertical field of view angle to obtain the first straight-line distance and the first azimuth angle between the four vertices of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground;

[0012] The longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are obtained by performing calculations based on the longitude and latitude of the ball camera, the radius of the earth, the first straight-line distance and the first azimuth.

[0013] Furthermore, the method for linking the ball camera with the electronic map also includes:

[0014] Receiving a first click operation based on the electronic map, and in response to the first click operation, determining the target longitude and latitude of the location point corresponding to the first click operation and a first target ball camera, the first target ball camera being the ball camera corresponding to the ball camera icon closest to the location point on the electronic map;

[0015] Determine the target horizontal rotation angle and the target vertical rotation angle of the pan / tilt head according to the target longitude and latitude, the calibration parameters of the first target ball camera and the longitude and latitude of the first target ball camera;

[0016] A first control instruction is sent to the first target ball camera to adjust the pan / tilt of the first target ball camera to a target horizontal angle and a target vertical angle.

[0017] Further, according to the target longitude and latitude, the calibration parameters of the first target ball camera and the longitude and latitude of the first target ball camera, the target horizontal rotation angle and the target vertical rotation angle of the pan / tilt are determined, including:

[0018] Calculate and process the target longitude and latitude and the longitude and latitude of the first target ball camera to obtain a second straight-line distance and a second azimuth between the position point and the ground projection point of the first target ball camera;

[0019] Calculating and processing according to the second straight-line distance and the installation height of the ball camera in the calibration parameters of the first target ball camera to obtain the target vertical rotation angle of the pan / tilt head;

[0020] The target horizontal rotation angle of the pan / tilt head is obtained by performing calculation processing according to the second azimuth angle and the north deflection angle of the ball camera in the calibration parameters of the first target ball camera.

[0021] Furthermore, the method for linking the ball camera with the electronic map also includes:

[0022] receiving a second click operation based on the electronic map, and determining a second target ball camera of the second click operation in response to the second click operation, wherein the second click operation is a click operation on a ball camera icon displayed on the electronic map;

[0023] Get the mouse scroll signal, which includes the scroll direction and scroll amplitude;

[0024] Determine the target zoom factor according to the rolling signal and the zoom factor of the dome camera lens in the current parameters of the second target dome camera;

[0025] A second control instruction is generated according to the target magnification, and the second control instruction is sent to the second target ball camera, so that the ball camera lens magnification of the second target ball camera is changed to the target magnification.

[0026] Further, according to the rolling signal and the zoom factor of the dome camera lens in the current parameters of the second target dome camera, the target zoom factor is determined, including:

[0027] Determine the multiple change amount according to the scrolling amplitude of the scrolling signal;

[0028] When the rolling direction is the first direction, the zoom factor of the dome camera lens in the current parameters of the second target dome camera is increased by the zoom factor change amount to obtain the target zoom factor;

[0029] When the rolling direction is the second direction, the zoom factor of the dome camera lens in the current parameters of the second target dome camera is reduced by the zoom factor change amount to obtain the target zoom factor.

[0030] Furthermore, before obtaining the current parameters, calibration parameters and longitude and latitude of the ball camera, the following steps are included:

[0031] Get the latitude and longitude of the corresponding ball camera, the horizontal angle of the pan / tilt, and the vertical angle of the pan / tilt;

[0032] Perform the first calibration process according to the latitude and longitude of the ball camera, the horizontal rotation angle of the pan / tilt, and the vertical rotation angle of the pan / tilt to determine the installation height of the ball camera and the north deflection angle of the ball camera;

[0033] The zoom factor of the ball camera lens of the ball camera is controlled to be changed to the minimum zoom factor, and a second calibration process is performed to determine an initial horizontal field of view angle and an initial vertical field of view angle.

[0034] In a second aspect, an embodiment of the present application provides a device for linking a ball camera with an electronic map, including:

[0035] The parameter acquisition module is used to obtain the current parameters, calibration parameters, and longitude and latitude of the ball camera. The current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt, and the vertical angle of the pan / tilt. The calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, and the initial horizontal field of view angle and initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor.

[0036] The viewing angle determination module is used to determine the current horizontal viewing angle and the current vertical viewing angle corresponding to the zoom factor of the ball camera lens according to the current parameters and calibration parameters;

[0037] The vertex longitude and latitude determination module is used to determine the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera according to the current parameters, calibration parameters, the longitude and latitude of the ball camera, the current horizontal field of view angle and the current vertical field of view angle;

[0038] The area display module is used to display the ball camera icon at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and to display the corresponding shooting area range based on the ball camera icon on the electronic map according to the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera.

[0039] In a third aspect, an embodiment of the present application provides a device for linking a ball camera with an electronic map, including:

[0040] memory and one or more processors;

[0041] A memory for storing one or more programs;

[0042] When one or more programs are executed by one or more processors, the one or more processors implement the method for linking a ball camera with an electronic map as described in the first aspect.

[0043] In a fourth aspect, an embodiment of the present application provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the method for linking a ball camera with an electronic map as in the first aspect.

[0044] The embodiment of the present application determines the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera according to the current parameters of the ball camera, the calibration parameters and the longitude and latitude of the ball camera, and displays the ball camera icon at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and displays the corresponding shooting area range on the electronic map based on the ball camera icon according to the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera. By adopting the above technical means, not only can the location of the corresponding ball camera be displayed on the electronic map, but also the shooting area range of the ball camera can be displayed on the electronic map based on the ball camera icon, so that the user can know the current shooting area range of the corresponding ball camera based on the electronic map, thereby avoiding the technical problem that the position of the ball camera cannot be remotely controlled due to the inability to know the current shooting area of ​​the ball camera, realizing the visualization of the shooting area range of the ball camera on the electronic map, helping the user to know the current shooting area range of the corresponding ball camera, thereby improving the user's experience; in addition, based on the shooting area range of the ball camera displayed on the electronic map, it is helpful for the user to perform corresponding remote control operations based on the shooting area range of the ball camera on the electronic map, further improving the user's experience.

[0045] The beneficial effects of the ball camera and electronic map linkage device, ball camera and electronic map linkage equipment and storage medium provided above can refer to the beneficial effects of the ball camera and electronic map linkage method. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of a ball camera parameter calibration method provided in an embodiment of the present application;

[0047] Figure 2 This is a flow chart of a method for linking a ball camera with an electronic map provided in an embodiment of the present application;

[0048] Figure 3 It is a first geometric schematic diagram of a ball camera and a shooting area provided in an embodiment of the present application;

[0049] Figure 4 is a second geometric schematic diagram of a ball camera and a shooting area provided in an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of an electronic map display provided by an embodiment of the present application;

[0051] Figure 6 It is a flow chart of another method for linking a ball camera with an electronic map provided in an embodiment of the present application;

[0052] Figure 7 It is a geometrical schematic diagram of a shooting area of ​​a first target ball camera provided in an embodiment of the present application;

[0053] Figure 8 This is a flow chart of another method for linking a ball camera with an electronic map provided in an embodiment of the present application;

[0054] Fig. 9 It is a structural schematic diagram of a ball camera and electronic map linkage device provided in an embodiment of the present application;

[0055] Fig.10 It is a structural schematic diagram of a ball camera and electronic map linkage device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0057] On existing electronic maps, only the corresponding camera icon is displayed at the corresponding position based on the current latitude and longitude of the camera. The user can only know the location of the camera (i.e., the latitude and longitude of the camera), but cannot know the current shooting area of ​​the camera, that is, the user cannot know which area the current camera is shooting. The user cannot remotely control the camera's position because he cannot know the current shooting area of ​​the camera, so the user experience is not good.

[0058] In addition, the existing ball camera icons displayed on the electronic map are only used for display. These ball camera icons and the ball camera posture adjustment are independent of each other and do not form a linkage, which makes it inconvenient for users to directly remotely control the ball camera, further resulting in a poor user experience.

[0059] In the prior art, the remote control of the pan / tilt and lens of a ball camera is mainly controlled step by step through commands such as "up", "down", "left", "right", "zoom in" and "zoom out" on a keyboard or a joystick. When the pan / tilt of the ball camera needs to be rotated to a larger angle or the lens of the ball camera needs to be adjusted to a larger magnification, the user has to wait for a long time and the control efficiency is low. It is not possible to achieve one-step control such as "point and see" and "quickly zoom in" on the electronic map, which further makes the user experience poor.

[0060] Based on this, a method, device, equipment and storage medium for linking a dome camera with an electronic map are provided in an embodiment of the present application, aiming to determine the longitude and latitude of the four vertices of the current shooting area of ​​the dome camera based on the current parameters, calibration parameters and longitude and latitude of the dome camera on the display of the electronic map, and display the dome camera icon at the corresponding position on the electronic map according to the longitude and latitude of the dome camera, and display the corresponding shooting area range on the electronic map based on the dome camera icon according to the longitude and latitude of the four vertices of the current shooting area of ​​the dome camera. By adopting the above-mentioned technical means, not only can the location of the corresponding ball camera be displayed on the electronic map, but also the shooting area range of the ball camera can be displayed on the electronic map based on the ball camera icon, so that the user can know the current shooting area range of the corresponding ball camera based on the electronic map, thereby avoiding the technical problem of being unable to remotely control the position of the ball camera due to the inability to know the current shooting area of ​​the ball camera, and realizing the visualization of the shooting area range of the ball camera on the electronic map. Compared with the existing method of only displaying the ball camera icon on the electronic map, the method of displaying the shooting area range of the ball camera on the electronic map based on the ball camera icon in this embodiment helps the user to know the current shooting area range of the corresponding ball camera, thereby improving the user experience; in addition, based on the shooting area range of the ball camera displayed on the electronic map, it helps the user to perform corresponding remote control operations based on the shooting area range of the ball camera on the electronic map, thereby further improving the user experience.

[0061] Before executing the method for linking the ball camera with the electronic map, the parameters of the ball camera are calibrated for each ball camera involved in the linkage. Figure 1 is a flow chart of a ball camera parameter calibration method provided in an embodiment of the present application, referring to Figure 1 The ball camera parameter calibration method specifically includes:

[0062] S101, obtaining the latitude and longitude of the corresponding ball camera, the horizontal angle of the pan / tilt head, and the vertical angle of the pan / tilt head.

[0063] The ball camera is also called a spherical camera. The ball camera is an electronic device that integrates multiple functions such as a camera, a pan / tilt, a decoder and a protective cover. It adopts a high-strength aluminum alloy die-cast shell, and has the characteristics of small size, beautiful appearance, powerful functions, easy installation, simple use and easy maintenance. The ball camera includes an imaging system, a main control system, a pan / tilt motor system and an interface and peripheral system. The main control system is connected to the imaging system, the pan / tilt electromechanical system and the interface and peripheral system, and the interface and peripheral system are connected to a remote computer device (a computer device loaded with an electronic map application, that is, the execution subject of the ball camera and electronic map linkage method provided in this embodiment).

[0064] Among them, the imaging system includes an image sensor, a zoom lens, an aperture and an ICR (Infrared-Cut Removable, infrared cut-off filter switch), etc. The zoom lens is used to clearly image the target picture on the image sensor through a lens group driven by several motors, and the image sensor is used to convert the picture imaged thereon into an electronic signal and transmit it to the main control system. The aperture is used to control the amount of light entering. The ICR is used to switch between full-color and black and white modes. The image sensor, zoom lens, aperture and ICR in the imaging system are all connected to the main control system in communication. The main control system can control the movement of the lens group in the zoom lens based on the adjustment instructions to achieve the lens magnification change.

[0065] The main control system is used to restore the electronic signal into continuous image pictures after receiving the electronic signal from the imaging system, and obtain the video stream data through a series of image processing and encoding processing. The video stream data is transmitted to the back-end equipment through the network or other interfaces (interfaces and peripheral systems), such as NVR (network video recorder), video management platform, WEB or computer equipment corresponding to electronic maps, etc.

[0066] The PTZ electromechanical system is an important subsystem that distinguishes a ball camera from a general camera. The PTZ electromechanical system includes the PTZ, motor, drive, transmission and operation control, etc. The motor, drive, transmission and operation control are used to control the horizontal and vertical angles of the PTZ.

[0067] The ball camera has a variety of interfaces and peripherals, which can realize a variety of external expansion functions, such as alarm input and output, 485 control line, audio input and output, BNC interface and optical fiber. The interface and peripheral system can adopt modular design, the standard interface can flexibly adapt to a variety of access protocols, and the non-standard interface can also be customized to realize input and output. In addition, some ball cameras also have peripherals such as fill lights and wipers to help improve the monitoring effect or reduce the difficulty of maintenance. These devices work together to enable the ball camera to flexibly respond to various complex monitoring scenarios and provide high-quality monitoring images and rich functions.

[0068] When calibrating the parameters of the ball camera, the latitude and longitude of the corresponding ball camera, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt are obtained. The latitude and longitude of the ball camera can be obtained through a positioning module (such as a GPS module) integrated in the ball camera, or the latitude and longitude of the ball camera recorded when the ball camera is installed can be obtained from a storage database.

[0069] The horizontal angle of the pan / tilt refers to the angle range in which the pan / tilt can rotate in the horizontal direction, and this range is usually expressed in degrees (°). Generally speaking, the horizontal angle of the pan / tilt is 0°~350°, and horizontal rotation of 0°~360° or even 0°~365° (with a coverage angle of 5°) can also be achieved to eliminate monitoring blind spots. The vertical angle of the pan / tilt refers to the angle range in which the pan / tilt can rotate in the vertical direction, and this range is also expressed in degrees (°). The vertical angle of the pan / tilt is generally ±90° (i.e. 90° up and 90° down), but some specially designed pan / tilts can achieve a larger vertical rotation angle, such as ±180°. In this embodiment, the main control system in the ball camera can calculate and process the parameters in the current pan / tilt electromechanical system to obtain the horizontal angle and vertical angle of the pan / tilt of the ball camera in real time.

[0070] S102, performing a first calibration process according to the latitude and longitude of the ball camera, the horizontal rotation angle of the pan / tilt head, and the vertical rotation angle of the pan / tilt head to determine the installation height of the ball camera and the north deflection angle of the ball camera.

[0071] During parameter calibration, the pan / tilt electromechanical system can be used to control the pan / tilt rotation of the ball camera so that the center point of the shooting area of ​​the ball camera is located at the calibration position point, and the calibration position point includes the calibration longitude and latitude. The calibration longitude and latitude are a known longitude and latitude, that is, the calibration position point is a position point with known longitude and latitude. According to the longitude and latitude of the ball camera and the calibration longitude and latitude, calculation and processing are performed to obtain the calibration straight-line distance and calibration azimuth between the calibration position point and the projection point of the ball camera on the ground. Among them, the calibration straight-line distance represents the distance between the calibration position point and the line connecting the projection point of the ball camera on the ground. The azimuth refers to the horizontal angle from the due north direction line of a certain point to the target direction line in a clockwise direction. Therefore, the calibration azimuth refers to the horizontal angle from the due north direction line of the projection point of the ball camera on the ground to the calibration position point and the line connecting the projection point of the ball camera on the ground in a clockwise direction.

[0072] The installation height of the ball camera is determined by calculating and processing based on the calibrated straight-line distance and the vertical rotation angle of the pan / tilt. For example, the installation height of the ball camera is obtained by calculating and processing based on the calibrated straight-line distance between the calibrated position point and the projection point of the ball camera on the ground and the current vertical rotation angle of the pan / tilt of the ball camera using the principle of trigonometric functions. The north declination angle of the ball camera is obtained by calculating and processing based on the calibrated azimuth between the calibrated position point and the projection point of the ball camera on the ground and the current horizontal rotation angle of the pan / tilt of the ball camera. The north declination angle of the ball camera refers to the azimuth angle of the optical axis of the ball camera lens when the horizontal rotation angle of the pan / tilt of the ball camera is 0 degrees.

[0073] S103, controlling the zoom factor of the ball camera lens to change to the minimum zoom factor, and performing a second calibration process to determine an initial horizontal field of view angle and an initial vertical field of view angle.

[0074] The lens group in the ball camera is controlled to move by the main control system so that the zoom factor of the ball camera lens is the minimum zoom factor, and then the scene points corresponding to the midpoints of the horizontal and vertical opposite sides of the current shooting area rectangle of the ball camera are set as marking points (i.e., four marking points). The pan / tilt of the ball camera is controlled to rotate so that the center point of the shooting area of ​​the ball camera is located on the aforementioned marking points (i.e., four marking points), and the horizontal rotation angle and the vertical rotation angle of the pan / tilt when the center point of the shooting area of ​​the ball camera is located at these marking points (i.e., four marking points) are recorded. According to the difference between the horizontal rotation angle of the pan / tilt when the center point of the shooting area of ​​the ball camera is located at the marking points (i.e., two marking points) at the centers of the two vertical opposite sides of the shooting area rectangle, the initial horizontal field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor is obtained. According to the difference between the vertical rotation angle of the pan / tilt when the center point of the shooting area of ​​the ball camera is located at the marking points (i.e., two marking points) at the centers of the two horizontal opposite sides of the shooting area rectangle, the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor is obtained.

[0075] Through the parameter calibration processing of S101-S103 mentioned above, the calibration parameters of each ball camera participating in the linkage can be obtained. The calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor. When the ball camera is subsequently linked with the electronic map, the current horizontal field of view angle and the current vertical field of view angle of the corresponding ball camera can be determined according to the calibration parameters, so that the current shooting area range of the corresponding ball camera can be determined on the electronic map, providing a calibration parameter basis for realizing the visualization of the shooting area range of the ball camera on the electronic map, thereby improving the speed and efficiency of the linkage between the ball camera and the electronic map.

[0076] Figure 2 A flowchart of a method for linking a ball camera with an electronic map provided in an embodiment of the present application is provided. The method for linking a ball camera with an electronic map provided in this embodiment can be executed by a ball camera with an electronic map linking device, which can be implemented by software and / or hardware. The ball camera with an electronic map linking device can be composed of two or more physical entities, or can be composed of one physical entity. Generally speaking, the ball camera with an electronic map linking device can be a computer device. An electronic map application is installed on the computer device, and the electronic map application is connected to the ball camera participating in the linking communication.

[0077] The following description is made by taking a computer device as the main body of the method for linking a ball camera with an electronic map as an example. Figure 2 The method for linking the ball camera with the electronic map specifically includes:

[0078] S201, obtaining the current parameters, calibration parameters and longitude and latitude of the ball camera, the current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt, and the calibration parameters include the installation height of the ball camera, the north deflection angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor.

[0079] For each ball camera involved in the linkage, obtain the current parameters, calibration parameters and longitude and latitude of each ball camera. Among them, the current parameters include the zoom of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt, which can be calculated and determined by the main control system of the ball camera based on its own parameters. The calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom of the ball camera lens is the minimum zoom. The calibration parameters can be determined through the aforementioned S101-S103 and stored in the storage module of the corresponding ball camera, or stored in the corresponding database.

[0080] S202: Determine the current horizontal field of view angle and the current vertical field of view angle corresponding to the zoom factor of the ball camera lens according to the current parameters and the calibration parameters.

[0081] According to the current parameters of the ball camera, determine the current zoom of the ball camera lens of the corresponding ball camera. According to the pinhole imaging principle, the zoom of the ball camera lens and the initial horizontal field of view angle and the initial vertical field of view angle when the zoom of the ball camera lens is the minimum zoom are calculated and processed to obtain the current horizontal field of view angle and the current vertical field of view angle corresponding to the current zoom of the ball camera lens. Exemplarily, the initial horizontal field of view angle HFOV_min and the initial vertical field of view angle VFOV_min when the zoom of the ball camera lens is the minimum zoom, the focal length f_min corresponding to the zoom of the ball camera lens at the minimum zoom, and the focal length f_current corresponding to the current zoom of the ball camera lens are known. The current horizontal field of view angle HFOV_current corresponding to the zoom of the current ball camera lens can be calculated according to the formula HFOV_current=HFOV_min*(f_min / f_current). The current vertical field of view angle VFOV_current corresponding to the zoom of the current ball camera lens can be calculated according to the formula VFOV_current=VFOV_min*(f_min / f_current).

[0082] S203, determining the longitude and latitude of four vertices of the current shooting area of ​​the ball camera according to the current parameters, the calibration parameters, the longitude and latitude of the ball camera, the current horizontal field of view angle, and the current vertical field of view angle.

[0083] Calculation is performed based on the installation height of the ball camera, the north deflection angle of the ball camera, the horizontal rotation angle of the pan / tilt, the vertical rotation angle of the pan / tilt, the current horizontal field of view angle, and the current vertical field of view angle to obtain the first straight-line distance and the first azimuth angle between the four vertices of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground.

[0084] Figure 3 is a first geometric diagram of a ball camera and a shooting area provided in an embodiment of the present application. Figure 4 is a second geometric diagram of a ball camera and a shooting area provided in an embodiment of the present application, referring to Figure 3-4 , O1 is the position of the ball camera, O is the projection position of the ball camera on the ground, O' is the intersection of the ball camera's optical axis and the ground, H is the installation height of the ball camera, Bias is the north deviation angle of the ball camera, area ABCD is the visible area of ​​the ball camera, Arfa is the horizontal rotation angle of the ball camera's pan / tilt, Gama is the vertical rotation angle of the ball camera's pan / tilt, Beta is half of the ball camera's current horizontal field of view, and Sita is half of the ball camera's current vertical field of view. Figure 3-4 The four vertices of the shooting area are ABCD. The distance between the line connecting the vertex A and vertex D and the projection point of the ball camera on the ground is L1 (i.e., the first straight-line distance). The distance L1 can be calculated by the formula: L1 = H / (tg(Gama+Sita)*cos(arctg(tg(Beta) / cos(Gama)))), where H is the installation height of the ball camera, Gama is the vertical rotation angle of the pan / tilt, Sita is half of the current vertical field of view, and Beta is half of the current horizontal field of view. The distance between the vertex B and vertex C and the projection point of the ball camera on the ground is L2 (i.e., the first straight-line distance). The distance L2 can be calculated by the formula: L2 = H / (tg(Gama-Sita)*cos(arctg(tg(Beta) / cos(Gama)))), where H is the installation height of the ball camera, Gama is the vertical rotation angle of the pan / tilt, Sita is half of the current vertical field of view, and Beta is half of the current horizontal field of view. The first straight-line distance between the four vertices ABCD of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground can be calculated by the above formula, wherein the first straight-line distance includes the distance L1 and the distance L2.

[0085] Reference Figure 3-4, the azimuth angle of the line between vertices A and B and the projection point of the ball camera on the ground is a1, which can be calculated by the formula: a1 = Bias + Arfa + arctg (tg (Beta) / cos (Gama)), where Bias is the north declination angle of the ball camera, Arfa is the horizontal rotation angle of the gimbal, Beta is half of the current horizontal field of view, and Gama is the vertical rotation angle of the gimbal. The azimuth angle of the line between vertices C and D and the projection point of the ball camera on the ground is a2, which can be calculated by the formula: a2 = Bias + Arfa-arctg (tg (Beta) / cos (Gama)), where Bias is the north declination angle of the ball camera, Arfa is the horizontal rotation angle of the gimbal, Beta is half of the current horizontal field of view, and Gama is the vertical rotation angle of the gimbal. The first azimuth angle between the four vertices ABCD of the current shooting area of ​​the ball camera and the projection point O of the ball camera on the ground can be calculated by the above formula, wherein the first azimuth angle includes azimuth angle a1 and azimuth angle a2.

[0086] After the above calculations are performed to obtain the first straight-line distance and the first azimuth between the four vertices of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground, the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are calculated and processed according to the longitude and latitude of the ball camera, the radius of the earth, the first straight-line distance and the first azimuth to obtain the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera. Figure 3-4 According to the longitude and latitude of the ball camera (i.e. the longitude and latitude of the projection point O of the ball camera on the ground), the radius of the earth, the distance L1, the distance L2, the azimuth a1, and the azimuth a2, calculation and processing are performed to obtain the longitude and latitude corresponding to the vertex ABCD.

[0087] S204, displaying a ball camera icon at a corresponding position on the electronic map according to the longitude and latitude of the ball camera, and displaying a corresponding shooting area range based on the ball camera icon on the electronic map according to the longitude and latitude of four vertices of the current shooting area of ​​the ball camera.

[0088] The location of each ball camera on the electronic map is determined according to the longitude and latitude of the ball camera and the installation height of the ball camera, that is, the location of the corresponding longitude and latitude of the ball camera on the electronic map, and the corresponding ball camera icon is displayed at the corresponding location. According to the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera obtained above, the corresponding shooting area range is displayed on the electronic map based on the ball camera icon. It should be noted that the shooting area range belongs to a three-dimensional cone range. Compared with the existing area range that only displays a plane sector, the three-dimensional cone shooting area range of this embodiment is more accurate, excluding some blind spots of the viewing angle, greatly improving the accuracy of the displayed shooting area, and thus improving the user experience.

[0089] Figure 5 is a schematic diagram of an electronic map display provided in an embodiment of the present application, referring to Figure 5On the electronic map, the location of each ball camera on the electronic map is determined according to the longitude and latitude of the ball camera and the installation height of the ball camera, and the corresponding ball camera icon is displayed at the corresponding location point. For example, assuming that there are 4 ball cameras, namely ball camera a, ball camera b, ball camera c and ball camera d, the corresponding ball camera icons O1, ball camera icon O2, ball camera icon O3 and ball camera icon O4 are displayed on the electronic map. According to the aforementioned calculation and processing, the longitude and latitude of the four vertices of the shooting area of ​​each of the 4 ball cameras can be obtained, and the corresponding shooting area ranges area1, shooting area range area2, shooting area range area3 and shooting area range area4 are displayed on the electronic map based on the ball camera icon O1, ball camera icon O2, ball camera icon O3 and ball camera icon O4. It should be noted that the shooting area ranges area1, shooting area ranges area2, shooting area ranges area3 and shooting area ranges area4 are a three-dimensional cone-shaped area range.

[0090] As described above, not only can the location of the corresponding ball camera be displayed on the electronic map, but the shooting area range of the ball camera can also be displayed on the electronic map based on the ball camera icon, so that the user can know the current shooting area range of the corresponding ball camera based on the electronic map, so that the user can clearly obtain the current shooting area range corresponding to each ball camera, which is convenient for the user to make a judgment on whether the corresponding ball camera posture needs to be adjusted, and the shooting area range of the ball camera can be visualized on the electronic map, which helps the user to perform corresponding remote control operations based on the shooting area range of the ball camera on the electronic map, thereby improving the user experience.

[0091] Based on the above embodiments, Figure 6 is a flowchart of another method for linking a ball camera with an electronic map provided in an embodiment of the present application, referring to Figure 6 The method for linking the ball camera with the electronic map specifically includes:

[0092] S301, receiving a first click operation based on an electronic map, and in response to the first click operation, determining the target longitude and latitude of a location point corresponding to the first click operation and a first target dome camera, wherein the first target dome camera is a dome camera corresponding to a dome camera icon closest to the location point on the electronic map.

[0093] When the user needs to control the pan / tilt rotation of the ball camera, the user can perform a first click operation on the electronic map corresponding to the location of the video screen that the user wants to view, wherein the first click operation can be performed by clicking the left button of the mouse or by clicking an interactive medium such as a finger. The first click operation based on the electronic map is received, and in response to the first click operation, the target longitude and latitude of the location point corresponding to the first click operation is determined, and the ball camera corresponding to the ball camera icon closest to the location point on the electronic map is determined, and the ball camera is defined as the first target ball camera. Figure 5Assuming that the first click operation is a click operation on point Q on the electronic map, it can be determined that the longitude and latitude of point Q are the target longitude and latitude according to the first click operation, and the ball camera b corresponding to the ball camera icon O2 closest to point Q is determined to be the first target ball camera.

[0094] S302: Determine a target horizontal rotation angle and a target vertical rotation angle of the pan / tilt head according to the target longitude and latitude, the calibration parameters of the first target ball camera, and the longitude and latitude of the first target ball camera.

[0095] According to the position point corresponding to the first click operation, after determining the first target ball camera closest to the position point corresponding to the first click operation, calculation and processing are performed based on the target longitude and latitude, calibration parameters and the longitude and latitude of the ball camera to determine the target horizontal angle and target vertical angle of the pan / tilt head. Subsequently, the pan / tilt head of the first target ball camera is adjusted to the target horizontal angle and target vertical angle so that the ball camera can capture the video image of the position point corresponding to the first click operation.

[0096] For example, refer to Figure 5 , according to the target longitude and latitude of the position point (e.g., position point Q) corresponding to the first click operation and the longitude and latitude of the first target ball camera (e.g., ball camera b), the second straight-line distance and the second azimuth between the position point (e.g., position point Q) corresponding to the first click operation and the ground projection point of the first target ball camera are calculated and processed. According to the second straight-line distance and the ball camera installation height in the calibration parameters of the first target ball camera, the target vertical rotation angle of the pan / tilt is obtained. According to the second azimuth and the ball camera north declination angle in the calibration parameters of the first target ball camera, the target horizontal rotation angle of the pan / tilt is obtained.

[0097] S303: Send a first control instruction to the first target ball camera to adjust the pan / tilt of the first target ball camera to a target horizontal angle and a target vertical angle.

[0098] A first control instruction is generated according to the target horizontal angle and target vertical angle obtained by the above calculation, and the first control instruction is sent to the first target ball camera (for example, ball camera b). The first target ball camera receives the first control instruction, and controls the pan-tilt rotation according to the first control instruction, so that the pan-tilt rotates to the target horizontal angle and the target vertical angle, so that the shooting area range includes the actual geographical location of the position point corresponding to the above first click operation, so that the image of the actual geographical location can be obtained by the first target ball camera. After the pan-tilt adjustment is completed, the first target ball camera feeds back the updated current parameters (i.e., the updated target horizontal angle and target vertical angle of the pan-tilt) to the computer device corresponding to the electronic map. The computer device corresponding to the electronic map receives the current parameters reported by the first target ball camera, and updates the shooting area range of the ball camera icon corresponding to the first target ball camera on the electronic map according to the current parameters.

[0099] Figure 7 This is a geometric diagram of the shooting area of ​​a first target ball camera provided in an embodiment of the present application, referring to Figure 7 , assuming that the first target camera is camera b, the camera icon of camera b on the electronic map is O2, and the first click operation is a click based on the location point Q. Before the first click operation is performed, the shooting area range corresponding to camera b (i.e., the first target camera) is area2. After the user performs the first click operation, the pan / tilt of camera b is remotely controlled through the aforementioned S301-S303, so that the pan / tilt of camera b is adjusted to the target horizontal angle and the target vertical angle. At this time, the shooting area range of camera b includes the actual geographical location of the location point Q corresponding to the aforementioned first click operation. After the pan / tilt of camera b is adjusted, camera b feeds back the updated current parameters (i.e., the updated target horizontal angle and target vertical angle of the pan / tilt) to the computer device corresponding to the electronic map. The computer device corresponding to the electronic map receives the current parameters reported by camera b, and updates the shooting area range of the camera icon O2 corresponding to camera b on the electronic map according to the current parameters, i.e., updates it to the shooting area range area21. The updated shooting area range area21 includes the location point Q, so the image of the actual geographical location corresponding to the location point Q can be obtained by shooting with the ball camera b.

[0100] As described above, the user can remotely control the position of the corresponding first target ball camera based on the first click operation on the electronic map, and only one click is required to realize the automatic adjustment of the pan / tilt of the first target ball camera. Compared with the existing step-by-step adjustment method that requires multiple clicks, the method of realizing the automatic adjustment of the pan / tilt of the ball camera based on one click in this embodiment greatly improves the speed of remote control of the ball camera, thereby improving the user experience; in addition, the number of user operations is reduced, further improving the user experience. In addition, this embodiment can also update the new shooting area range after the pan / tilt is adjusted on the electronic map in real time, so that the user can check in real time whether the position point corresponding to the first click operation is covered, that is, the position point of the image screen that the user wants to view, further improving the user experience.

[0101] Based on the above implementation, Figure 8 This is a flowchart of another method for linking a ball camera with an electronic map provided in an embodiment of the present application. Figure 8 The method for linking the ball camera with the electronic map specifically includes:

[0102] S401, receiving a second click operation based on the electronic map, and determining a second target dome camera of the second click operation in response to the second click operation, where the second click operation is a click operation on a dome camera icon displayed on the electronic map.

[0103] When the user needs to control the zoom of the ball camera lens, the user can perform a second click operation on the ball camera icon to be controlled on the electronic map, wherein the second click operation can be a right click or a double click of the mouse. The second click operation based on the electronic map is received, and in response to the second click operation, a second target ball camera of the second click operation is determined. Figure 5 Assuming that the second click operation is a click operation on the ball camera icon O2 on the electronic map, the ball camera b corresponding to the ball camera icon O2 is determined as the second target ball camera.

[0104] S402: Obtain a mouse scroll signal, where the scroll signal includes a scroll direction and a scroll amplitude.

[0105] In response to the second click operation, a mouse scroll signal is acquired, where the mouse scroll signal includes a scroll direction and a scroll amplitude.

[0106] S403, determining the target zoom factor according to the rolling signal and the zoom factor of the dome camera lens in the current parameters of the second target dome camera.

[0107] Determine the magnification change according to the scrolling amplitude of the mouse. Preset a preset mapping relationship between the scrolling amplitude and the magnification change, and determine the magnification change according to the scrolling amplitude of the mouse according to the preset mapping relationship. Obtain the dome camera lens magnification in the current parameters of the second target dome camera, and determine the target magnification according to the dome camera lens magnification and the magnification change. Exemplarily, determine whether to enlarge or reduce the dome camera lens magnification according to the direction of the scrolling signal. When the scrolling direction is the first direction, enlarge the dome camera lens magnification of the second target dome camera, that is, increase the magnification of the dome camera lens of the current parameters of the second target dome camera by the magnification change, and obtain the target magnification. When the scrolling direction is the second direction, reduce the dome camera lens magnification of the second target dome camera, that is, reduce the magnification of the dome camera lens of the current parameters of the second target dome camera by the magnification change, and obtain the target magnification.

[0108] It should be noted that the specific directions of the first direction and the second direction can be set according to actual conditions. For example, the first direction may be upward and the second direction may be downward. Alternatively, the first direction may be downward and the second direction may be upward.

[0109] S404: Generate a second control instruction according to the target zoom factor, and send the second control instruction to the second target ball camera, so that the zoom factor of the ball camera lens of the second target ball camera is changed to the target zoom factor.

[0110] A second control instruction is generated according to the target zoom factor, and the second control instruction is sent to the second target ball camera (e.g., ball camera b). The second target ball camera receives the second control instruction, and adjusts the zoom factor of the ball camera lens to the target zoom factor according to the second control instruction. After the adjustment is completed, the second target ball camera updates the current parameters, and sends the updated current parameters to the computer device corresponding to the electronic map. The computer device receives the updated current parameters reported by the second target ball camera, and updates the shooting area range corresponding to the corresponding ball camera icon (e.g., ball camera icon O2) on the electronic map according to the new current parameters.

[0111] As described above, the user can remotely control the lens magnification of the corresponding second target dome camera based on the second click operation on the electronic map, and can automatically adjust the lens magnification of the second target dome camera by simply rolling the mouse. Compared with the existing method that requires multiple step-by-step adjustments, the method of this embodiment that can automatically adjust the lens magnification of the dome camera based on mouse rolling greatly improves the speed of remote control of the dome camera, thereby improving the user experience; in addition, the number of user operations is reduced, further improving the user experience. In addition, this embodiment can also update the new shooting area range after the pan / tilt adjustment on the electronic map in real time, so that the user can check in real time whether the target area is covered, that is, the location point where the user wants to view the corresponding image, further improving the user experience.

[0112] As mentioned above, when the user controls the pan / tilt and lens of the ball camera, the shooting area range of the corresponding ball camera icon on the electronic map will change and update accordingly, so that the user can know in real time which area on the electronic map the current video screen of the ball camera (i.e. the video screen corresponding to the shooting area range) corresponds to, thereby improving the user's experience. When the user wants to view the video screen of a certain area on the electronic map, and there is no shooting area range of the ball camera belonging to the area at this time, the user can use the mouse to click the center point of the area on the electronic map (i.e. the first click operation), and then the pan / tilt of the ball camera can be controlled to rotate to the corresponding target horizontal angle and target vertical angle, so that the shooting area range of the ball camera corresponds to the area of ​​the clicked position, realizing "pointing to see where", further improving the user's experience. In addition, the user can also quickly zoom in and out the zoom of the ball camera lens by scrolling the mouse, further improving the user's experience.

[0113] As described above, the method for linking a ball camera with an electronic map provided in this embodiment can be applied to scenarios such as monitoring and command and dispatch of emergency greenways.

[0114] In the above, according to the current parameters of the ball camera, the calibration parameters and the longitude and latitude of the ball camera, the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are determined, and the ball camera icon is displayed at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and the corresponding shooting area range is displayed on the electronic map based on the ball camera icon according to the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera. By adopting the above technical means, not only can the location of the corresponding ball camera be displayed on the electronic map, but also the shooting area range of the ball camera can be displayed on the electronic map based on the ball camera icon, so that the user can know the current shooting area range of the corresponding ball camera based on the electronic map, thereby avoiding the technical problem of being unable to remotely control the position of the ball camera due to the inability to know the current shooting area of ​​the ball camera, realizing the visualization of the shooting area range of the ball camera on the electronic map, which helps the user to know the current shooting area range of the corresponding ball camera, thereby improving the user's experience; in addition, based on the shooting area range of the ball camera displayed on the electronic map, it helps the user to perform corresponding remote control operations based on the shooting area range of the ball camera on the electronic map, further improving the user's experience.

[0115] Based on the above embodiments, Fig. 9 This is a schematic diagram of the structure of a ball camera and an electronic map linkage device provided in an embodiment of the present application. Fig. 9 The ball camera and electronic map linkage device provided in this embodiment specifically includes: a parameter acquisition module 21, a field of view angle determination module 22, a vertex longitude and latitude determination module 23 and a region display module 24.

[0116] The parameter acquisition module 21 is used to acquire the current parameters, calibration parameters and longitude and latitude of the ball camera. The current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt. The calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, and the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor.

[0117] The viewing angle determination module 22 is used to determine the current horizontal viewing angle and the current vertical viewing angle corresponding to the zoom factor of the ball camera lens according to the current parameters and the calibration parameters;

[0118] The vertex longitude and latitude determination module 23 is used to determine the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera according to the current parameters, calibration parameters, the longitude and latitude of the ball camera, the current horizontal field of view angle and the current vertical field of view angle;

[0119] The area display module 24 is used to display the ball camera icon at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and to display the corresponding shooting area range based on the ball camera icon on the electronic map according to the longitude and latitude of the four vertices.

[0120] In one embodiment, the vertex longitude and latitude determination module 23 includes: a first calculation submodule and a longitude and latitude determination submodule;

[0121] The first calculation submodule is used to calculate and process according to the installation height of the ball camera, the north deflection angle of the ball camera, the horizontal rotation angle of the pan / tilt, the vertical rotation angle of the pan / tilt, the current horizontal field of view angle, and the current vertical field of view angle to obtain the first straight-line distance and the first azimuth angle between the four vertices of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground;

[0122] The longitude and latitude determination submodule is used to calculate and process the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera according to the longitude and latitude of the ball camera, the radius of the earth, the first straight-line distance and the first azimuth, so as to obtain the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera.

[0123] Furthermore, the ball camera and electronic map linkage device further comprises: a first click operation module, a target turning angle determination module and a first instruction sending module;

[0124] A first click operation module is used to receive a first click operation based on the electronic map, and in response to the first click operation, determine the target longitude and latitude of the location point corresponding to the first click operation and a first target ball camera, where the first target ball camera is the ball camera corresponding to the ball camera icon closest to the location point on the electronic map;

[0125] A target rotation angle determination module is used to determine the target horizontal rotation angle and the target vertical rotation angle of the pan / tilt head according to the target longitude and latitude, the calibration parameters of the first target ball camera and the longitude and latitude of the first target ball camera;

[0126] The first instruction sending module is used to send a first control instruction to the first target ball camera, so that the pan / tilt of the first target ball camera is adjusted to a target horizontal angle and a target vertical angle.

[0127] In one embodiment, the target angle determination module includes: a first parameter determination submodule, a vertical angle determination submodule, and a horizontal angle determination submodule;

[0128] The first parameter determination submodule is used to perform calculation processing based on the target longitude and latitude and the longitude and latitude of the first target ball camera to obtain a second straight-line distance and a second azimuth between the position point and the ground projection point of the first target ball camera;

[0129] A vertical rotation angle determination submodule is used to calculate and process the target vertical rotation angle of the pan / tilt head according to the second straight-line distance and the installation height of the ball camera in the calibration parameters of the first target ball camera;

[0130] The horizontal rotation angle determination submodule is used to perform calculation and processing according to the second azimuth angle and the north deflection angle of the ball camera in the calibration parameters of the first target ball camera to obtain the target horizontal rotation angle of the pan / tilt head.

[0131] In one embodiment, the ball camera and electronic map linkage device further includes: a second click operation module, a scroll signal acquisition module, a target magnification determination module, and a second instruction sending module;

[0132] A second click operation module is used to receive a second click operation based on the electronic map, and in response to the second click operation, determine a second target ball camera of the second click operation, wherein the second click operation is a click operation on a ball camera icon displayed on the electronic map;

[0133] A scroll signal acquisition module is used to acquire a mouse scroll signal, wherein the scroll signal includes a scroll direction and a scroll amplitude;

[0134] A target zoom determination module is used to determine the target zoom factor according to the rolling signal and the zoom factor of the dome camera lens in the current parameters of the second target dome camera;

[0135] The second instruction sending module is used to generate a second control instruction according to the target zoom factor, and send the second control instruction to the second target ball camera to change the zoom factor of the ball camera lens of the second target ball camera to the target zoom factor.

[0136] In one embodiment, the target magnification determination module includes: a variation determination submodule, a first magnification determination submodule, and a second magnification determination submodule;

[0137] The variation determination submodule is used to determine the multiple variation according to the scrolling amplitude of the scrolling signal;

[0138] The first zoom determination submodule is used to increase the zoom factor of the dome camera lens in the current parameters of the second target dome camera by a zoom factor change amount when the rolling direction is the first direction, so as to obtain the target zoom factor;

[0139] The second zoom determination submodule is used to reduce the zoom factor of the dome camera lens in the current parameters of the second target dome camera by a zoom factor change amount when the rolling direction is the second direction, so as to obtain the target zoom factor.

[0140] In one embodiment, the ball camera and electronic map linkage device further includes: a calibration data acquisition module, a first calibration processing module and a second calibration processing module;

[0141] The calibration data acquisition module is used to obtain the latitude and longitude of the corresponding ball camera, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt;

[0142] A first calibration processing module is used to perform a first calibration processing according to the latitude and longitude of the ball camera, the horizontal rotation angle of the pan / tilt and the vertical rotation angle of the pan / tilt to determine the installation height of the ball camera and the north deflection angle of the ball camera;

[0143] The second calibration processing module is used to control the zoom factor of the ball camera lens to change to the minimum zoom factor, and perform a second calibration process to determine an initial horizontal field of view angle and an initial vertical field of view angle.

[0144] The device for linking a ball camera and an electronic map provided in the embodiment of the present application can be used to execute the method for linking a ball camera and an electronic map provided in the above embodiment, and has corresponding functions and beneficial effects.

[0145] The present application embodiment provides a ball camera and electronic map linkage device, referring to Fig.10 The ball camera and electronic map linkage device includes: a processor 31, a memory 32, a communication module 33, an input device 34 and an output device 35. The number of processors in the ball camera and electronic map linkage device can be one or more, and the number of memories in the ball camera and electronic map linkage device can be one or more. The processor, memory, communication module, input device and output device of the ball camera and electronic map linkage device can be connected through a bus or other methods.

[0146] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the ball camera and electronic map linkage method described in any embodiment of the present application (for example, the parameter acquisition module, the field of view angle determination module, the vertex longitude and latitude determination module and the area display module in the ball camera and electronic map linkage device). The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0147] The communication module 33 is used for data transmission.

[0148] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory, that is, realizes the above-mentioned method of linking the ball camera with the electronic map.

[0149] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0150] The above-mentioned ball camera and electronic map linkage device can be used to execute the ball camera and electronic map linkage method provided in the above-mentioned embodiment, and has corresponding functions and beneficial effects.

[0151] The embodiment of the present application also provides a storage medium storing computer executable instructions, which are used to execute a method for linking a dome camera with an electronic map when executed by a computer processor. The method for linking a dome camera with an electronic map includes: obtaining current parameters, calibration parameters and longitude and latitude of the dome camera, the current parameters including the dome camera lens zoom, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt, and the calibration parameters including the dome camera installation height, the dome camera north declination angle, and the initial horizontal field of view angle and the initial vertical field of view angle when the dome camera lens zoom is the minimum zoom; determining the current horizontal field of view angle and the current vertical field of view angle corresponding to the dome camera lens zoom according to the current parameters and the calibration parameters; determining the longitude and latitude of four vertices of the current shooting area of ​​the dome camera according to the current parameters, the calibration parameters, the longitude and latitude of the dome camera, the current horizontal field of view angle and the current vertical field of view angle; displaying a dome camera icon at a corresponding position on the electronic map according to the longitude and latitude of the dome camera, and displaying the corresponding shooting area range based on the dome camera icon on the electronic map according to the longitude and latitude of the four vertices.

[0152] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0153] Of course, the computer executable instructions of a storage medium storing computer executable instructions provided in an embodiment of the present application are not limited to the method for linking a ball camera with an electronic map as described above, but can also execute related operations in the method for linking a ball camera with an electronic map provided in any embodiment of the present application.

[0154] The ball camera and electronic map linkage device, storage medium and ball camera and electronic map linkage equipment provided in the above embodiments can execute the ball camera and electronic map linkage method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the ball camera and electronic map linkage method provided in any embodiment of the present application.

[0155] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for linking a ball camera with an electronic map, characterized in that: include: Obtain the current parameters, calibration parameters and latitude and longitude of the ball camera, the current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt, and the calibration parameters include the installation height of the ball camera, the north declination angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor; Determine the current horizontal field of view angle and the current vertical field of view angle corresponding to the zoom factor of the ball camera lens according to the current parameters and the calibration parameters; Determine the longitude and latitude of four vertices of the current shooting area of ​​the ball camera according to the current parameters, the calibration parameters, the longitude and latitude of the ball camera, the current horizontal field of view angle, and the current vertical field of view angle; The ball camera icon is displayed at a corresponding position on the electronic map according to the longitude and latitude of the ball camera, and the corresponding shooting area range is displayed on the electronic map based on the ball camera icon according to the longitude and latitude of the four vertices of the current shooting area of ​​the ball camera.

2. The method according to claim 1, characterized in that The step of determining the longitude and latitude of four vertices of the current shooting area of ​​the ball camera according to the current parameter, the calibration parameter, the longitude and latitude of the ball camera, the current horizontal field of view angle, and the current vertical field of view angle comprises: Calculation is performed based on the installation height of the ball camera, the north deflection angle of the ball camera, the horizontal rotation angle of the pan / tilt, the vertical rotation angle of the pan / tilt, the current horizontal field of view angle, and the current vertical field of view angle to obtain a first straight-line distance and a first azimuth angle between four vertices of the current shooting area of ​​the ball camera and the projection point of the ball camera on the ground; The longitude and latitude of the four vertices of the current shooting area of ​​the ball camera are obtained by performing calculations based on the longitude and latitude of the ball camera, the radius of the earth, the first straight-line distance and the first azimuth.

3. The method according to claim 1, characterized in that The method further comprises: receiving a first click operation based on the electronic map, and in response to the first click operation, determining a target longitude and latitude of a location point corresponding to the first click operation and a first target ball camera, wherein the first target ball camera is a ball camera corresponding to a ball camera icon closest to the location point on the electronic map; Determine a target horizontal rotation angle and a target vertical rotation angle of the pan / tilt head according to the target longitude and latitude, the calibration parameters of the first target ball camera, and the longitude and latitude of the first target ball camera; A first control instruction is sent to the first target ball camera to adjust the pan / tilt of the first target ball camera to the target horizontal angle and the target vertical angle.

4. The method according to claim 3, characterized in that The step of determining a target horizontal rotation angle and a target vertical rotation angle of the pan / tilt head according to the target longitude and latitude, the calibration parameters of the first target ball camera, and the longitude and latitude of the first target ball camera comprises: Calculate and process the target longitude and latitude and the longitude and latitude of the first target ball camera to obtain a second straight-line distance and a second azimuth between the position point and the ground projection point of the first target ball camera; Calculating and processing according to the second straight-line distance and the installation height of the ball camera in the calibration parameters of the first target ball camera to obtain the target vertical rotation angle of the pan / tilt head; Calculation is performed based on the second azimuth angle and the north deflection angle of the ball camera in the calibration parameters of the first target ball camera to obtain the target horizontal rotation angle of the pan / tilt head.

5. The method according to claim 1, characterized in that The method further comprises: receiving a second click operation based on the electronic map, and determining a second target ball camera of the second click operation in response to the second click operation, wherein the second click operation is a click operation on a ball camera icon displayed on the electronic map; Obtaining a mouse scroll signal, wherein the scroll signal includes a scroll direction and a scroll amplitude; Determine a target zoom factor according to the rolling signal and the zoom factor of the dome camera lens in the current parameters of the second target dome camera; A second control instruction is generated according to the target magnification, and the second control instruction is sent to the second target ball camera to change the magnification of the ball camera lens of the second target ball camera to the target magnification.

6. The method according to claim 5, characterized in that The step of determining the target zoom factor according to the rolling signal and the zoom factor of the camera lens in the current parameters of the second target camera comprises: Determining a multiple change amount according to the scrolling amplitude of the scrolling signal; When the rolling direction is the first direction, the zoom factor of the dome camera lens in the current parameters of the second target dome camera is increased by the zoom factor change amount to obtain the target zoom factor; When the rolling direction is the second direction, the zoom factor of the dome camera lens in the current parameters of the second target dome camera is reduced by the zoom factor change amount to obtain the target zoom factor.

7. The method according to claim 1, characterized in that Before obtaining the current parameters, calibration parameters and longitude and latitude of the ball camera, the following steps are included: Get the latitude and longitude of the corresponding ball camera, the horizontal angle of the pan / tilt, and the vertical angle of the pan / tilt; Performing a first calibration process according to the latitude and longitude of the ball camera, the horizontal rotation angle of the pan / tilt head, and the vertical rotation angle of the pan / tilt head to determine the installation height of the ball camera and the north deflection angle of the ball camera; The zoom factor of the dome camera lens of the dome camera is controlled to be changed to the minimum zoom factor, and a second calibration process is performed to determine an initial horizontal field of view angle and an initial vertical field of view angle.

8. A ball camera and electronic map linkage device, characterized in that: include: A parameter acquisition module is used to acquire the current parameters, calibration parameters and longitude and latitude of the ball camera, wherein the current parameters include the zoom factor of the ball camera lens, the horizontal angle of the pan / tilt and the vertical angle of the pan / tilt, and the calibration parameters include the installation height of the ball camera, the north deflection angle of the ball camera, the initial horizontal field of view angle and the initial vertical field of view angle when the zoom factor of the ball camera lens is the minimum zoom factor; A viewing angle determination module, used to determine the current horizontal viewing angle and the current vertical viewing angle corresponding to the zoom factor of the ball camera lens according to the current parameters and the calibration parameters; A vertex longitude and latitude determination module, used to determine the longitude and latitude of four vertices of the current shooting area of ​​the ball camera according to the current parameters, the calibration parameters, the longitude and latitude of the ball camera, the current horizontal field of view angle and the current vertical field of view angle; The area display module is used to display the ball camera icon at the corresponding position on the electronic map according to the longitude and latitude of the ball camera, and to display the corresponding shooting area range based on the ball camera icon on the electronic map according to the longitude and latitude of the four vertices.

9. A ball camera and electronic map linkage device, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to perform the method according to any one of claims 1 to 7 when executed by a processor.

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