Multi-camera linkage tracking control method and device, terminal and medium

Abstract

The invention discloses a multi-camera tracking linkage control method and device, a terminal and a medium, and the method comprises the steps: converting a position coordinate of a monitoring target in a monitoring image into a grid coding coordinate of a geographic space through a grid coordinate coding calculation mode, carrying out the tracking monitoring of the monitoring target through a first camera, determining the moving direction of the monitoring target, and carrying out the tracking monitoring of the monitoring target through a second camera. Determining an adjacent camera of the first camera in the moving direction; according to the actual monitoring grid area of the adjacent camera, whether the actual monitoring grid area of the adjacent camera meets the tracking permission transfer condition or not is determined, and if the actual monitoring grid area of the adjacent camera does not meet the tracking permission transfer condition, the adjacent camera is controlled to adjust the angle. Therefore, the tracking permission transfer condition can be met, the success rate of multi-camera tracking linkage is improved, and the technical problem of reliability of camera linkage tracking is solved.

Description

Technical Field

[0001] This application relates to the field of public security monitoring technology, and in particular, to a multi-camera linkage tracking control method, device, terminal, and medium. Background Art

[0002] The construction of public security monitoring infrastructure in the social area is a crucial task for public security. This work faces difficulties such as high construction costs, large equipment requirements, and a wide monitoring range that is difficult to eliminate blind spots. By realizing the linkage of camera terminals, intelligent tracking of monitoring objects has become one of the key methods to reduce monitoring blind spots.

[0003] However, in actual application scenarios, the existing camera linkage tracking control logic can only trigger the tracking permission transfer linkage when it detects that the monitoring object appears in the monitoring screens of two cameras at the same time. The triggering condition is harsh, resulting in the technical problem of low reliability of the existing camera linkage tracking technology. Summary of the Invention

[0004] This application provides a multi-camera linkage tracking control method, device, terminal, and medium, which is used to solve the technical problem of low reliability of the existing camera linkage tracking technology.

[0005] To solve the above technical problem, the first aspect of this application provides a multi-camera linkage tracking control method, including:

[0006] When the first camera recognizes a monitoring target, according to the position coordinates of the monitoring target, through the grid coordinate coding calculation method, convert the position coordinates into grid coding coordinates;

[0007] Through the tracking and monitoring of the monitoring target by the first camera, determine the moving direction of the monitoring target;

[0008] According to the moving direction, combined with the preset adjacent relationship of cameras, determine the adjacent camera of the first camera in the moving direction;

[0009] According to the actual monitoring grid area of the adjacent camera, determine whether the adjacent camera meets the tracking permission transfer condition. If not, control the actual monitoring grid area of the adjacent camera to shift towards the direction of the first camera. If it has been met, when the monitoring target moves to the actual monitoring grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera, where the actual monitoring grid area is specifically the grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through the grid coordinate coding calculation method.

[0010] Preferably, determining whether the adjacent camera meets the tracking permission transfer condition includes:

[0011] According to the comparison result between the actual monitoring grid area of the adjacent camera and the actual monitoring grid area of the first camera, if there is no overlap between the actual monitoring grid area of the adjacent camera and the actual monitoring grid area of the first camera, control the actual monitoring grid area of the adjacent camera to shift towards the direction of the first camera; if there is an overlap between the actual monitoring grid area of the adjacent camera and the actual monitoring grid area of the first camera, when the monitoring target moves to the actual monitoring grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera.

[0012] Preferably, determining whether the adjacent camera meets the tracking permission transfer condition includes:

[0013] Compare the actual monitoring grid area of the adjacent camera in combination with the maximum monitoring grid areas of the adjacent camera and the first camera. If the actual monitoring grid area of the adjacent camera does not cover the monitoring intersection area, control the actual monitoring grid area of the adjacent camera to shift towards the monitoring intersection area; if the actual monitoring grid area of the adjacent camera has covered the monitoring intersection area, when the monitoring target moves to the actual monitoring grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera, where the monitoring intersection area is specifically the intersection area of the maximum monitoring grid areas of the adjacent camera and the first camera.

[0014] Preferably, determining the adjacent camera of the first camera in the moving direction according to the moving direction in combination with the preset adjacent relationship of cameras includes:

[0015] Determine the adjacent camera of the first camera in the moving direction according to the moving direction in combination with the position distribution information of the preset camera monitoring areas.

[0016] Preferably, when there are multiple adjacent cameras, after comparing the actual monitoring grid areas in combination with the maximum monitoring grid areas of the adjacent cameras and the first camera, it further includes:

[0017] If the actual monitoring grid area of the adjacent camera does not cover the monitoring intersection area, control the actual monitoring grid area of the adjacent camera to shift towards the monitoring intersection area;

[0018] If the actual monitoring grid area of the adjacent camera has covered the monitoring intersection area, when the monitoring target moves to the actual monitoring grid area of any one or more adjacent cameras, send a tracking permission transfer instruction to the corresponding adjacent camera.

[0019] Preferably, when the monitored target moves into the actual monitoring grid area of any one or more adjacent cameras, after sending a tracking permission transfer instruction to the corresponding adjacent camera, the following steps are further included:

[0020] When there are multiple adjacent cameras that receive the tracking permission transfer instruction, when it is detected that the monitored target leaves the monitoring screen of the adjacent camera, control the actual monitoring grid area of the adjacent camera to return to the default position.

[0021] Preferably, determining the moving direction of the monitored target through the tracking and monitoring of the monitored target by the first camera includes:

[0022] Through the tracking and monitoring of the monitored target by the first camera, combined with the grid coordinate coding calculation method, convert the position coordinates into grid coding coordinates, obtain the grid coding coordinates of the monitored target at different times, and determine the moving direction of the monitored target according to the change of the grid coding coordinates of the monitored target.

[0023] Meanwhile, a multi-camera linkage tracking control device is provided in the second aspect of the present application, including:

[0024] A target coordinate acquisition unit, configured to, when the first camera identifies a monitored target, convert the position coordinates into grid coding coordinates through a grid coordinate coding calculation method according to the position coordinates of the monitored target;

[0025] A target movement monitoring unit, configured to determine the moving direction of the monitored target through the tracking and monitoring of the monitored target by the first camera;

[0026] An adjacent camera determination unit, configured to determine the adjacent camera of the first camera in the moving direction according to the moving direction and in combination with a preset camera adjacent relationship;

[0027] A permission transfer determination unit, configured to determine whether the adjacent camera meets the tracking permission transfer condition according to the actual monitoring grid area of the adjacent camera. If not, control the actual monitoring grid area of the adjacent camera to shift towards the direction of the first camera. If it has been met, when the monitored target moves into the actual monitoring grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera, where the actual monitoring grid area is specifically a grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through a grid coordinate coding calculation method.

[0028] A multi-camera linkage tracking control terminal is provided in the third aspect of the present application, including: a memory and a processor;

[0029] The memory is used to store program code for implementing a multi-camera linkage tracking method provided in the first aspect of the present application;

[0030] The processor is used to read and execute the program code.

[0031] The fourth aspect of the present application provides a computer-readable storage medium, in which program code is stored, and the program code is used to be read and executed by a processor to implement a multi-camera linkage tracking method provided in the first aspect of the present application.

[0032] From the above technical solutions, it can be seen that the present application has the following advantages:

[0033] For the multi-camera tracking linkage control method provided by the present application, when the first camera identifies a monitoring target, through the grid coordinate coding calculation method, the position coordinates of the monitoring target in the monitoring screen are converted into grid coding coordinates in the geographical space. Through the tracking and monitoring of the monitoring target by the first camera, the moving direction of the monitoring target is determined, and the adjacent camera of the first camera in the moving direction is determined; according to the actual monitoring grid area of the adjacent camera, it is determined whether the actual monitoring grid area of the adjacent camera meets the tracking permission transfer condition. If it does not meet, the adjacent camera is controlled to adjust the shooting angle so that its actual monitoring grid area shifts towards the monitoring intersection area. If it has met, when the monitoring target moves to the actual monitoring grid area of the adjacent camera, a tracking permission transfer instruction is sent to the adjacent camera. This solution automatically adjusts the first camera and the adjacent camera that do not meet the tracking permission transfer condition so that they can meet the tracking permission transfer condition, thereby improving the success rate of multi-camera tracking linkage and solving the technical problem of the reliability of camera linkage tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic flowchart of an embodiment of a multi-camera tracking linkage control method provided by the present application.

[0036] Figure 2 It is a schematic diagram of the implementation system architecture of a multi-camera tracking linkage control method provided by the present application.

[0037] Figure 3Schematic structural diagram of an embodiment of a multi-camera tracking linkage control device provided by this application.

[0038] Figure 4 Schematic structural diagram of an embodiment of a multi-camera tracking linkage control terminal provided by this application. Specific implementation manners

[0039] This application provides a multi-camera linkage tracking control method, device, terminal and medium, which are used to solve the technical problem of low reliability of the existing camera linkage tracking technology.

[0040] To make the invention purpose, features and advantages of this application more obvious and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the embodiments described below are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0041] First, a detailed description of an embodiment of a multi-camera linkage tracking control method provided by this application is as follows:

[0042] Please refer to Figure 1 and Figure 2 , an embodiment of a multi-camera linkage tracking control method provided by this application includes:

[0043] Step 101: When the first camera recognizes a monitoring target, according to the position coordinates of the monitoring target, through the grid coordinate coding calculation method, convert the position coordinates into grid coding coordinates.

[0044] It should be noted that the grid coding mentioned in this embodiment is a positioning technology, which is executed by the grid coding module shown in Figure 2 . By dividing the geographical space area into grid cells of different scales and assigning a unique identification code to each grid cell, accurate identification and expression of positions are realized. This technology uses the structured index expression technology of geographical space positions, and can assign codes to each grid cell of the earth space grid system to realize the unified identification of grid positions.

[0045] After the monitoring target is recognized by the first camera in step 101 of this embodiment, coordinate coding is performed by the grid coding module: taking the camera terminal as the origin (a1, b1, c1) = (0, 0, 0), encoding and calculating the area covered by the monitoring screen of this camera terminal, and converting the position coordinates recognized by the monitoring screen into the grid coding coordinates of the geographical space.

[0046] Step 102: Track and monitor the monitoring target through the first camera to determine the moving direction of the monitoring target.

[0047] It should be noted that after the first camera recognizes the monitoring target, the target monitoring and tracking logic of the first camera can be triggered to track and photograph the monitoring target, so as to determine the moving direction of the monitoring target according to the position change of the monitoring target.

[0048] More specifically, through the tracking and photographing of the monitoring target by the first camera, the position coordinates of the monitoring target are updated in real time or at regular intervals, and are converted into corresponding grid coding coordinates according to the above grid coordinate coding calculation method, so as to determine the moving direction of the monitoring target according to the change of the grid coding coordinates. For example, for the recognized monitoring target, the coordinates at time T1 are (d1, e1, f1), and the coordinates at time T2 are (d2, e2, f2). The moving direction is judged according to the coordinate coding of the recognized monitoring target at times T1, T2,..., Tn.

[0049] Step 103: According to the moving direction and in combination with the preset adjacent relationship of the cameras, determine the adjacent camera of the first camera in the moving direction.

[0050] It should be noted that the adjacent relationship of the cameras mentioned in this embodiment is preset configuration information for recording the adjacent relationship between different monitoring cameras. For example, assume there are adjacent monitoring cameras a and b, where camera b is located to the west of camera a. At this time, if camera a is used as the first camera and it is recognized that the monitoring target is moving westward, then according to the preset adjacent relationship of the cameras, camera b can be determined as the adjacent camera participating in the tracking linkage in the subsequent steps.

[0051] More specifically, there are the following two examples of the configuration method of the adjacent relationship of the cameras mentioned in this embodiment: One is the conventional text / graphical configuration method. Specifically, according to the relative positions between the cameras, a text document or image topology containing the adjacent relationship information of the cameras is configured; the other is the configuration method based on the geographical grid. Specifically, the assembly positions of several cameras and the maximum monitoring grid area corresponding to each camera can be initialized in the geographical grid. Among them, the actual monitoring grid area mentioned in this embodiment is specifically the grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through the grid coordinate coding calculation method. The maximum monitoring grid area represents the range of the monitoring grid area that the camera can cover by adjusting the shooting angle.

[0052] Step 104: Determine whether the adjacent camera meets the tracking permission transfer condition according to the actual monitored grid area of the adjacent camera. If not, control the actual monitored grid area of the adjacent camera to shift towards the direction of the first camera. If it meets the condition, when the monitored target moves to the actual monitored grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera.

[0053] It should be noted that after determining the adjacent cameras to participate in linkage in step 103, according to the actual monitored grid area obtained by grid coding conversion of the current actual monitored image of the adjacent camera, determine whether the adjacent camera meets the tracking permission transfer condition, that is, whether the monitored area of the adjacent camera coincides with the monitored area of the first camera. If not, control the actual monitored grid area of the adjacent camera to shift towards the direction of the first camera. If it meets the condition, when the monitored target moves to the actual monitored grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera.

[0054] More specifically, the determination logic for whether the adjacent camera meets the tracking permission transfer condition has the following specific implementation manners:

[0055] 1) The determination method based on comparing the actual monitored grid areas of the adjacent camera and the first camera. Specifically, for example, by comparing whether the two actual monitored grid areas coincide. If there is no coincidence between the actual monitored grid area of the adjacent camera and the first camera, adjust the shooting angle of the adjacent camera so that the actual monitored grid area of the adjacent camera shifts towards the direction of the first camera. If there is a coincidence between the actual monitored grid area of the adjacent camera and the first camera, when the monitored target moves to the actual monitored grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera.

[0056] 2) The determination method based on comparing the maximum monitored grid areas of the adjacent camera and the first camera. Specifically, for example, according to the actual monitored grid area of the adjacent camera, compare it in combination with the maximum monitored grid areas of the adjacent camera and the first camera. If the actual monitored grid area of the adjacent camera does not cover the monitored intersection area, control the actual monitored grid area of the adjacent camera to shift towards the monitored intersection area. If the actual monitored grid area of the adjacent camera has covered the monitored intersection area, when the monitored target moves to the actual monitored grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera. Among them, the monitored intersection area is specifically the intersection area of the maximum monitored grid areas of the adjacent camera and the first camera.

[0057] Furthermore, if there are multiple adjacent cameras determined in step 103, step 104 of this embodiment may include:

[0058] If the actual monitoring grid area of adjacent cameras does not cover the monitoring intersection area, control the actual monitoring grid area of adjacent cameras to shift towards the monitoring intersection area;

[0059] If the actual monitoring grid area of adjacent cameras has covered the monitoring intersection area, when the monitoring target moves to the actual monitoring grid area of any one or more adjacent cameras, send a tracking permission transfer instruction to the corresponding adjacent cameras.

[0060] When there are multiple adjacent cameras that receive the tracking permission transfer instruction, when it is detected that the monitoring target leaves the monitoring screen of the adjacent cameras, control the actual monitoring grid area of the adjacent cameras to return to the default position.

[0061] It should be noted that assume that in front of the advancing direction of the monitoring target is an intersection, and there is a camera at each intersection. The intersection area is the monitoring intersection area of four cameras. When the target drives from the section where camera a is located towards the intersection, according to the steps mentioned above, three adjacent cameras b, c, and d can be determined. If the actual monitoring grid areas of these adjacent cameras do not cover the monitoring intersection area, control the adjacent cameras to adjust the angles so that their actual monitoring grid areas shift towards the monitoring intersection area. At this time, camera a normally executes the tracking shooting task of the monitoring target. If the actual monitoring grid areas of these adjacent cameras have covered the monitoring intersection area, when the monitoring target moves to the monitoring intersection area, since the actual monitoring areas of the first camera and each adjacent camera all include this monitoring intersection area, that is, the tracking permission transfer condition is satisfied. Therefore, through the mutual communication between cameras or through the scheduling of the upper-level edge node / AI cloud node, send a tracking permission transfer instruction to the corresponding adjacent cameras, and at the same time activate the tracking shooting logic of these adjacent cameras. Then, when the monitoring target leaves the intersection area and enters any intersection, the adjacent cameras at this intersection can normally track and monitor the target, and the remaining adjacent cameras will cancel the tracking and monitoring task and return to the default monitoring position because the target is out of the monitorable range.

[0062] The above is a detailed description of an embodiment of a multi-camera linkage tracking control method provided by this application. Next is a detailed description of an embodiment of a multi-camera linkage tracking control device provided by this application.

[0063] Please refer to Figure 3 This application provides a multi-camera linkage tracking control device in a second aspect, including:

[0064] A target coordinate acquisition unit 201, configured to, when the first camera recognizes a monitoring target, convert the position coordinate into a grid coding coordinate through a grid coordinate coding calculation method according to the position coordinate of the monitoring target;

[0065] A target movement monitoring unit 202, configured to track and monitor a monitoring target through a first camera to determine the movement direction of the monitoring target;

[0066] An adjacent camera determination unit 203, configured to determine an adjacent camera of the first camera in the movement direction according to the movement direction and in combination with a preset adjacent relationship of cameras;

[0067] A permission transfer determination unit 204, configured to determine whether the adjacent camera meets the tracking permission transfer condition according to the actual monitoring grid area of the adjacent camera. If not, control the actual monitoring grid area of the adjacent camera to shift towards the direction of the first camera. If it is satisfied, when the monitoring target moves to the actual monitoring grid area of the adjacent camera, send a tracking permission transfer instruction to the adjacent camera, where the actual monitoring grid area is specifically a grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through a grid coordinate coding calculation method.

[0068] In addition, as Figure 4 shown, the present application also provides an embodiment of a multi-camera linkage tracking control terminal, including: a memory 33 and a processor 31, and the memory 33 and the processor 31 can be connected through a communication bus 34;

[0069] The memory 33 is used to store program codes, and the program codes are used to implement a multi-camera linkage tracking method as described in the above embodiment;

[0070] The processor 31 is used to read and execute the program codes.

[0071] The present application also provides an embodiment of a computer-readable storage medium. The computer-readable storage medium stores program codes, and the program codes are used to be read and executed by a processor to implement a multi-camera linkage tracking method as provided in the above embodiment.

[0072] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described terminal, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0073] In several embodiments provided by the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0074] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0075] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (piece) of the following" or its similar expression refers to any combination of these items, including any combination of single item (piece) or plural items (pieces). For example, at least one (piece) of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0076] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] In addition, in each embodiment of the present invention, the functional units may be integrated into a processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0078] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0079] As described above, the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present application.

Claims

1. A multi-camera linkage tracking control method, characterized in that: include: When the first camera recognizes the monitoring target, the position coordinates are converted into grid coded coordinates according to the position coordinates of the monitoring target through a grid coordinate coding calculation method; Determining the moving direction of the monitored target by tracking and monitoring the monitored target through the first camera; According to the moving direction, in combination with a preset camera neighbor relationship, determine the neighboring cameras of the first camera in the moving direction; According to the actual monitoring grid area of ​​the adjacent camera, determine whether the adjacent camera meets the tracking authority transfer condition; if not, control the actual monitoring grid area of ​​the adjacent camera to shift toward the direction of the first camera; if satisfied, when the monitoring target moves to the actual monitoring grid area of ​​the adjacent camera, send a tracking authority transfer instruction to the adjacent camera, wherein the actual monitoring grid area is specifically a grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through a grid coordinate coding calculation method.

2. A multi-camera linkage tracking control method according to claim 1, characterized in that: Determining whether the adjacent camera meets the tracking authority transfer condition includes: According to the comparison result of the actual monitoring grid area of ​​the adjacent camera and the actual monitoring grid area of ​​the first camera, if the actual monitoring grid area of ​​the adjacent camera does not overlap with the actual monitoring grid area of ​​the first camera, the actual monitoring grid area of ​​the adjacent camera is controlled to shift toward the direction of the first camera; if the actual monitoring grid area of ​​the adjacent camera overlaps with the actual monitoring grid area of ​​the first camera, when the monitoring target moves to the actual monitoring grid area of ​​the adjacent camera, a tracking authority transfer instruction is sent to the adjacent camera.

3. A multi-camera linkage tracking control method according to claim 1, characterized in that: Determining whether the adjacent camera meets the tracking authority transfer condition includes: According to the actual monitoring grid area of ​​the adjacent camera, a comparison is performed in combination with the maximum monitoring grid area of ​​the adjacent camera and the first camera. If the actual monitoring grid area of ​​the adjacent camera does not cover the monitoring intersection area, the actual monitoring grid area of ​​the adjacent camera is controlled to offset toward the monitoring intersection area. If the actual monitoring grid area of ​​the adjacent camera has covered the monitoring intersection area, when the monitoring target moves to the actual monitoring grid area of ​​the adjacent camera, a tracking authority transfer instruction is sent to the adjacent camera, wherein the monitoring intersection area is specifically the intersection area of ​​the maximum monitoring grid area of ​​the adjacent camera and the first camera.

4. The multi-camera linkage tracking control method according to claim 1, characterized in that: According to the moving direction, in combination with a preset camera neighbor relationship, determining the neighboring cameras of the first camera in the moving direction includes: According to the moving direction and in combination with the position distribution information of the preset camera monitoring area, the adjacent cameras of the first camera in the moving direction are determined.

5. The multi-camera linkage tracking control method according to claim 1, characterized in that: When there are multiple adjacent cameras, the method further includes comparing the actual monitoring grid area with the maximum monitoring grid area of ​​the adjacent camera and the first camera: If the actual monitoring grid area of ​​the adjacent camera does not cover the monitoring intersection area, controlling the actual monitoring grid area of ​​the adjacent camera to shift toward the monitoring intersection area; If the actual monitoring grid area of ​​the adjacent cameras has covered the monitoring intersection area, when the monitoring target moves to the actual monitoring grid area of ​​any one or more adjacent cameras, a tracking authority transfer instruction is sent to the corresponding adjacent cameras.

6. A multi-camera linkage tracking control method according to claim 5, characterized in that: When the monitoring target moves to the actual monitoring grid area of ​​any one or more adjacent cameras, after sending the tracking authority transfer instruction to the corresponding adjacent cameras, the following further comprises: When there are multiple adjacent cameras that receive the tracking authority transfer instruction, when it is detected that the monitoring target is out of the monitoring screen of the adjacent camera, the actual monitoring grid area of ​​the adjacent camera is controlled to be restored to the default position.

7. The multi-camera linkage tracking control method according to claim 1, characterized in that: Tracking and monitoring the monitored target by the first camera to determine the moving direction of the monitored target includes: By tracking and monitoring the monitoring target through the first camera and combining it with the grid coordinate coding calculation method, the position coordinates are converted into grid coding coordinates to obtain the grid coding coordinates of the monitoring target at different times, and the moving direction of the monitoring target is determined according to the changes of the grid coding coordinates of the monitoring target.

8. A multi-camera linkage tracking control device, characterized in that: include: The target coordinate acquisition unit is used to convert the position coordinates into grid coded coordinates by grid coordinate coding calculation according to the position coordinates of the monitoring target when the first camera recognizes the monitoring target; A target movement monitoring unit, used for tracking and monitoring the monitoring target through the first camera to determine the moving direction of the monitoring target; an adjacent camera determining unit, configured to determine adjacent cameras of the first camera in the moving direction according to the moving direction and in combination with a preset camera adjacent relationship; The authority transfer determination unit is used to determine whether the adjacent camera meets the tracking authority transfer conditions according to the actual monitoring grid area of ​​the adjacent camera. If not, the actual monitoring grid area of ​​the adjacent camera is controlled to shift in the direction of the first camera. If it is satisfied, when the monitoring target moves to the actual monitoring grid area of ​​the adjacent camera, a tracking authority transfer instruction is sent to the adjacent camera, wherein the actual monitoring grid area is specifically a grid area obtained by converting the position coordinates of the boundary of the monitoring screen of the camera into grid coding coordinates through a grid coordinate coding calculation method.

9. A multi-camera linkage tracking control terminal, characterized in that: include: Memory and processor; The memory is used to store program codes, and the program codes are used to implement a multi-camera linkage tracking method according to any one of claims 1 to 7; The processor is used for reading and executing the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code is used to be read and executed by a processor to implement a multi-camera linkage tracking method as described in any one of claims 1 to 7.

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