CN110245546A

CN110245546A - A kind of Target Tracking System, method and storage medium

Info

Publication number: CN110245546A
Application number: CN201811489114.1A
Authority: CN
Inventors: 高祺
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2018-12-06
Filing date: 2018-12-06
Publication date: 2019-09-17

Abstract

The invention discloses a kind of Target Tracking System, method and storage medium, system includes: to control equipment, the mobile terminal that target object carries and monitoring device；Equipment is controlled, the temporal information for carrying according to the first signal and the second signal received, the installation site information of monitoring device determines the first location information of target object；According to first location information, acceleration information and preset time span, the second location information of target object is determined；And according to the second location information, monitoring device adjustment rotation angle and zoom parameters, photographic subjects object are controlled.Due in inventive embodiments, the embodiment of the present invention positions target object by signal transmission, it does not need to carry out feature identification to target object in the large nuber of images of unknown content, greatly improve the efficiency and accuracy rate of target object tracking, it does not need to carry out matching operation and storage to large nuber of images simultaneously, therefore has saved image carrying cost and image operation cost.

Description

A kind of Target Tracking System, method and storage medium

Technical field

The present invention relates to field of video monitoring more particularly to a kind of Target Tracking Systems, method and storage medium.

Background technique

In field of video monitoring, it is often necessary to carry out video frequency tracking shooting to target, video frequency tracking shooting is meant using cloth One or more monitor cameras in fixed position are set, shooting is tracked to the target object in its visual range.

When carrying out video frequency tracking shooting to target object in the prior art, need first to the external appearance characteristic of known target object It extracts, then needs to carry out traversal matching to the image obtained in monitoring system under all correlation times, for each figure Picture, find out be overlapped with the external appearance characteristic of target object or similar fragment label be target fragment.Then in each image Target fragment carries out arranging the active path for forming target object.

The prior art carries out video frequency tracking shooting to target object, it is necessary first to which institute is sometimes in all visual ranges under storage Between under large nuber of images information, after-treatment system needs to expend a large amount of operational capability, and the feature of known target object is believed Breath carries out characteristic matching with the image information in all visual ranges of storage, to find out target object.This results in image to deposit It stores up cost and image operation cost is larger.In addition, when the form of target object changes or target object and other objects When overlapping occur, being close to, the external appearance characteristic based on target object carries out the success rate and reliability of recongnition of objects It is all lower, video frequency tracking shooting accurately can not be carried out to target object.

Summary of the invention

The embodiment of the invention provides a kind of Target Tracking System, method and storage mediums, to solve in the prior art It is lower to the efficiency and accuracy rate of target object tracking, and the problem of image carrying cost and image operation higher cost.

The embodiment of the invention provides a kind of Target Tracking System, the system comprises: control equipment, target object carry Mobile terminal and at least three monitoring devices；

The mobile terminal, for sending the first signal to the control equipment and at least three monitoring device；Institute At least three monitoring devices are stated, after receiving the first signal, send second signal to the control equipment；

The control equipment, the temporal information for being carried according to the first signal and the second signal received, Yi Jisuo The installation site information for stating at least three monitoring devices, determines the first location information of target object；

The mobile terminal, is also used to obtain the acceleration information of target object, and by the acceleration information of target object It is sent to the control equipment；

The control equipment is also used to the acceleration information sent according to the first location information, the mobile terminal And preset time span, determine the second location information of the target object；And according to the second location information, and The monitoring range of each monitoring device saved, determines target monitoring equipment；According to second location information and pre-save The corresponding relationship of the rotation angle of location information and target monitoring equipment, zoom parameters determines that target rotation angle and target become Burnt parameter, and target rotation angle and target zoom parameters are sent to the target monitoring equipment；Wherein, the rotation angle Rotation angle for target monitoring equipment relative to default shooting direction；

The target monitoring equipment, for receiving and rotating angle and target zoom parameters, photographic subjects pair according to target As.

Further, the monitoring device, specifically for according to the first signal and the second signal that receive carry when Between information, determine signal transmission time difference；According to signaling rate and the time difference, determine mobile terminal respectively and extremely The distance of few three monitoring devices；Respectively and extremely according to the installation site information of at least three monitoring devices and the mobile terminal The distance of few three monitoring devices, determines the target localization region of at least three monitoring device respectively, by described at least three First location information of the intersection position information of the target localization region of a monitoring device as target object.

Further, the quantity of the monitoring device is at least three, and adjacent two monitoring devices of installation site are deposited In overlapping monitoring range；

The control equipment, specifically for judging whether the second location information is located at the overlapping prison of two monitoring devices It controls in range, if not, being set using the corresponding monitoring device of monitoring range belonging to the second location information as target monitoring It is standby；If so, according to the second location information of target object and the installation site information of described two monitoring devices, respectively Determine target object at a distance from described two monitoring devices, using apart from small monitoring device as target monitoring equipment.

Further, the antenna of extension is provided at least three monitoring device；

At least three monitoring device receives first that the mobile terminal is sent specifically for the antenna by extension Signal, and second signal is sent to the control equipment；

The control equipment, the temporal information for being carried according to the first signal and the second signal received, Yi Jisuo The extended position information for stating the antenna for the extension being arranged at least three monitoring devices determines the first position letter of target object Breath.

Further, the system also includes display screens；

The control equipment, the target object for being also used to receive user's input check instruction, will shoot the target object Video information be sent to the display screen, shown.

On the other hand, the embodiment of the invention provides a kind of method for tracking target, which comprises

It controls equipment and receives the first signal and at least three monitoring devices that the mobile terminal that target object carries is sent The second signal sent after the first signal that the mobile terminal is sent is received, and according to the first signal received and second The installation site information of temporal information and at least three monitoring device that signal carries, determines the first of target object Location information；

The acceleration information sent according to the first location information, the mobile terminal and preset time span, Determine the second location information of the target object；

According to the second location information, and the monitoring range of each monitoring device saved, determine that target monitoring is set It is standby；According to the rotation angle of second location information and the location information pre-saved and target monitoring equipment, zoom parameters Corresponding relationship determines target rotation angle and target zoom parameters, and target rotation angle and target zoom parameters is sent to The target monitoring equipment, instruction target monitoring equipment rotate angle and target zoom parameters, photographic subjects object according to target； Wherein, the rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction.

Further, temporal information that the basis receives the first signal and the second signal carry and it is described extremely The installation site information of few three monitoring devices, determines that the first location information of target object includes:

According to the temporal information that the first signal and the second signal received carry, the time difference of signal transmission is determined；Root According to signaling rate and the time difference, determine mobile terminal respectively at a distance from least three monitoring devices；

It is set respectively at least three monitoring according to the installation site information of at least three monitoring devices and the mobile terminal Standby distance determines the target localization region of at least three monitoring device respectively, by least three monitoring device First location information of the intersection position information of target localization region as target object.

Further, the monitoring range of each monitoring device that is described according to the second location information, and saving, really The monitoring device that sets the goal includes:

Judge whether the second location information is located in the overlapping monitoring range of two monitoring devices, if not, by institute The corresponding monitoring device of monitoring range belonging to second location information is stated as target monitoring equipment；If so, according to target pair The installation site information of the second location information of elephant and described two monitoring devices determines target object and described two respectively The distance of a monitoring device, using apart from small monitoring device as target monitoring equipment.

Further, described that target rotation angle and target zoom parameters are sent to the target monitoring equipment, it indicates Target monitoring equipment rotates angle and target zoom parameters according to target, after photographic subjects object, the method also includes:

The target object for receiving user's input checks instruction, and the video information for shooting the target object is sent to display Screen, is shown.

In another aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage Dielectric memory contains computer program, and the computer program realizes method step described in any of the above embodiments when being executed by processor Suddenly.

In another aspect, the embodiment of the invention provides a kind of target tracker, described device includes:

First determining module, the first signal that the mobile terminal for receiving target object carrying is sent, and at least three A monitoring device receives the second signal sent after the first signal that the mobile terminal is sent, and according to first received The installation site information of temporal information and at least three monitoring device that signal and second signal carry, determines target The first location information of object；

Second determining module, for according to the first location information, the mobile terminal transmission acceleration information with And preset time span, determine the second location information of the target object；

Third determining module is used for according to the second location information, and the monitoring model of each monitoring device saved It encloses, determines target monitoring equipment；According to the rotation of second location information and the location information pre-saved and target monitoring equipment The corresponding relationship of gyration, zoom parameters determines target rotation angle and target zoom parameters, and target is rotated angle and mesh Mark zoom parameters are sent to the target monitoring equipment, and instruction target monitoring equipment rotates angle according to target and target zoom is joined Number, photographic subjects object；Wherein, the rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction.

Further, first determining module, specifically for being carried according to the first signal and the second signal received Temporal information, determine signal transmission time difference；According to signaling rate and the time difference, determine that mobile terminal is distinguished At a distance from least three monitoring devices；Distinguished according to the installation site information of at least three monitoring devices and the mobile terminal At a distance from least three monitoring devices, the target localization region of at least three monitoring device is determined respectively, by described in extremely First location information of the intersection position information of the target localization region of few three monitoring devices as target object.

Further, the third determining module, specifically for judging whether the second location information is located at two prisons In the overlapping monitoring range for controlling equipment, if not, by the corresponding monitoring device of monitoring range belonging to the second location information As target monitoring equipment；If so, according to the installation of the second location information of target object and described two monitoring devices Location information, respectively determine target object at a distance from described two monitoring devices, using apart from small monitoring device as target Monitoring device.

Further, described device further include:

Sending module, the target object for receiving user's input check instruction, will shoot the video of the target object Information is sent to display screen, is shown.

The embodiment of the invention provides a kind of Target Tracking System, method and storage medium, the system comprises: control is set The mobile terminal and at least three monitoring devices that standby, target object carries；The mobile terminal, for the control equipment with At least three monitoring device sends the first signal；At least three monitoring device, after receiving the first signal, to The control equipment sends second signal；The control equipment, for being carried according to the first signal and the second signal received Temporal information and at least three monitoring device installation site information, determine the first location information of target object； The mobile terminal is also used to obtain the acceleration information of target object, and the acceleration information of target object is sent to institute State control equipment；The control equipment is also used to the acceleration letter sent according to the first location information, the mobile terminal Breath and preset time span, determine the second location information of the target object；And according to the second location information, with And the monitoring range of each monitoring device saved, determine target monitoring equipment；According to second location information and pre-save Location information and the rotation angle of target monitoring equipment, zoom parameters corresponding relationship, determine that target rotates angle and target Zoom parameters, and target rotation angle and target zoom parameters are sent to the target monitoring equipment；Wherein, the rotation angle Degree is rotation angle of the target monitoring equipment relative to default shooting direction；The target monitoring equipment, for receiving simultaneously basis Target rotates angle and target zoom parameters, photographic subjects object.

What the first signal and monitoring device sent due in inventive embodiments, controlling equipment according to mobile terminal was sent The temporal information that second signal carries determines the first location information of target object, is sent out according to first location information and mobile terminal The acceleration information sent, the second location information after determining predetermined time period.And then according to the second confidence of target object Breath control monitoring device adjustment rotation angle and zoom parameters, photographic subjects object.The embodiment of the present invention passes through signal transmission pair Target object is positioned, and is not needed to carry out feature identification to target object in the large nuber of images of unknown content, greatly be mentioned The high efficiency and accuracy rate of target object tracking, while not needing to carry out large nuber of images matching operation and storage, therefore save About image carrying cost and image operation cost.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is Target Tracking System structural schematic diagram provided in an embodiment of the present invention；

Fig. 2 is the operation schematic diagram of Target Tracking System provided in an embodiment of the present invention；

Fig. 3 is another operation schematic diagram of Target Tracking System provided in an embodiment of the present invention；

Fig. 4 is another operation schematic diagram of Target Tracking System provided in an embodiment of the present invention；

Fig. 5 is a kind of form schematic diagram of Target Tracking System provided in an embodiment of the present invention；

Fig. 6 is another form schematic diagram of Target Tracking System provided in an embodiment of the present invention；

Fig. 7 is Target Tracking System structural schematic diagram provided in an embodiment of the present invention；

Fig. 8 is that target object provided in an embodiment of the present invention positions schematic diagram；

Fig. 9 is Target Tracking System structural schematic diagram provided in an embodiment of the present invention；

Figure 10 is object tracking process schematic diagram provided in an embodiment of the present invention；

Figure 11 is target tracker structural schematic diagram provided in an embodiment of the present invention.

Specific embodiment

The present invention will be describe below in further detail with reference to the accompanying drawings, it is clear that described embodiment is only this Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.

Fig. 1 is a kind of Target Tracking System structural schematic diagram provided in an embodiment of the present invention, the system comprises: control is set Standby 11, the mobile terminal 12 and at least three monitoring devices 13 that target object carries；

The mobile terminal 12, for sending the first letter to the control equipment 11 and at least three monitoring device 13 Number；At least three monitoring device 13 sends second signal to the control equipment 11 after receiving the first signal；

The control equipment 11, the temporal information for being carried according to the first signal and the second signal received, and The installation site information of at least three monitoring device 13, determines the first location information of target object；

The mobile terminal 12 is also used to obtain the acceleration information of target object, and the acceleration of target object is believed Breath is sent to the control equipment 11；

The control equipment 11 is also used to the acceleration sent according to the first location information, the mobile terminal 12 Information and preset time span, determine the second location information of the target object；And according to the second location information, And the monitoring range of each monitoring device 13 saved, determine target monitoring equipment 131；According to second location information and The location information pre-saved and the rotation angle of target monitoring equipment 131, the corresponding relationship of zoom parameters, determine that target rotates Angle and target zoom parameters, and target rotation angle and target zoom parameters are sent to the target monitoring equipment 131；Its In, the rotation angle is rotation angle of the target monitoring equipment 131 relative to default shooting direction；

The target monitoring equipment 131, for receiving and rotating angle and target zoom parameters, photographic subjects according to target Object.

Target Tracking System provided in an embodiment of the present invention includes the mobile terminal 12 that target object carries, mobile terminal 12 In include positioning system slave terminal module, mobile terminal 12 can by positioning system slave terminal module to control equipment 11 The first signal is sent at least three monitoring devices 13.Time when mobile terminal 12 sends the first signal is carried in first signal Information.Positioning system host terminal module is separately included at least three monitoring devices 13, at least three monitoring devices 13 pass through Self-contained positioning system host terminal module receives the first signal, and sends second signal to control equipment 11.Second letter Temporal information when monitoring device 13 receives the first signal is carried in number.

After control equipment 11 receives the first signal and the second signal, according to the time of the first signal and the second signal carrying Information, any two that can determine that the first signal that mobile terminal 12 is sent reaches at least three monitoring devices 13 monitor The time difference of equipment, and then according to time difference and signaling rate, it can determine that mobile terminal 12 is set with any two monitoring Standby range difference.Equipment 11 is controlled according to the range difference and any two of mobile terminal 12 and any two monitoring device The installation site information of monitoring device can determine a hyperbola.For at least three monitoring devices 13, controlling equipment can To determine that at least two hyperbolas, the location information of at least two hyp intersection points are the first position letter of target object Breath.The first location information of target object can be latitude and longitude information.

Wherein, control equipment 11 according to the range difference of mobile terminal 12 and any two monitoring device and this any two The installation site information of a monitoring device determines that a hyp process belongs to the prior art, herein not to the process into Row repeats.

In addition, in embodiments of the present invention, positioning system slave terminal module and positioning system host terminal module can be with It is the module in LoRa TDOA positioning system, the module being also possible in other positioning systems does not carry out positioning system herein It limits, as long as transmitting based on signal, can determine the location information of target object.Wherein, LoRa TDOA positioning system can To realize that the target object that positioning accuracy is about 1 meter is accurately positioned in 1 kilometer range.

It in embodiments of the present invention, include acceleration sensing module in mobile terminal 12, acceleration sensing module can be real When obtain the acceleration information for carrying the target object of mobile terminal 12, mobile terminal 12 is by acceleration sensing module, by mesh The acceleration information of mark object is sent to control equipment 11.Wherein, acceleration sensing module obtains in real time carries mobile terminal 12 The process of acceleration information of target object belong to the prior art, the process is not repeated herein.

Preset time span is preserved in control equipment 11, control equipment 11 is believed according to the first position of target object The acceleration information and preset time span that breath, mobile terminal 12 are sent, can determine the second confidence of target object Breath.Wherein, preset time span can be set according to user demand, such as preset time span can be broadcasting 1 The time of frame image is also possible to play the time of a few frame images.Such as pal mode, 25 frame images of broadcasting per second, then in advance If time span can be 4 milliseconds, 8 milliseconds, 12 milliseconds etc..

The monitoring range of each monitoring device is preserved in control equipment 11, according to the second location information of target object, It can determine target monitoring equipment 131.Wherein, if the second location information of target object is not located at the weight of two monitoring devices In folded monitoring range, then using the corresponding monitoring device of monitoring range belonging to second location information as target monitoring equipment 131； If the second location information of target object is located in the overlapping monitoring range of two monitoring devices, by second location information institute The corresponding any monitoring device of the monitoring range of category is as target monitoring equipment 131.It controls equipment 11 and is directed to each monitoring device, All preserve the rotation angle and zoom ginseng of the corresponding monitoring device of each location information in the monitoring range of the monitoring device Number.After control equipment 11 determines target monitoring equipment 131, according to the rotation of the location information and target monitoring equipment that pre-save The corresponding relationship of gyration, zoom parameters determines target rotation angle and target zoom parameters, and target is rotated angle and mesh Mark zoom parameters are sent to target monitoring equipment 131.Target monitoring equipment 131 receives target rotation angle and target zoom ginseng Number, and itself rotation angle is adjusted to target rotation angle, the zoom parameters of itself are adjusted to target zoom parameters, and clap Take the photograph target object.Wherein, rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction, presets shooting side To can be target monitoring equipment can be realized shooting either to.

Control equipment 11, the mobile terminal 12 that target object carries and three monitoring devices 13 are illustrated in Fig. 1.Wherein One monitoring device 13 is target monitoring equipment 131.

Due in inventive embodiments, the first signal and monitoring device 13 that control equipment 11 is sent according to mobile terminal 12 The temporal information that the second signal of transmission carries determines the first location information of target object, according to first location information and movement The acceleration information that terminal 12 is sent, the second location information after determining predetermined time period.And then according to the of target object Two location informations control monitoring device adjustment rotation angle and zoom parameters, photographic subjects object.The embodiment of the present invention passes through letter Number transmission positions target object, does not need to carry out feature identification to target object in the large nuber of images of unknown content, The efficiency and accuracy rate of target object tracking are greatly improved, while not needing to carry out large nuber of images matching operation and deposit Storage, therefore saved image carrying cost and image operation cost.

Fig. 2 is the operation schematic diagram of Target Tracking System provided in an embodiment of the present invention, includes extremely in Target Tracking System Lack three monitoring devices, the target monitoring equipment determined, the target object for carrying mobile terminal and control are illustrated only in Fig. 2 Control equipment.As shown in the 1. arrow in Fig. 2, the mobile terminal that target object carries can obtain the acceleration of target object in real time Information, and the acceleration information of target object is sent to control equipment.As shown in the 2. arrow in Fig. 2, control equipment can be with Determine the first location information of target object, and the acceleration information that is sent according to first location information, mobile terminal and Preset time span determines the second location information of target object, according to second location information and the position pre-saved The corresponding relationship of the rotation angle of information and target monitoring equipment, zoom parameters determines target rotation angle and target zoom ginseng Number, and target rotation angle and target zoom parameters are sent to target monitoring equipment.As shown in the 3. arrow in Fig. 2, target Monitoring device rotates angle and target zoom parameters, photographic subjects object according to target.

Fig. 3 is another operation schematic diagram of Target Tracking System provided in an embodiment of the present invention, when tracking target object, It is possible that two target monitoring equipment track target object simultaneously.Two target monitoring equipment are shown in Fig. 3, carry movement eventually The target object and control equipment at end.As shown in the 1. arrow in Fig. 3, the mobile terminal that target object carries can obtain in real time The acceleration information of target object is taken, and the acceleration information of target object is sent to control equipment.Such as the 2. arrow in Fig. 3 Shown, control equipment can determine the first location information of target object, and be sent according to first location information, mobile terminal Acceleration information and preset time span, determine the second location information of target object, according to second location information, with And the corresponding relationship of the rotation angle of the location information pre-saved and two target monitoring equipment, zoom parameters, it determines respectively The target rotation angle and target zoom parameters of two target monitoring equipment, and by the target rotation angle of two target monitoring equipment Degree and target zoom parameters are sent to corresponding two target monitoring equipment.As shown in the 3. arrow in Fig. 2, two target monitorings Equipment rotates angle and target zoom parameters, photographic subjects object according to target.

In addition, Target Tracking System provided in an embodiment of the present invention, can both track a target object, it can also Different target objects is carried out while be tracked by different monitoring devices.It is tracked when to different target objects When, the identification information for the mobile terminal that need to be only carried according to different target objects carries out the differentiation of target object, and for every A target object, is tracked.Tracking process is same as described above, is no longer repeated herein.

Fig. 4 is another operation schematic diagram of Target Tracking System provided in an embodiment of the present invention, shows tracking two in Fig. 4 A target object shows two target monitoring equipment, the target objects of two carrying mobile terminals and control in Fig. 4 and sets It is standby.As shown in the 1. arrow in Fig. 4, the mobile terminal that each target object carries can obtain the acceleration of target object in real time Information, and the acceleration information of target object is sent to control equipment.As shown in the 2. arrow in Fig. 4, control equipment can be with Determine the first location information of each target object, and the acceleration information sent according to first location information, mobile terminal And preset time span, it determines the second location information of target object, according to second location information and pre-saves The corresponding relationship of the rotation angle of location information and target monitoring equipment, zoom parameters, determines corresponding target monitoring equipment Target rotates angle and target zoom parameters, and the target of corresponding target monitoring equipment is rotated angle and target zoom parameters It is sent to corresponding target monitoring equipment.As shown in the 3. arrow in Fig. 4, each target monitoring equipment rotates angle according to target With target zoom parameters, corresponding target object is shot.

In addition, the structural schematic diagram of Target Tracking System can have two kinds of forms of Fig. 5 and Fig. 6, as shown in figure 5, target with Include mobile terminal in track system, includes wherein acceleration sensing module in mobile terminal, for obtaining the acceleration of target object Spend information.It further include monitoring system in Target Tracking System, monitoring system is made of at least three monitoring devices, only shows in Fig. 5 Three monitoring devices are gone out.The control equipment being also independently from Target Tracking System in Target Tracking System.Target following The form of the structural schematic diagram of system can also be as shown in fig. 6, including mobile terminal in Target Tracking System, wherein mobile whole It include acceleration sensing module in end, for obtaining the acceleration information of target object.It further include monitoring in Target Tracking System System, monitoring system are made of at least three monitoring devices, three monitoring devices are illustrated only in Fig. 6, and control equipment In monitoring system.

In order to make to determine that the first location information of target object is more acurrate, on the basis of the above embodiments, in the present invention In embodiment, the monitoring device 11, specifically for the temporal information carried according to the first signal and the second signal that receive, Determine the time difference of signal transmission；According to signaling rate and the time difference, determine mobile terminal 12 respectively at least three The distance of a monitoring device 13；According to the installation site information of at least three monitoring devices 13 and the mobile terminal 12 respectively with The distance of at least three monitoring devices 13 determines the target localization region of at least three monitoring device 13 respectively, will be described First location information of the intersection position information of the target localization region of at least three monitoring devices 13 as target object.

Monitoring device 11 sends the time and second when the first signal according to the mobile terminal 12 carried in the first signal The monitoring device 13 carried in signal receives time when the first signal, can determine the time carried in second signal with The time difference of the time carried in first signal, the time difference are transferred to 13 institute of monitoring device by mobile terminal 12 for the first signal The time needed.And then monitoring device 11 is directed to each monitoring device 13, according to signaling rate and mobile terminal 12 and the prison The time difference for controlling signal transmission between equipment 13, it can determine mobile terminal 12 at a distance from the monitoring device 13.Thus, it is possible to Determine mobile terminal 12 respectively at a distance from least three monitoring devices 13.

For each monitoring device 13, according to the installation site information of the monitoring device 13 and mobile terminal 12 and the monitoring The distance of equipment 13 can determine the target localization region of the monitoring device 13.Specifically, by with the installation of the monitoring device 13 Location information is the center of circle, using the center of circle region that mobile terminal 12 is determined at a distance from the monitoring device 13 as radius, as should The target localization region of monitoring device 13.Behind the target localization region for determining at least three monitoring devices 13, determine at least The intersection position information of three target localization regions is believed the intersection position information determined as the first position of target object Breath.

Due in embodiments of the present invention, according to signaling rate and time difference, determine mobile terminal respectively and at least The distance of three monitoring devices, according to the installation site information and mobile terminal of at least three monitoring devices respectively at least three The distance of monitoring device determines the target localization region of at least three monitoring device respectively, described at least three is monitored First location information of the intersection position information of the target localization region of equipment as target object.So that determining target object First location information is more acurrate.

It is in embodiments of the present invention, described on the basis of the various embodiments described above in order to preferably realize to target tracking The quantity of monitoring device 13 is at least three, and two monitoring devices 13 presence overlapping monitoring range that installation site is adjacent；

The control equipment 11, specifically for judging whether the second location information is located at the weight of two monitoring devices 13 In folded monitoring range, if not, regarding the corresponding monitoring device 13 of monitoring range belonging to the second location information as target Monitoring device 131；If so, according to the installation position of the second location information of target object and described two monitoring devices 13 Confidence breath, respectively determine target object at a distance from described two monitoring devices 13, using apart from small monitoring device as target Monitoring device 131.

Control equipment 11 judges that the second location information of target object is not at the overlapping monitoring of two monitoring devices 13 When in range, it regard the corresponding monitoring device 13 of monitoring range belonging to second location information as target monitoring equipment 131.And sentence When the second location information of disconnected target object is located in the overlapping monitoring range of two monitoring devices 13, it is possible to target pair occur As mobile from the monitoring range of a monitoring device 13 to the monitoring range of another monitoring device 13, at this time in order to preferably real It, can be with according to the second location information of target object and the installation site information of two monitoring devices 13 now to target following Determine that target object at a distance from two monitoring devices 13, is then set apart from small monitoring device as target monitoring respectively It is standby.It can be moved in this way in target object from the monitoring range of a monitoring device 13 to the monitoring range of another monitoring device 13 In dynamic process, the monitoring relay between monitoring device can be realized, to preferably realize to target following.

In order to simplify Target Tracking System, and target following cost is reduced, on the basis of the various embodiments described above, Fig. 7 is Target Tracking System structural schematic diagram provided in an embodiment of the present invention is provided with extension at least three monitoring device 13 Antenna 132；

At least three monitoring device 13 receives the mobile terminal 12 specifically for the antenna 132 by extension and sends out The first signal sent, and second signal is sent to the control equipment 11；

The control equipment 11, the temporal information for being carried according to the first signal and the second signal received, and The extended position information of the antenna for the extension being arranged at least three monitoring device 13, determines the first position of target object Information.

For the scene of some spaciousnesses, the monitoring range of monitoring device is sufficiently large, if only in order to utilize monitoring device Signal between mobile terminal transmits the first location information for determining target object, and arranges excessive monitoring in the scene and set Standby, the monitoring device being arranged so can have very big overlapping monitoring range, be unnecessary, and meeting for target following Increase the complexity and cost of Target Tracking System.It therefore, in embodiments of the present invention, can be at least three monitoring devices 13 In be provided with the antenna 132 of extension, and the antenna of extension 132 is extended to position different in scene, at least three monitoring Equipment 13 receives the first signal that the mobile terminal 12 is sent by the antenna 132 of extension, and sends out to the control equipment 11 Send second signal.The temporal information that control equipment 11 is carried according to the first signal and the second signal received, using above-mentioned reality It applies the method in example and determines mobile terminal at a distance from the extended position of the antenna of extension, and then according to mobile terminal and extension The extended position information of the antenna of the distance and extension of the extended position of antenna, determines the first location information of target object.

Specifically, the antenna 132 of each extension is directed to, according to the extended position information and movement of the antenna 132 of the extension Terminal 12 can determine at a distance from the antenna 132 of the extension using the extended position information of the antenna 132 of the extension as the center of circle, Using the center of circle region that mobile terminal 12 is determined at a distance from the antenna 132 of the extension as radius, at least three circles are being determined Behind shape region, the intersection position information of at least three border circular areas is determined, using the intersection position information determined as target pair The first location information of elephant.

The mobile terminal 12 and a monitoring device 13 that control equipment 11, target object carry only are illustrated in Fig. 7, In, the antenna 132 of three extensions is drawn in monitoring device 13.

In embodiments of the present invention, when being provided with the antenna 132 of extension at least three monitoring device 13, to target The positioning schematic diagram of object is as shown in figure 8, two extension antennas and mobile terminal by monitoring device carry out signal transmission, most The position of target object is oriented by controlling equipment eventually.

In embodiments of the present invention, the antenna 132 for the extension being arranged at least three monitoring devices 13 is extended into difference Position, transmitted by the signal of the antenna 132 that prolongs and mobile terminal 12 and control equipment 11 and determine the first of target object Location information, and then target object is tracked using at least three monitoring devices 13.In this way, be not only able to achieve target with Track also reduces the quantity of monitoring device to a certain extent, simplifies Target Tracking System, and reduce target following at This.

In order to improve user experience, on the basis of the various embodiments described above, Fig. 9 be target provided in an embodiment of the present invention with Track system structure diagram, the system also includes: display screen 14；

The control equipment 11, the target object for being also used to receive user's input check instruction, will shoot the target pair The video information of elephant is sent to the display screen 14, is shown.

When user needs to check target following video, target object can be inputted to control equipment 11 and check instruction, controlled After the target object that control equipment 11 receives user's input checks instruction, according to the instruction of user, by the target object of shooting Video information is sent on display screen 14 and shows.Wherein, the target object of user's input, which is checked in instruction, can carry time letter Breath, control equipment 11 check that the temporal information in instruction is adjusted target following video information according to target object, and will Video information corresponding with temporal information is sent to display screen.

Wherein, control equipment 11 carries out target following video information according to the temporal information that target object is checked in instruction Adjustment, and the process that video information corresponding with temporal information is sent to display screen is belonged into the prior art, herein not to the mistake Cheng Jinhang is repeated.

12, three monitoring devices 13 of mobile terminal and display that control equipment 11, target object carry are illustrated in Fig. 9 Screen 14.

It, will when checking instruction since in embodiments of the present invention, control equipment 11 receives the target object that user inputs The video information of photographic subjects object is sent to display screen, is shown.So as to improve user experience.

Figure 10 be object tracking process schematic diagram provided in an embodiment of the present invention, the process the following steps are included:

S101: control equipment receives the first signal that the mobile terminal that target object carries is sent and at least three prisons Control equipment receives the second signal sent after the first signal that the mobile terminal is sent, and according to the first signal received The installation site information of the temporal information and at least three monitoring device that carry with second signal, determines target object First location information.

Method for tracking target provided in an embodiment of the present invention is applied to control equipment, which can be PC, plate Apparatus such as computer.

It include positioning system slave terminal module in the mobile terminal that target object carries, mobile terminal can pass through positioning System slave terminal module sends the first signal to control equipment and at least three monitoring devices.It is carried in first signal mobile whole End sends temporal information when the first signal.Positioning system host terminal module is separately included at least three monitoring devices, until Few three monitoring devices receive the first signal by self-contained positioning system host terminal module, and send to control equipment Second signal.Temporal information when monitoring device receives the first signal is carried in second signal.

After control equipment receives the first signal and the second signal, believed according to the time that the first signal and the second signal carry Breath can determine that the first signal of mobile terminal transmission reaches any two monitoring device at least three monitoring devices Time difference, and then according to time difference and signaling rate, it can determine mobile terminal at a distance from any two monitoring device Difference.Equipment is controlled according to mobile terminal and the range difference of any two monitoring device and the peace of any two monitoring device Holding position information can determine a hyperbola.For at least three monitoring devices, at least two can be determined by controlling equipment Hyperbola, the location information of at least two hyp intersection points is the first location information of target object.Target object First location information can be latitude and longitude information.

Wherein, control equipment is supervised according to the range difference and any two of mobile terminal and any two monitoring device The installation site information for controlling equipment, determines that a hyp process belongs to the prior art, does not go to live in the household of one's in-laws on getting married herein to the process It states.

S102: the acceleration information sent according to the first location information, the mobile terminal and preset time Length determines the second location information of the target object.

It include acceleration sensing module in mobile terminal, acceleration sensing module can obtain in real time carries mobile terminal The acceleration information of target object is sent to by the acceleration information of target object, mobile terminal by acceleration sensing module Control equipment.Wherein, acceleration sensing module obtains the process for carrying the acceleration information of target object of mobile terminal in real time Belong to the prior art, the process is not repeated herein.

Preserve preset time span in control equipment, control equipment according to the first location information of target object, move The acceleration information and preset time span that dynamic terminal is sent, can determine the second location information of target object.Wherein, Preset time span can be set according to user demand, such as preset time span can be and play 1 frame image Time is also possible to play the time of a few frame images.Such as pal mode, 25 frame images of broadcasting per second, then preset time Length can be 4 milliseconds, 8 milliseconds, 12 milliseconds etc..

S103: according to the second location information, and the monitoring range of each monitoring device saved, determine that target is supervised Control equipment；Joined according to the rotation angle of second location information and the location information pre-saved and target monitoring equipment, zoom Several corresponding relationships determines target rotation angle and target zoom parameters, and target is rotated angle and target zoom parameters hair It send to the target monitoring equipment, indicates that target monitoring equipment rotates angle and target zoom parameters, photographic subjects according to target Object；Wherein, the rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction.

The monitoring range that each monitoring device is preserved in control equipment can according to the second location information of target object To determine target monitoring equipment.Wherein, if the second location information of target object is not located at the overlapping prison of two monitoring devices It controls in range, then using the corresponding monitoring device of monitoring range belonging to second location information as target monitoring equipment；If mesh The second location information of mark object is located in the overlapping monitoring range of two monitoring devices, then by prison belonging to second location information The corresponding any monitoring device of range is controlled as target monitoring equipment.It controls equipment and is directed to each monitoring device, all preserve this The rotation angle and zoom parameters of the corresponding monitoring device of each location information in the monitoring range of monitoring device.Control equipment After determining target monitoring equipment, according to rotation angle, the zoom parameters of the location information and target monitoring equipment that pre-save Corresponding relationship, determine target rotation angle and target zoom parameters, and target is rotated into angle and target zoom parameters are sent To target monitoring equipment.Target monitoring equipment receives target rotation angle and target zoom parameters, and itself is rotated angle tune It is whole to rotate angle for target, the zoom parameters of itself are adjusted to target zoom parameters, and photographic subjects object.Wherein, it rotates Angle is rotation angle of the target monitoring equipment relative to default shooting direction, and default shooting direction can be target monitoring equipment Can be realized shooting either to.

In addition, method for tracking target provided in an embodiment of the present invention, can both track a target object, it can also Different target objects is carried out while be tracked by different monitoring devices.It is tracked when to different target objects When, the identification information for the mobile terminal that need to be only carried according to different target objects carries out the differentiation of target object, and for every A target object, is tracked.Tracking process is same as described above, is no longer repeated herein.

In order to make to determine that the first location information of target object is more acurrate, on the basis of the various embodiments described above, in this hair In bright embodiment, the temporal information and described at least three for the first signal and the second signal carrying that the basis receives The installation site information of monitoring device determines that the first location information of target object includes:

Time and second signal when monitoring device is according to mobile terminal the first signal of transmission carried in the first signal The monitoring device of middle carrying receives time when the first signal, can determine the time carried in second signal and the first letter The time difference of the time carried in number, the time difference are the time needed for the first signal is transferred to monitoring device as mobile terminal. And then monitoring device is directed to each monitoring device, is passed according to signal between signaling rate and mobile terminal and the monitoring device The defeated time difference can determine mobile terminal at a distance from the monitoring device.Thus, it is possible to determine mobile terminal respectively and at least The distance of three monitoring devices.

For each monitoring device, according to the installation site information and mobile terminal of the monitoring device and the monitoring device Distance can determine the target localization region of the monitoring device.Specifically, by being circle with the installation site information of the monitoring device The heart, using the center of circle region that mobile terminal is determined at a distance from the monitoring device as radius, the as target of the monitoring device is fixed Position region.After determining the target localization region of at least three monitoring devices, the friendship of at least three target localization regions is determined Dot position information, using the intersection position information determined as the first location information of target object.

It is in embodiments of the present invention, described on the basis of the various embodiments described above in order to preferably realize to target tracking According to the second location information, and the monitoring range of each monitoring device saved, determine that target monitoring equipment includes:

Control equipment judges that the second location information of target object is not at the overlapping monitoring range of two monitoring devices When interior, using the corresponding monitoring device of monitoring range belonging to second location information as target monitoring equipment.And judge target pair When the second location information of elephant is located in the overlapping monitoring range of two monitoring devices, it is possible to target object occur and be supervised by one The monitoring range for controlling equipment is mobile to the monitoring range of another monitoring device, at this time in order to preferably realize to target following, According to the second location information of target object and the installation site information of two monitoring devices, target pair can be determined respectively As at a distance from two monitoring devices, then using apart from small monitoring device as target monitoring equipment.It in this way can be in target During monitoring range of the object from the monitoring range of a monitoring device to another monitoring device is mobile, prison can be realized The monitoring relay between equipment is controlled, to preferably realize to target following.

It is in embodiments of the present invention, described to revolve target on the basis of the various embodiments described above in order to improve user experience Gyration and target zoom parameters are sent to the target monitoring equipment, instruction target monitoring equipment according to target rotate angle and Target zoom parameters, after photographic subjects object, the method also includes:

When user needs to check target following video, instruction can be checked to control equipment input target object, controlled After the target object that equipment receives user's input checks instruction, according to the instruction of user, by the video of the target object of shooting Information is sent to display screen display.Wherein, the target object of user's input, which is checked in instruction, can carry temporal information, control Equipment checks that the temporal information in instruction is adjusted target following video information according to target object, and will be with temporal information Corresponding video information is sent to display screen.

Wherein, control equipment checks that the temporal information in instruction adjusts target following video information according to target object It is whole, and the process that video information corresponding with temporal information is sent to display screen is belonged into the prior art, herein not to the process It is repeated.

Due in embodiments of the present invention, when the target object that control equipment receives user's input checks instruction, will clap The video information for taking the photograph target object is sent to display screen, is shown.So as to improve user experience.

On the basis of the various embodiments described above, the embodiment of the invention also provides a kind of computers to store readable storage medium Matter is stored with the computer program that can be executed by control equipment in the computer readable storage medium, when described program is in institute It states in control equipment when running, so that realizing following steps when control equipment execution:

The first signal and at least three monitoring devices for receiving the mobile terminal transmission that target object carries receive institute The second signal sent after the first signal of mobile terminal transmission is stated, and is carried according to the first signal and the second signal received Temporal information and at least three monitoring device installation site information, determine the first location information of target object；

Based on the same inventive concept, a kind of computer readable storage medium is additionally provided in the embodiment of the present invention, due to place The principle and target following that reason device is solved the problems, such as in the computer program stored on executing above-mentioned computer readable storage medium Method is similar, therefore processor may refer in the implementation for the computer program for executing above-mentioned computer-readable recording medium storage The implementation of method, overlaps will not be repeated.

Above-mentioned computer readable storage medium can be any usable medium that the processor in electronic equipment can access Or data storage device, including but not limited to magnetic storage such as floppy disk, hard disk, tape, magneto-optic disk (MO) etc., optical memory Such as CD, DVD, BD, HVD and semiconductor memory such as ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid state hard disk (SSD) etc..

Computer program, computer program quilt are provided in the computer readable storage medium provided in embodiments of the present invention When processor executes, realize that the first signal that control equipment is sent according to mobile terminal and the second signal that monitoring device is sent are taken The temporal information of band determines the first location information of target object, the acceleration sent according to first location information and mobile terminal Information, the second location information after determining predetermined time period.And then it is controlled and is monitored according to the second location information of target object Equipment adjustment rotation angle and zoom parameters, photographic subjects object.The embodiment of the present invention by signal transmit to target object into Row positioning does not need to carry out feature identification to target object in the large nuber of images of unknown content, greatly improves target pair The efficiency and accuracy rate of image tracing, while not needing to carry out matching operation and storage to large nuber of images, therefore saved image and deposited Store up cost and image operation cost.

Figure 11 is target tracker structural schematic diagram provided in an embodiment of the present invention, which includes:

First determining module 111, the first signal that the mobile terminal for receiving target object carrying is sent, and at least Three monitoring devices receive the second signal sent after the first signal that the mobile terminal is sent, and according to the received The installation site information of temporal information and at least three monitoring device that one signal and second signal carry, determines mesh Mark the first location information of object；

Second determining module 112, for the acceleration information according to the first location information, mobile terminal transmission And preset time span, determine the second location information of the target object；

Third determining module 113 is used for according to the second location information, and the monitoring of each monitoring device saved Range determines target monitoring equipment；According to second location information and the location information pre-saved and target monitoring equipment The corresponding relationship for rotating angle, zoom parameters, determines target rotation angle and target zoom parameters, and by target rotation angle and Target zoom parameters are sent to the target monitoring equipment, and instruction target monitoring equipment rotates angle and target zoom according to target Parameter, photographic subjects object；Wherein, the rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction Degree.

First determining module 111, specifically for the time carried according to the first signal and the second signal received Information determines the time difference of signal transmission；According to signaling rate and the time difference, determine mobile terminal respectively and at least The distance of three monitoring devices；Respectively and at least according to the installation site information of at least three monitoring devices and the mobile terminal The distance of three monitoring devices determines the target localization region of at least three monitoring device respectively, by described at least three First location information of the intersection position information of the target localization region of monitoring device as target object.

The third determining module 113, specifically for judging whether the second location information is located at two monitoring devices Overlapping monitoring range in, if not, using the corresponding monitoring device of monitoring range belonging to the second location information as mesh Mark monitoring device；If so, according to the second location information of target object and the installation position confidence of described two monitoring devices Breath determines that target object at a distance from described two monitoring devices, is set apart from small monitoring device as target monitoring respectively It is standby.

Described device further include:

Sending module 114, the target object for receiving user's input check instruction, will shoot the view of the target object Frequency information is sent to display screen, is shown.

The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates, Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or The function of being specified in multiple boxes.

These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one The step of function of being specified in a box or multiple boxes.

Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as It selects embodiment and falls into all change and modification of the scope of the invention.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims

1. a kind of Target Tracking System, which is characterized in that the system comprises: the mobile end that control equipment, target object carry End and at least three monitoring devices；

The mobile terminal, for sending the first signal to the control equipment and at least three monitoring device；It is described extremely Few three monitoring devices send second signal to the control equipment after receiving the first signal；

The control equipment, temporal information for being carried according to the first signal and the second signal that receive and it is described extremely The installation site information of few three monitoring devices, determines the first location information of target object；

The mobile terminal is also used to obtain the acceleration information of target object, and the acceleration information of target object is sent To the control equipment；

The control equipment, be also used to according to the first location information, the mobile terminal send acceleration information and Preset time span determines the second location information of the target object；And according to the second location information, and save Each monitoring device monitoring range, determine target monitoring equipment；According to second location information and the position pre-saved The corresponding relationship of the rotation angle of information and target monitoring equipment, zoom parameters determines target rotation angle and target zoom ginseng Number, and target rotation angle and target zoom parameters are sent to the target monitoring equipment；Wherein, the rotation angle is mesh Mark rotation angle of the monitoring device relative to default shooting direction；

The target monitoring equipment, for receiving and rotating angle and target zoom parameters, photographic subjects object according to target.

2. the system as claimed in claim 1, which is characterized in that the monitoring device, specifically for according to first received The temporal information that signal and second signal carry, determines the time difference of signal transmission；According to signaling rate and the time Difference determines mobile terminal respectively at a distance from least three monitoring devices；According to the installation position confidence of at least three monitoring devices Breath and the mobile terminal determine the mesh of at least three monitoring device respectively at a distance from least three monitoring devices respectively Localization region is marked, using the intersection position information of the target localization region of at least three monitoring device as the of target object One location information.

3. the system as claimed in claim 1, which is characterized in that the quantity of the monitoring device is at least three, and installation position It sets two adjacent monitoring devices and there is overlapping monitoring range；

The control equipment, specifically for judging whether the second location information is located at the overlapping monitoring model of two monitoring devices In enclosing, if not, using the corresponding monitoring device of monitoring range belonging to the second location information as target monitoring equipment；Such as Fruit is, according to the second location information of target object and the installation site information of described two monitoring devices, determines mesh respectively Mark object at a distance from described two monitoring devices, using apart from small monitoring device as target monitoring equipment.

4. the system as claimed in claim 1, which is characterized in that be provided with the day of extension at least three monitoring device Line；

At least three monitoring device receives the first letter that the mobile terminal is sent specifically for the antenna by extension Number, and second signal is sent to the control equipment；

The control equipment, temporal information for being carried according to the first signal and the second signal that receive and it is described extremely The extended position information of the antenna for the extension being arranged in few three monitoring devices, determines the first location information of target object.

5. the system as claimed in claim 1, which is characterized in that the system also includes: display screen；

The control equipment, the target object for being also used to receive user's input check instruction, will shoot the view of the target object Frequency information is sent to the display screen, is shown.

6. a kind of method for tracking target, which is characterized in that the described method includes:

It controls equipment and receives the first signal and the reception of at least three monitoring devices that the mobile terminal that target object carries is sent The second signal sent after the first signal sent to the mobile terminal, and according to the first signal and the second signal received The installation site information of the temporal information of carrying and at least three monitoring device, determines the first position of target object Information；

According to the second location information, and the monitoring range of each monitoring device saved, determine target monitoring equipment；Root According to second location information and the location information pre-saved and the rotation angle of target monitoring equipment, zoom parameters it is corresponding Relationship, determines target rotation angle and target zoom parameters, and by target rotate angle and target zoom parameters be sent to it is described Target monitoring equipment, instruction target monitoring equipment rotate angle and target zoom parameters, photographic subjects object according to target；Its In, the rotation angle is rotation angle of the target monitoring equipment relative to default shooting direction.

7. method as claimed in claim 6, which is characterized in that the first signal and the second signal that the basis receives carry Temporal information and at least three monitoring device installation site information, determine the first location information of target object Include:

According to the temporal information that the first signal and the second signal received carry, the time difference of signal transmission is determined；According to letter Number transmission speed and the time difference, determine mobile terminal respectively at a distance from least three monitoring devices；

According to the installation site information of at least three monitoring devices and the mobile terminal respectively at least three monitoring devices Distance determines the target localization region of at least three monitoring device respectively, by the target of at least three monitoring device First location information of the intersection position information of localization region as target object.

8. method as claimed in claim 6, which is characterized in that it is described according to the second location information, and save every The monitoring range of a monitoring device determines that target monitoring equipment includes:

Judge whether the second location information is located in the overlapping monitoring range of two monitoring devices, if not, by described The corresponding monitoring device of monitoring range belonging to two location informations is as target monitoring equipment；If so, according to target object The installation site information of second location information and described two monitoring devices determines target object and described two prisons respectively Control equipment distance, using apart from small monitoring device as target monitoring equipment.

9. method as claimed in claim 6, which is characterized in that described to be sent to target rotation angle and target zoom parameters The target monitoring equipment, instruction target monitoring equipment rotate angle and target zoom parameters, photographic subjects object according to target Later, the method also includes:

The target object for receiving user's input checks instruction, and the video information for shooting the target object is sent to display screen, It is shown.

10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program realizes claim 6-9 described in any item method and steps when the computer program is executed by processor.