CN111698430A - Method and system for multipath video auto-negotiation relay seamless tracking of moving target - Google Patents
Method and system for multipath video auto-negotiation relay seamless tracking of moving target Download PDFInfo
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- CN111698430A CN111698430A CN202010613326.7A CN202010613326A CN111698430A CN 111698430 A CN111698430 A CN 111698430A CN 202010613326 A CN202010613326 A CN 202010613326A CN 111698430 A CN111698430 A CN 111698430A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention belongs to the technical field of video monitoring, and particularly relates to a method and a system for multi-channel video auto-negotiation relay seamless tracking of a moving target, which comprises the following steps: calculating according to the real-time geographic position of the moving target when moving and the fixed geographic position of the camera at the current monitoring point, controlling the current camera to rotate and tracking and monitoring the moving target; the method comprises the steps that a relay area between two monitoring points is obtained according to a current monitoring point camera and a next monitoring point camera, and when a moving target enters the relay area, the two cameras are controlled to simultaneously track and monitor the moving target; when the moving target leaves the relay area, the current monitoring point camera is controlled to stop tracking and monitoring, and the next monitoring point camera continues to rotate and track and monitor the moving target. The cameras of the invention rotate along with the movement of the moving target to track and monitor the moving target, and the cameras at the front and the rear monitoring points track and monitor the moving target in a relay manner, thereby realizing the automatic uninterrupted tracking and monitoring of the moving target.
Description
Technical Field
The invention belongs to the technical field of video monitoring, and particularly relates to a method and a system for multi-channel video auto-negotiation relay seamless tracking of a moving target.
Background
When a traffic safety guarantee task is carried out on a special motorcade, road video monitoring is required to be called frequently, the real-time conditions of the motorcade of the task and surrounding roads are concerned, uninterrupted video monitoring is required to be carried out in the task carrying process until the task is finished, so that road traffic safety measures are guaranteed to be executed in place, and field or command center resources can be scheduled to be disposed at the first time in case of emergency.
With the increasing traffic safety guarantee tasks, the manual video tracking is not free, and a technical scheme capable of automatically tracking a moving target is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for multi-channel video auto-negotiation relay seamless tracking of a moving target.
In a first aspect, the present invention provides a method for seamless tracking of a moving target through auto-negotiation relay of multiple paths of videos, which comprises the following steps:
in the process that the moving target moves along the road, calculating according to the real-time geographic position of the moving target and the fixed geographic position of the camera at the current monitoring point, controlling the current camera to rotate and aim at the moving target according to the calculation result, and tracking and monitoring the moving target;
predicting a next monitoring point camera according to the motion track of the moving target, obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera, controlling the two cameras to rotate simultaneously and align to the moving target when the moving target enters the relay area, and tracking and monitoring the moving target;
when the moving target leaves the relay area, the current monitoring point camera is controlled to stop tracking and monitoring the moving target, and the next monitoring point camera continues to rotate and is aligned with the moving target to track and monitor the moving target.
Preferably, the calculating according to the real-time geographic position of the moving target and the fixed geographic position of the current monitoring point camera, and controlling the current camera to rotate and align with the moving target according to the calculation result specifically include:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
Preferably, the included angle between the two straight lines includes a horizontal included angle projected on a horizontal plane by the two straight lines and a vertical included angle projected on a vertical plane.
Preferably, the controlling the camera to rotate and align with the moving target according to the included angle specifically includes:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
Preferably, the obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically includes:
and obtaining a middle vertical plane between the connecting lines of the two monitoring points according to the fixed geographical position of the current monitoring point camera and the fixed geographical position of the next monitoring point camera, wherein the area in a certain distance from the front to the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area.
In a second aspect, the invention provides a system for multi-channel video auto-negotiation relay seamless tracking of a moving target, which is suitable for the method for multi-channel video auto-negotiation relay seamless tracking of a moving target in the first aspect, and the system comprises a server, a moving target and a plurality of cameras arranged on the road side, wherein the moving target and the cameras are respectively communicated with the server;
in the process that the moving target moves along the road, the server calculates according to the real-time geographic position of the moving target and the fixed geographic position of the camera at the current monitoring point, controls the current camera to rotate and aim at the moving target according to the calculation result, and tracks and monitors the moving target;
the server predicts a next monitoring point camera according to the motion track of the moving target, obtains a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera, controls the two cameras to rotate simultaneously and align to the moving target when the moving target enters the relay area, and tracks and monitors the moving target;
when the moving target leaves the relay area, the server controls the current monitoring point camera to stop tracking and monitoring the moving target, and the next monitoring point camera continues to rotate and is aligned with the moving target to track and monitor the moving target.
Preferably, the server calculates according to the real-time geographic position of the moving target and the fixed geographic position of the current monitoring point camera, and controls the current camera to rotate and align with the moving target according to the calculation result, specifically:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
Preferably, the included angle between the two straight lines includes a horizontal included angle projected on a horizontal plane by the two straight lines and a vertical included angle projected on a vertical plane.
Preferably, the controlling the camera to rotate and align with the moving target according to the included angle specifically includes:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
Preferably, the obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically includes:
according to the fixed geographic position of the current monitoring point camera and the fixed geographic position of the next monitoring point camera, a middle vertical plane between the connecting lines of the two monitoring points is obtained, and the area within a certain distance from the front and the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area
According to the technical scheme, the cameras rotate along with the movement of the moving target to track and monitor the moving target, and the cameras at the front monitoring point and the rear monitoring point track and monitor the moving target in a relay manner, so that the moving target is automatically tracked and monitored without interruption.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a flowchart of a method for seamless tracking of a moving target through multi-channel video auto-negotiation relay in this embodiment;
fig. 2 is a schematic diagram illustrating monitoring of three paths of videos for relay monitoring of a moving object in the present embodiment;
fig. 3 is a system structure diagram of the multi-channel video auto-negotiation relay seamless tracking of the moving object in the present embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
The first embodiment is as follows:
the embodiment provides a method for seamless tracking of a moving target through multi-channel video auto-negotiation relay, as shown in fig. 1, which includes the following steps:
s1, calculating the real-time geographic position of the moving target and the fixed geographic position of the current monitoring point camera in the moving process of the moving target along the road, controlling the current camera to rotate and aim at the moving target according to the calculation result, and tracking and monitoring the moving target;
s2, predicting a camera at a next monitoring point according to the motion track of the moving target, obtaining a relay area between two monitoring points according to the current monitoring point camera and the camera at the next monitoring point, controlling the two cameras to rotate simultaneously and align at the moving target when the moving target enters the relay area, and tracking and monitoring the moving target;
and S3, when the moving target leaves the relay area, controlling the camera at the current monitoring point to stop tracking and monitoring the moving target, and controlling the camera at the next monitoring point to continuously rotate and align with the moving target to track and monitor the moving target.
In this embodiment, the moving object moves on the road, a plurality of monitoring points are arranged along the side of the road, and each monitoring point is provided with a camera. When the moving target moves along the road, the current monitoring point camera rotates along with the movement of the moving target, and the moving target is aligned in real time to carry out tracking monitoring. The moving target moves forward continuously, is farther and farther from the current monitoring point camera, is closer and closer to the next monitoring point camera, a relay area is arranged between the front camera and the rear camera for continuously tracking and monitoring the moving target, the front camera and the rear camera are simultaneously aligned to track the moving target in the relay area, when the moving target leaves the relay area, the front camera completes a handover task and does not track and monitor the moving target any more, the rear camera independently tracks and monitors the moving target continuously, and the steps are repeated in this way, and the moving target is tracked and monitored in real time in a seamless, whole-course and automatic mode on the whole moving track of the moving target.
In this embodiment, the step S1 is to calculate according to the real-time geographic position of the moving target and the fixed geographic position of the current monitoring point camera, and control the current camera to rotate and align with the moving target according to the calculation result, specifically:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
In this embodiment, the position of each monitoring point is determined, and the camera of each monitoring point is fixed, so that the fixed geographic position of each camera is not changed, and therefore, the server can query the pre-stored fixed geographic position of each camera from the database; of course, the server may also acquire the fixed geographic location from the camera by real-time acquisition. Because the fixed geographic position of the camera is determined and the real-time geographic position of the moving target is changed, when the camera is mapped on the reference coordinate system, only one fixed geographic position point A exists, and a plurality of real-time geographic position points B exist1、B2、B3… …. For example, the real-time geographical location point of the previous moment of the moving object is B2And the line connecting the camera and the moving object on the reference coordinate system is AB2(ii) a The current time real-time geographic position point of the moving target is B3And the line connecting the camera and the moving object on the reference coordinate system is AB3. Then calculate the straight line AB2And AB3The included angle therebetween. The included angle between the two straight lines comprises a horizontal included angle projected on a horizontal plane by the two straight lines and a vertical included angle projected on a vertical plane. Straight line AB2And AB3The straight lines projected on the horizontal plane are respectively AB2' and AB3' straight line AB2' and AB3An included angle α between them is a horizontal included angle, and a straight line AB2And AB3The straight lines projected on the vertical plane are respectively AB2"and AB3"line AB2"and AB3"is the vertical angle, β.
The method for controlling the camera to rotate and aim at the moving target according to the included angle specifically comprises the following steps:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
In this embodiment, after the two included angles α and β are obtained, the camera is controlled to rotate by α degrees in the horizontal direction, and the camera is controlled to rotate by β degrees in the vertical direction, so that the camera rotates to aim at the following moving target in real time.
In this embodiment, in step S2, obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically includes:
and obtaining a middle vertical plane between the connecting lines of the two monitoring points according to the fixed geographical position of the current monitoring point camera and the fixed geographical position of the next monitoring point camera, wherein the area in a certain distance from the front to the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area.
In this embodiment, since the position of each camera is fixed, the intermediate position between the two cameras can be calculated, and a region located a certain distance before and after the intermediate position is set as a relay region. This embodiment will be described by taking three cameras on the road side as an example. As shown in fig. 2, when a vehicle passes through a road, three cameras are arranged on the side of the road, when the vehicle just enters the road, the first camera i tracks and monitors the vehicle, when the vehicle enters a relay area between the first camera i and the second camera ii, the first camera i and the second camera ii track and monitor the vehicle at the same time, when the vehicle leaves a relay area between the first camera i and the second camera ii, the first camera i stops tracking and monitoring the moving object, the second camera ii continues tracking and monitoring the moving object, the vehicle continues to advance, when the vehicle enters a relay area between the second camera ii and the third camera iii, the second camera ii and the third camera iii track and monitor the vehicle at the same time, when the vehicle leaves a relay area between the second camera ii and the third camera iii, the second camera ii stops tracking and monitoring the moving object, and the third camera continues to track and monitor the moving target until the vehicle drives away from the road, so that the vehicle is tracked and monitored on the road.
In summary, the cameras in the embodiment rotate along with the movement of the moving target to track and monitor the moving target, and the cameras at the front and rear monitoring points track and monitor the moving target in a relay manner, so that the moving target is tracked and monitored automatically, in a whole process, and continuously. The labor input and the time input in the process of automatically following the moving target in the whole course under a specific scene are greatly reduced, the labor cost and the time cost are saved, and the efficiency of tracking and monitoring the moving target is improved.
Example two:
the embodiment provides a system for multi-channel video auto-negotiation relay seamless tracking of a moving target, which is suitable for the method for multi-channel video auto-negotiation relay seamless tracking of the moving target in the embodiment one, and the system comprises a server, the moving target and a plurality of cameras arranged on the road side, wherein the moving target and the cameras are respectively communicated with the server;
in the process that the moving target moves along the road, the server calculates according to the real-time geographic position of the moving target and the fixed geographic position of the camera at the current monitoring point, controls the current camera to rotate and aim at the moving target according to the calculation result, and tracks and monitors the moving target;
the server predicts a next monitoring point camera according to the motion track of the moving target, obtains a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera, controls the two cameras to rotate simultaneously and align to the moving target when the moving target enters the relay area, and tracks and monitors the moving target;
when the moving target leaves the relay area, the server controls the current monitoring point camera to stop tracking and monitoring the moving target, and the next monitoring point camera continues to rotate and is aligned with the moving target to track and monitor the moving target.
In this embodiment, the moving object moves on the road, a plurality of monitoring points are arranged along the side of the road, each monitoring point is provided with a camera, and adjacent cameras track and monitor the moving object in a relay manner, that is, after the monitoring task of one camera is completed, the next camera continues to monitor. The server in this embodiment may be a field server or a cloud server, and the camera and the server (the field server or the cloud server, and the field server and the cloud server communicate with each other) communicate with each other through a vehicle route cooperative communication protocol, as shown in fig. 3, two negotiation modes of the monitoring point are provided: first, adjacent cameras communicate with each other through a 5G base station or a field server supporting a 5G-V2X protocol, and perform protocol docking and relay negotiation of seamless video coverage. Secondly, when no 5G base station or roadside equipment supporting a 5G-V2X protocol exists, adjacent cameras need to communicate through a cloud server, and protocol docking and relay negotiation of seamless video coverage are performed.
When the moving target moves along the road, the current monitoring point camera rotates along with the movement of the moving target, and the moving target is aligned in real time to carry out tracking monitoring. The moving target moves forward continuously, is farther and farther from the current monitoring point camera, is closer and closer to the next monitoring point camera, a relay area is arranged between the front camera and the rear camera for continuously tracking and monitoring the moving target, the front camera and the rear camera are simultaneously aligned to track the moving target in the relay area, when the moving target leaves the relay area, the front camera completes a handover task and does not track and monitor the moving target any more, the rear camera independently tracks and monitors the moving target continuously, and the steps are repeated in this way, and the moving target is tracked and monitored in real time in a seamless, whole-course and automatic mode on the whole moving track of the moving target.
The method comprises the following steps of calculating according to the real-time geographic position of a moving target and the fixed geographic position of a current monitoring point camera, controlling the current camera to rotate and align to the moving target according to a calculation result, and specifically comprises the following steps:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
In this embodiment, the position of each monitoring point is determined, and the camera of each monitoring point is fixed, so that the fixed geographic position of each camera is not changed, and therefore, the server can query the pre-stored fixed geographic position of each camera from the database; of course, the server may also acquire the fixed geographic location from the camera by real-time acquisition. Because the fixed geographic position of the camera is determined and the real-time geographic position of the moving target is changed, when the camera is mapped on the reference coordinate system, only one fixed geographic position point A exists, and a plurality of real-time geographic position points B exist1、B2、B3… …. For example, the real-time geographical location point of the previous moment of the moving object is B2And the line connecting the camera and the moving object on the reference coordinate system is AB2(ii) a The current time real-time geographic position point of the moving target is B3And the line connecting the camera and the moving object on the reference coordinate system is AB3. Then calculate the straight line AB2And AB3The included angle therebetween. The included angle between the two straight lines comprises a horizontal included angle projected on a horizontal plane by the two straight lines and a vertical included angle projected on a vertical plane. Straight line AB2And AB3The straight lines projected on the horizontal plane are respectively AB2' and AB3' straight line AB2' and AB3An included angle α between them is a horizontal included angle, and a straight line AB2And AB3The straight lines projected on the vertical plane are respectively AB2"and AB3"line AB2"and AB3"is the vertical angle, β.
The method for controlling the camera to rotate and aim at the moving target according to the included angle specifically comprises the following steps:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
In this embodiment, after the two included angles α and β are obtained, the camera is controlled to rotate by α degrees in the horizontal direction, and the camera is controlled to rotate by β degrees in the vertical direction, so that the camera rotates to aim at the following moving target in real time.
In this embodiment, the obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically includes:
and obtaining a middle vertical plane between the connecting lines of the two monitoring points according to the fixed geographical position of the current monitoring point camera and the fixed geographical position of the next monitoring point camera, wherein the area in a certain distance from the front to the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area.
In this embodiment, since the position of each camera is fixed, the intermediate position between the two cameras can be calculated, and a region located a certain distance before and after the intermediate position is set as a relay region. This embodiment will be described by taking three cameras on the road side as an example. As shown in fig. 2, when a vehicle passes through a road, three cameras are arranged on the side of the road, when the vehicle just enters the road, the first camera i tracks and monitors the vehicle, when the vehicle enters a relay area between the first camera i and the second camera ii, the first camera i and the second camera ii track and monitor the vehicle at the same time, when the vehicle leaves a relay area between the first camera i and the second camera ii, the first camera i stops tracking and monitoring the moving object, the second camera ii continues tracking and monitoring the moving object, the vehicle continues to advance, when the vehicle enters a relay area between the second camera ii and the third camera iii, the second camera ii and the third camera iii track and monitor the vehicle at the same time, when the vehicle leaves a relay area between the second camera ii and the third camera iii, the second camera ii stops tracking and monitoring the moving object, and the third camera continues to track and monitor the moving target until the vehicle drives away from the road, so that the vehicle is tracked and monitored on the road.
In summary, the cameras in the embodiment rotate along with the movement of the moving target to track and monitor the moving target, and the cameras at the front and rear monitoring points track and monitor the moving target in a relay manner, so that the moving target is tracked and monitored automatically, in a whole process, and continuously. The labor input and the time input in the process of automatically following the moving target in the whole course under a specific scene are greatly reduced, the labor cost and the time cost are saved, and the efficiency of tracking and monitoring the moving target is improved.
Those of ordinary skill in the art will appreciate that the elements and steps of the various examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the division of the steps is only one logical functional division, and there may be other division ways in actual implementation, for example, multiple steps may be combined into one step, one step may be split into multiple steps, or some features may be omitted.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A method for multi-channel video auto-negotiation relay seamless tracking of a moving target is characterized by comprising the following steps:
in the process that the moving target moves along the road, calculating according to the real-time geographic position of the moving target and the fixed geographic position of the camera at the current monitoring point, controlling the current camera to rotate and aim at the moving target according to the calculation result, and tracking and monitoring the moving target;
predicting a next monitoring point camera according to the motion track of the moving target, obtaining a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera, controlling the two cameras to rotate simultaneously and align to the moving target when the moving target enters the relay area, and tracking and monitoring the moving target;
when the moving target leaves the relay area, the current monitoring point camera is controlled to stop tracking and monitoring the moving target, and the next monitoring point camera continues to rotate and is aligned with the moving target to track and monitor the moving target.
2. The method for multi-channel video auto-negotiation relay seamless tracking of the moving target according to claim 1, wherein the calculation is performed according to the real-time geographical position of the moving target and the fixed geographical position of the current monitoring point camera, and the current camera is controlled to rotate and align with the moving target according to the calculation result, specifically:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
3. The method according to claim 1, wherein the included angle between the two straight lines comprises a horizontal included angle projected by the two straight lines on a horizontal plane and a vertical included angle projected by the two straight lines on a vertical plane.
4. The method for seamless tracking of the multi-channel video auto-negotiation relay moving target according to claim 3, wherein the controlling the camera to rotate and align with the moving target according to the included angle specifically comprises:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
5. The method for multi-channel video auto-negotiation relay seamless tracking of a moving target according to claim 4, wherein the obtaining of the relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically comprises:
and obtaining a middle vertical plane between the connecting lines of the two monitoring points according to the fixed geographical position of the current monitoring point camera and the fixed geographical position of the next monitoring point camera, wherein the area in a certain distance from the front to the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area.
6. A system for multi-channel video auto-negotiation relay seamless tracking of a moving target is suitable for the method for multi-channel video auto-negotiation relay seamless tracking of the moving target according to any one of claims 1 to 5, and is characterized by comprising a server, the moving target and a plurality of cameras arranged on the road side, wherein the moving target and the cameras are respectively communicated with the server;
in the process that the moving target moves along the road, the server calculates according to the real-time geographic position of the moving target and the fixed geographic position of the camera at the current monitoring point, controls the current camera to rotate and aim at the moving target according to the calculation result, and tracks and monitors the moving target;
the server predicts a next monitoring point camera according to the motion track of the moving target, obtains a relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera, controls the two cameras to rotate simultaneously and align to the moving target when the moving target enters the relay area, and tracks and monitors the moving target;
when the moving target leaves the relay area, the server controls the current monitoring point camera to stop tracking and monitoring the moving target, and the next monitoring point camera continues to rotate and is aligned with the moving target to track and monitor the moving target.
7. The system for multi-channel video auto-negotiation relay seamless tracking of a moving target according to claim 6, wherein the server performs calculation according to a real-time geographical position of the moving target and a fixed geographical position of a current monitoring point camera, and controls the current camera to rotate and align with the moving target according to a calculation result, specifically:
the server receives a real-time geographical position of a moving target in the moving process;
the server receives the fixed geographic position of the current monitoring point camera or inquires the fixed geographic position of the current monitoring point camera from a database;
mapping the real-time geographical position and the fixed geographical position to a reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the previous moment to form a straight line on the reference coordinate system, connecting the fixed geographical position point and the real-time geographical position point at the current moment to form a straight line, and calculating an included angle between the two straight lines;
and controlling the camera to rotate and aim at the moving target according to the included angle.
8. The system according to claim 7, wherein the included angle between the two straight lines comprises a horizontal included angle projected by the two straight lines on a horizontal plane and a vertical included angle projected by the two straight lines on a vertical plane.
9. The system for multi-channel video auto-negotiation relay seamless tracking of a moving target according to claim 8, wherein the controlling of the camera to rotate and aim at the moving target according to the included angle specifically comprises:
controlling the current monitoring point camera to rotate in the horizontal direction according to the horizontal included angle;
and controlling the current monitoring point camera to rotate in the vertical direction according to the vertical included angle.
10. The system for multi-channel video auto-negotiation relay seamless tracking of a moving target according to claim 9, wherein the obtaining of the relay area between two monitoring points according to the current monitoring point camera and the next monitoring point camera specifically comprises:
and obtaining a middle vertical plane between the connecting lines of the two monitoring points according to the fixed geographical position of the current monitoring point camera and the fixed geographical position of the next monitoring point camera, wherein the area in a certain distance from the front to the back of the middle vertical plane along the connecting line direction of the two monitoring points is a relay area.
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