CN112230257A - Positioning monitoring method based on PTZ camera - Google Patents

Positioning monitoring method based on PTZ camera Download PDF

Info

Publication number
CN112230257A
CN112230257A CN202010922138.2A CN202010922138A CN112230257A CN 112230257 A CN112230257 A CN 112230257A CN 202010922138 A CN202010922138 A CN 202010922138A CN 112230257 A CN112230257 A CN 112230257A
Authority
CN
China
Prior art keywords
ptz camera
internet
monitored
calculating
things equipment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010922138.2A
Other languages
Chinese (zh)
Inventor
李奎
张政宽
刘佳兵
张辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kingsun Optoelectronic Co ltd
Original Assignee
Kingsun Optoelectronic Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kingsun Optoelectronic Co ltd filed Critical Kingsun Optoelectronic Co ltd
Priority to CN202010922138.2A priority Critical patent/CN112230257A/en
Publication of CN112230257A publication Critical patent/CN112230257A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • 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
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The invention relates to the technical field of monitoring, in particular to a positioning monitoring method based on a PTZ camera; it comprises a PTZ camera and the following steps: acquiring and recording three-dimensional position information of a PTZ camera, three-dimensional position information of Internet of things equipment to be monitored and lens parameters of the PTZ camera; calculating a horizontal angle theta h required to be rotated by the PTZ camera, a pitching angle theta v required to be rotated and a multiple value z required to be zoomed by a lens of the PTZ camera; and controlling the PTZ camera to rotate by a corresponding horizontal angle theta h and a corresponding pitching angle theta v according to the calculation result, and controlling the PTZ camera to zoom a corresponding lens multiple z, so that the PTZ camera can shoot a picture of the Internet of things equipment to be monitored. The invention can automatically adjust the shooting angle and the lens multiple of the PTZ camera, thereby remotely monitoring the monitored Internet of things equipment.

Description

Positioning monitoring method based on PTZ camera
Technical Field
The invention relates to the technical field of monitoring, in particular to a positioning monitoring method based on a PTZ camera.
Background
The PTZ camera is a monitoring camera that can move in all directions and zoom, and can adjust a horizontal angle, a pitch angle, and zoom and control a lens. Therefore, compared with the traditional camera with fixed direction, the PTZ camera can change the shooting angle and definition according to the requirement, and the monitoring effect is better than that of the traditional camera.
With the development of the internet of things technology and the construction of smart cities, more and more internet of things devices are connected into a system, more and more internet of things devices are required to be managed and maintained, and in the face of a large amount of device management, if monitoring is carried out in a traditional software mode, only the state of whether the current devices are normally connected can be obtained, and when the internet of things devices are abnormal, the devices need to go to a fault place manually to check the problems, so that a method for remotely monitoring the internet of things devices is needed, and a basis is provided for maintaining the internet of things devices.
Disclosure of Invention
The invention aims to overcome the defects and provides a positioning monitoring method based on a PTZ camera, which can be used for remotely monitoring the equipment of the Internet of things to be monitored.
In order to achieve the purpose, the invention adopts the following specific scheme: a positioning monitoring method based on a PTZ camera comprises the following steps: the control method comprises the following steps: acquiring and recording three-dimensional position information of a PTZ camera, three-dimensional position information of Internet of things equipment to be monitored and lens parameters of the PTZ camera; calculating a horizontal angle theta h required to be rotated by the PTZ camera, a pitching angle theta v required to be rotated and a multiple value z required to be zoomed by a lens of the PTZ camera; and controlling the PTZ camera to rotate by a corresponding horizontal angle theta h and a corresponding pitching angle theta v according to the calculation result, and controlling the PTZ camera to zoom a corresponding lens multiple z, so that the PTZ camera can shoot a picture of the Internet of things equipment to be monitored.
Further, according to the three-dimensional position information of the PTZ camera and the three-dimensional position information of the Internet of things equipment to be monitored, calculating a horizontal angle theta h and a pitching angle theta v which are required to be rotated by the PTZ camera; and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the three-dimensional position information of the PTZ camera, the three-dimensional position information of the Internet of things equipment to be monitored and the lens parameters of the PTZ camera.
Further, three-dimensional position information of the PTZ camera and three-dimensional position information of the equipment of the Internet of things to be monitored are obtained through a satellite positioning system; the three-dimensional position information of the PTZ camera comprises a longitude value, a latitude value and an installation height value of the PTZ camera; the three-dimensional position information of the Internet of things equipment to be monitored comprises a longitude value, a latitude value and an installation height value of the equipment; the lens parameters of the PTZ camera comprise zoom range parameters; the zoom range parameters comprise the minimum zoom number, the maximum zoom number, the minimum monitoring distance and the maximum monitoring distance of the lens.
Further, calculating a horizontal angle theta h of the PTZ camera needing to rotate according to respective longitude values and latitude values of the PTZ camera and the Internet of things equipment to be monitored; calculating a pitching angle theta v required to be rotated by the PTZ camera according to respective longitude values, latitude values and installation height values of the PTZ camera and the Internet of things equipment to be monitored; and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the longitude value and the latitude value of the PTZ camera and the respective lens parameter of the Internet of things equipment to be monitored.
Further, the method for calculating the horizontal angle θ h of the PTZ camera required to rotate is as follows: establishing a three-dimensional coordinate system; calculating a distance difference delta Y between the PTZ camera and the Internet of things equipment to be monitored in the Y-axis direction and a distance difference delta X in the X-axis direction; according to a function thetahThe value of the horizontal angle θ h is calculated, which is arctan2(Δ y, Δ x).
Further, the method for calculating the pitch angle θ v of the PTZ camera needing to be rotated comprises the following steps: calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored; calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored; according to a function thetavThe θ v value is calculated as arctan2(Δ h, S).
Further, the method for calculating the zoom factor z of the PTZ camera is as follows: establishing a three-dimensional coordinate system; computingThe spherical distance S between the PTZ camera and the Internet of things equipment to be monitored; calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored; according to the Pythagorean theorem, calculating a linear distance L between the PTZ camera in the three-dimensional coordinate system and the Internet of things equipment to be monitored; according to the formula
Figure BDA0002667085800000031
Calculating a scaled multiple value z, wherein zminIs the minimum variable magnification, zmaxIs the maximum magnification factor, sminFor minimum monitoring distance, smaxIs the maximum monitoring distance.
Further, the spherical distance S is calculated by using a spherical cosine formula, a Haversine formula and/or a vincent formula.
The invention has the beneficial effects that: the zoom range parameters of the PTZ camera and the three-dimensional position information of the to-be-monitored Internet of things equipment are acquired only at one time, the three-dimensional position information data and the lens data are calculated, the picture of the to-be-monitored Internet of things equipment can be shot, and the acquired picture image information of the PTZ camera does not need to be processed in a complicated mode. The invention has simple operation model, high operation speed and accurate calculation result. According to the calculation result, the pan-tilt of the PTZ camera can be automatically controlled, so that the pan-tilt can clearly shoot the picture of the Internet of things equipment to be monitored, a user can timely check the specific condition of the abnormal Internet of things equipment, and the method is very convenient and fast and is favorable for efficient management.
Drawings
The invention is further described with the aid of the accompanying drawings, in which the embodiments do not constitute any limitation of the invention, and in which further drawings may be obtained by those skilled in the art without inventive effort, from the following figures.
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic three-dimensional coordinate diagram of the present invention;
fig. 3 is a schematic diagram in practical application.
Wherein, 1, PTZ camera; 2. and the Internet of things equipment to be monitored.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
As shown in fig. 1 to 3, a positioning monitoring method based on a PTZ camera according to the present embodiment includes the following steps: acquiring and recording three-dimensional position information of a PTZ camera, three-dimensional position information of Internet of things equipment to be monitored and lens parameters of the PTZ camera; calculating a horizontal angle theta h required to be rotated by the PTZ camera, a pitching angle theta v required to be rotated and a multiple value z required to be zoomed by a lens of the PTZ camera; and controlling the PTZ camera to rotate by a corresponding horizontal angle theta h and a corresponding pitching angle theta v according to the calculation result, and controlling the PTZ camera to zoom a corresponding lens times z, so that the PTZ camera can shoot a picture of the Internet of things equipment to be monitored.
As shown in fig. 1 to 3, according to the positioning and monitoring method based on the PTZ camera, a horizontal angle θ h and a pitch angle θ v which the PTZ camera needs to rotate are calculated according to three-dimensional position information of the PTZ camera and three-dimensional position information of the internet of things device to be monitored; and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the three-dimensional position information of the PTZ camera, the three-dimensional position information of the Internet of things equipment to be monitored and the lens parameters of the PTZ camera.
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to the embodiment, three-dimensional position information of the PTZ camera and three-dimensional position information of an internet of things device to be monitored are acquired through a satellite positioning system; the three-dimensional position information of the PTZ camera comprises a longitude value, a latitude value and an installation height value of the PTZ camera; the three-dimensional position information of the Internet of things equipment to be monitored comprises a longitude value, a latitude value and an installation height value of the equipment; the lens parameters of the PTZ camera comprise zoom range parameters; the zoom range parameters comprise the minimum zoom multiple, the maximum zoom number, the minimum monitoring distance, the maximum monitoring distance and the focal length range of the lens.
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to the embodiment, a horizontal angle θ h that the PTZ camera needs to rotate is calculated according to respective longitude values and latitude values of the PTZ camera and an internet of things device to be monitored; calculating a pitch-up angle theta v required to rotate by the PTZ camera according to respective longitude values, latitude values and installation height values of the PTZ camera and the Internet of things equipment to be monitored; and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the longitude value and the latitude value of the PTZ camera and the respective longitude value and latitude value of the Internet of things equipment to be monitored and the lens parameter of the PTZ camera.
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to this embodiment, a method for calculating a horizontal angle θ h that the PTZ camera needs to rotate is as follows: establishing a three-dimensional coordinate system; calculating a distance difference delta Y between the PTZ camera and the Internet of things equipment to be monitored in the Y-axis direction and a distance difference delta X in the X-axis direction; according to a function thetahThe value of the horizontal angle θ h is calculated, which is arctan2(Δ y, Δ x).
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to this embodiment, a method for calculating a tilt angle θ v that the PTZ camera needs to rotate includes: calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored; calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored; according to a function thetavThe θ v value is calculated as arctan2(Δ h, S).
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to this embodiment, a method for calculating a multiple value z of the PTZ camera that needs to be scaled includes: establishing a three-dimensional coordinate system; calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored; calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored; according to the Pythagorean theorem, calculating a linear distance L between the PTZ camera in the three-dimensional coordinate system and the Internet of things equipment to be monitored; according to the formula
Figure BDA0002667085800000061
Calculating a scaled multiple value z, wherein zminIs the minimum variable multiple, zmaxIs the maximum magnification factor, sminFor minimum monitoring distance, smaxIs the maximum monitoring distance.
As shown in fig. 1 to 3, in the positioning and monitoring method based on the PTZ camera according to this embodiment, the spherical distance S is calculated by using a spherical cosine formula, a Haversine formula and/or a vincent formula.
Specifically, the PTZ camera may be a common PTZ camera in the market or another image pickup device capable of implementing the panning, tilting, zooming and zooming control functions, and the structure of the PTZ camera is not limited. The satellite positioning system can be a system which can obtain three-dimensional positioning information, such as a GPS system, a Galileo satellite, a Beidou satellite navigation system and the like, so that the system can calculate the relative position information of the PTZ camera and the Internet of things equipment to be monitored. The lens parameters of the PTZ camera comprise zoom range parameters, and the zoom range parameters comprise parameters such as a maximum zoom range, a minimum monitoring distance and a maximum monitoring distance.
When the PTZ camera is installed, the initial installation azimuth, angle and installation height of the PTZ camera can be predetermined, and the data are recorded in a background database; because the PTZ cameras are provided with direction sensors (such as a direction sensor sensing the direction, such as a gyroscope) and the like, the initial installation direction data of each PTZ camera can be acquired; the mounting height can be the height of PTZ camera and the thing networking device's of treating the control self, also can be its altitude (be convenient for calculate two equipment of installing on the slope), during the calculation, according to actual demand, convert into unified calculated quantity can, do not influence the result of this embodiment.
For the convenience of calculation, further, the vertical projection of the PTZ camera on the earth can be taken as the origin O of the three-dimensional coordinate system, that is, the longitude and latitude coordinate position coordinates where the PTZ camera is located are taken as the origin O of the three-dimensional coordinate system. The X-axis is regarded as the weft tangent line (east-west direction) through the origin O, the Y-axis is regarded as the warp tangent line (south-north direction) through the origin O, the h-axis is regarded as the perpendicular line (height direction) perpendicular to the horizontal plane through the origin O, then the origin O and the three mutually perpendicular axes x, y and h form a coordinate system of a three-dimensional space, and the position relation between the PTZ camera and the Internet of things equipment to be monitored can be conveniently solved through the three-dimensional coordinate system.
The specific calculation process of the position relationship is as follows:
the intelligent terminal (such as a mobile phone and a tablet personal computer) acquires longitude and latitude coordinates and height information of the PTZ camera and the Internet of things equipment to be monitored through a satellite positioning system. And according to the three-dimensional position information obtained from the satellite positioning system, expressing the position of the PTZ camera and the position of the equipment of the Internet of things to be monitored in the global position. The position information can be represented by a longitude and latitude coordinate system, and common longitude and latitude coordinate systems include a WGS-84 (world standard longitude and latitude coordinate system), a GCJ-02 (Chinese plus offset longitude and latitude coordinate system, also called a Mars coordinate system) and a BD-09 (hundred degree coordinate system). If the longitude and latitude coordinate systems used by different devices are different, the longitude and latitude coordinate systems can be converted into the same longitude and latitude coordinate system and then calculated, and the positioning accuracy of the PTZ camera cannot be influenced by the result. Because the longitude and latitude coordinate system uses the angle system coordinate, the embodiment converts the angle system coordinate into the radian system coordinate, and the conversion formula is as follows:
Figure BDA0002667085800000071
where π is the circumference, a is the angle, and r is the radian.
Then, according to the longitude, the latitude and the installation height of the PTZ camera and the Internet of things equipment to be monitored, the three-dimensional coordinate form is expressed as follows: (lon, lat, h), wherein lon represents longitude coordinates, lat represents latitude coordinates, and h represents equipment installation height, wherein the longitude lon and the latitude lat are units of radian, and the installation height h is a unit of meter. The PTZ camera three-dimensional coordinates are then expressed as: (lon)ptz,latptz,hptz) (ii) a Expressing the three-dimensional coordinates of the Internet of things equipment to be monitored as follows: (lon)dev,latdev,hdev)。
The method for calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored comprises the following steps:
the earth is an approximate sphere, the PTZ camera and the Internet of things equipment to be monitored are equivalent to two points on the sphere, the PTZ camera on the surface of the earth, the Internet of things equipment to be monitored and the sphere center of the earth form a unique Great circle (Riemann circle), the distance between the PTZ camera and the Internet of things equipment to be monitored is the Great-circle distance (Great-circle distance), and the arc length is the shortest path which passes between the vertical projection of the PTZ camera and the vertical projection of the Internet of things equipment to be monitored, namely the spherical distance S.
The spherical distance S between the PTZ camera and the Internet of things equipment to be monitored can be calculated by adopting a spherical cosine formula, a Haversene (semi-versine) formula, a Vincenty formula and the like. Because the earth is not a true positive sphere but an irregular oblate sphere with two poles slightly flat and equatorially slightly bulging, the north pole, the south pole and the north pole of the earth are slightly convex and slightly concave and are asymmetric, and the external topography is fluctuant and changeable. The above formulas have respective positioning accuracy and calculation performance, so that selection needs to be performed according to specific positioning accuracy requirements and performance requirements. Preferably, in the embodiment, the distance between the PTZ camera and the internet of things equipment to be monitored is calculated by using a spherical cosine formula, and compared with other formulas, the spherical cosine formula is simpler, the calculation speed is higher, the performance is higher, and the theoretical precision also meets the actual positioning requirement. However, according to specific service requirements, the invention does not exclude the use of other spherical distance calculation formulas, and the formula for calculating the spherical distance S between the PTZ camera and the internet of things equipment to be monitored by using the spherical distance formula is as follows:
S＝R*arccos[cos(latptz)*cos(latdev)*cos(lonptz-londev)+sin(latptz) *sin(latdev)]
wherein, R is the radius of the earth, the average radius of the earth is about 6371393 m in this embodiment, and arccos is an inverse cosine function.
Similarly, a formula for calculating the distance difference Δ Y between the PTZ camera and the internet of things device to be monitored in the Y axis direction (meridian direction) is as follows:
Figure BDA0002667085800000092
since the longitudes are the same, londev-lon ptz0, i.e. cos (lon)dev-lonptz) 1, and obtaining Deltay ═ R × arccos [ cos (lat) according to the cosine equation of the difference between two anglesdev-latptz)]Thus, therefore, it is
Δy＝R*(latdev-latptz)
The method for calculating the distance difference delta x between the PTZ camera and the equipment of the Internet of things to be monitored in the x axis (the weft direction) comprises the following steps:
Figure BDA0002667085800000091
solving the longitude lon of the PTZ camera and the Internet of things equipment to be monitoredptzAnd longitude londevThe linear distance difference Δ x therebetween is not suitable for the above-mentioned formula of finding the distance difference Δ y between longitudes because the distances between longitudes at different latitudes are not equal (the equator is largest, and the distance is smaller toward the two poles). Since the actual monitoring distance between the PTZ camera and the device to be monitored is typically between several meters and several hundred meters, this distance can be a spherical distance S and a distance in the Y-axis direction with respect to the radius of the earthThe dispersion delta y can be regarded as a straight line, and in order to simplify the calculation time, the above formula can be obtained according to the pythagorean theorem by combining the straight line distance S of the PTZ camera and the Internet of things equipment to be monitored on the horizontal plane and the straight line distance difference delta y between the latitudes of the PTZ camera and the Internet of things equipment.
The method of calculating the corresponding horizontal angle thetah by which the PTZ camera is rotated is,
θh＝arctan2(Δy，Δx)
in the formula, arctan2 is a special arctangent function which comes based on the azimuth function atan2, because the range of the arctan function is (-pi/2, pi/2), which does not meet the practical requirement. The value range of arctan2 is expanded to four quadrants, condition judgment is carried out through the quadrants where y and x are located to obtain a correct value, delta y is the distance between the PTZ camera and the Internet of things equipment to be monitored in the y-axis direction, delta x is the distance between the PTZ camera and the Internet of things equipment to be monitored in the x-axis direction, and thetahI.e. the angle at which the PTZ camera needs to be rotated counterclockwise in the horizontal direction. Note that the horizontal angle θ h is an included angle with the east-righting direction (X axis), in practical application, because the PTZ camera is provided with the direction sensor, the current rotated angle value can be obtained, and after receiving the rotated horizontal angle θ h, the PTZ camera can convert the instruction of the horizontal angle θ h into a relative horizontal rotation angle which actually needs to be rotated, so as to ensure that the shooting direction of the PTZ camera is the horizontal angle θ h, and the picture of the internet of things device to be monitored can be shot correctly.
The method for calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored comprises the following steps:
Δh＝hdev-hptz
in the formula, hdevIs the installation height h of the Internet of things equipment to be monitoredptzThe mounting height of the PTZ camera. The difference in height between the two is calculated from the mounting height obtained from the satellite positioning system.
The method for calculating the required rotation pitch angle theta v of the PTZ camera comprises the following steps:
θv＝arctan2(Δh，S)
wherein the arctan2 is in the range of [ -pi, pi ] of value]Is especially contrary toThe value range of the tangent function is expanded to four quadrants, delta h is the height difference of the PTZ camera and the installation of the Internet of things equipment to be monitored, S is the spherical distance S, and theta isvI.e. the pitch angle at which the PTZ camera needs to be rotated in the vertical direction.
The method for calculating the linear distance L between the PTZ camera and the Internet of things equipment to be monitored comprises the following steps:
Figure BDA0002667085800000111
in the formula, S is a spherical distance and approximately equals to a linear distance on a horizontal plane, Δ h is a height difference, and a linear distance L between the PTZ camera and the Internet of things equipment to be monitored in the three-dimensional space China can be obtained according to the Pythagorean theorem.
The method for calculating the zoom factor value z of the PTZ camera is as follows:
Figure BDA0002667085800000112
in the formula, zminFor minimum zoom factor, z, of PTZ camera lensmaxIs the maximum magnification factor, sminFor minimum monitoring distance, smaxAnd L is the linear distance between the PTZ camera and the Internet of things equipment to be monitored.
Wherein z ismin＜zmax，smin≤L≤smaxWhen z ismin＝0，zmax＝1，zminWhen the zoom number of the lens of the PTZ camera is 0 (i.e. the zoom number of the lens of the PTZ camera is between 0 and 1, and the minimum monitoring distance is 0 meter), the method for calculating the zoom factor of the lens of the PTZ camera can be simplified as follows:
Figure BDA0002667085800000113
at this time, the zoom factor of the lens of the PTZ camera is equal to the linear distance between the PTZ camera and the internet of things device to be monitored in the three-dimensional space divided by the maximum zoom factor of the PTZ camera.
According to the invention, the zoom factor of the lens of the PTZ camera is obtained by calculating the relationship between the linear distance L between the IOT equipment to be monitored and the PTZ camera and the monitoring range of the lens of the PTZ camera, but the zoom factor is not limited to the method of calculating the zoom range parameters such as the maximum zoom range, the minimum monitoring distance, the maximum monitoring distance and the like to obtain the zoom value of the PTZ camera.
Then, according to the horizontal angle thetahAngle of pitch thetavAnd sending a control instruction to adjust a stepping motor corresponding to a holder of the PTZ camera so that the PTZ camera can clearly shoot the picture of the Internet of things equipment to be monitored, and a user can check the specific condition of the abnormal equipment in time.
According to the invention, the picture of the IOT equipment to be monitored can be shot only by acquiring the zoom range parameter of the PTZ camera and the three-dimensional position information of the IOT equipment to be monitored at one time and performing operation on the basis of the acquired three-dimensional position information data and the lens data, and the acquired picture image information of the PTZ camera does not need to be processed in a complicated way. The invention has simple operation model, fast operation speed and accurate calculation result. According to the calculation result, the pan-tilt of the PTZ camera can be automatically controlled, so that the pan-tilt can clearly shoot the picture of the Internet of things equipment to be monitored, a user can check the specific condition of the abnormal Internet of things equipment in time, and the method is very convenient and fast and is favorable for efficient management.
As shown in fig. 3, when a manhole cover (the internet of things device 2 to be monitored) is abnormally opened, a monitor on the manhole cover reports alarm information, and after an edge computing gateway or a platform system is analyzed and processed, a plurality of PTZ cameras nearby are automatically linked to capture a scene picture or record a video; meanwhile, maintenance personnel are informed to go to process in the modes of short message, telephone, WeChat, mail and the like, safety hidden trouble is eliminated as soon as possible, and the equipment maintenance efficiency is greatly improved.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims (8)

1. A positioning monitoring method based on a PTZ camera is characterized in that: comprising a PTZ camera and the following steps:
acquiring and recording three-dimensional position information of a PTZ camera, three-dimensional position information of Internet of things equipment to be monitored and lens parameters of the PTZ camera;
calculating a horizontal angle theta h required to be rotated by the PTZ camera, a pitching angle theta v required to be rotated and a multiple value z required to be zoomed by a lens of the PTZ camera;
and controlling the PTZ camera to rotate by a corresponding horizontal angle theta h and a corresponding pitching angle theta v according to the calculation result, and controlling the PTZ camera to zoom a corresponding lens multiple z, so that the PTZ camera can shoot a picture of the Internet of things equipment to be monitored.
2. The PTZ camera-based positioning and monitoring method according to claim 1, wherein:
calculating a horizontal angle theta h and a pitching angle theta v which are required to be rotated by the PTZ camera according to the three-dimensional position information of the PTZ camera and the three-dimensional position information of the Internet of things equipment to be monitored;
and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the three-dimensional position information of the PTZ camera, the three-dimensional position information of the Internet of things equipment to be monitored and the lens parameters of the PTZ camera.
3. The PTZ camera-based positioning and monitoring method according to claim 1, wherein:
acquiring three-dimensional position information of a PTZ camera and three-dimensional position information of the Internet of things equipment to be monitored through a satellite positioning system;
the three-dimensional position information of the PTZ camera comprises a longitude value, a latitude value and an installation height value of the PTZ camera;
the three-dimensional position information of the Internet of things equipment to be monitored comprises a longitude value, a latitude value and an installation height value of the equipment;
the lens parameters of the PTZ camera comprise zoom range parameters; the zoom range parameters comprise the minimum zoom multiple, the maximum zoom multiple, the minimum monitoring distance and the maximum monitoring distance of the lens.
4. The PTZ camera-based positioning and monitoring method according to claim 3, wherein:
calculating a horizontal angle theta h of the PTZ camera required to rotate according to respective longitude values and latitude values of the PTZ camera and the Internet of things equipment to be monitored;
calculating a pitching angle theta v required to be rotated by the PTZ camera according to respective longitude values, latitude values and installation height values of the PTZ camera and the Internet of things equipment to be monitored;
and calculating a multiple value z of the lens of the PTZ camera, which needs to be zoomed, according to the longitude value and the latitude value of the PTZ camera and the respective longitude value and latitude value of the Internet of things equipment to be monitored and the lens parameter of the PTZ camera.
5. The PTZ camera-based positioning and monitoring method according to claim 1, wherein:
the method for calculating the horizontal angle theta h of the PTZ camera needing to rotate comprises the following steps:
establishing a three-dimensional coordinate system;
calculating a distance difference delta Y between the PTZ camera and the Internet of things equipment to be monitored in the Y-axis direction and a distance difference delta X in the X-axis direction;
the value of the horizontal angle θ h is calculated from the function θ h, arctan2(Δ y, Δ x).
6. The PTZ camera-based positioning and monitoring method according to claim 1, wherein:
the method for calculating the required rotation pitch angle theta v of the PTZ camera comprises the following steps:
calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored; calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored; from the function θ v ═ arctan2(Δ h, S), the value of θ v is calculated.
7. The PTZ camera-based positioning and monitoring method according to claim 1, wherein:
the method for calculating the zoom factor value z of the PTZ camera is as follows:
establishing a three-dimensional coordinate system;
calculating the spherical distance S between the PTZ camera and the Internet of things equipment to be monitored;
calculating the height difference delta h between the PTZ camera and the Internet of things equipment to be monitored;
according to the Pythagorean theorem, calculating a linear distance L between the PTZ camera in the three-dimensional coordinate system and the Internet of things equipment to be monitored;
according to the formula
Figure FDA0002667085790000031
Calculating a scaled multiple value z, wherein zminIs the minimum variable magnification, zmaxIs the maximum magnification factor, sminFor minimum monitoring distance, smaxIs the maximum monitoring distance.
8. The PTZ camera-based positioning monitoring method according to claim 6 or 7, wherein: and calculating the spherical distance S by adopting a spherical cosine formula, a Haversene formula and/or a Vincenty formula.
CN202010922138.2A 2020-09-04 2020-09-04 Positioning monitoring method based on PTZ camera Pending CN112230257A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010922138.2A CN112230257A (en) 2020-09-04 2020-09-04 Positioning monitoring method based on PTZ camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010922138.2A CN112230257A (en) 2020-09-04 2020-09-04 Positioning monitoring method based on PTZ camera

Publications (1)

Publication Number Publication Date
CN112230257A true CN112230257A (en) 2021-01-15

Family

ID=74115864

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010922138.2A Pending CN112230257A (en) 2020-09-04 2020-09-04 Positioning monitoring method based on PTZ camera

Country Status (1)

Country Link
CN (1) CN112230257A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113691777A (en) * 2021-08-18 2021-11-23 浙江大华技术股份有限公司 Zoom tracking method and device for ball machine, storage medium and electronic device
CN118429424A (en) * 2024-04-30 2024-08-02 广州赋安数字科技有限公司 Cloud deck camera preset bit generation method and device based on space data

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102045548A (en) * 2010-12-28 2011-05-04 天津市亚安科技电子有限公司 Method for controlling automatic zoom of PTZ (pan/tilt/zoom) camera
CN103905792A (en) * 2014-03-26 2014-07-02 武汉烽火众智数字技术有限责任公司 3D positioning method and device based on PTZ surveillance camera
CN104184995A (en) * 2014-08-26 2014-12-03 天津市亚安科技股份有限公司 Method and system for achieving real-time linkage monitoring of networking video monitoring system
CN104320587A (en) * 2014-11-12 2015-01-28 南京汉图信息技术有限公司 Method for automatically obtaining shooting range of outdoor pan-tilt camera
KR101586026B1 (en) * 2014-07-11 2016-01-18 인하대학교 산학협력단 device and method of calculating coverage of camera in video surveillance system
CN107679015A (en) * 2017-09-08 2018-02-09 山东神戎电子股份有限公司 A kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map
CN108076281A (en) * 2016-11-15 2018-05-25 杭州海康威视数字技术股份有限公司 A kind of auto focusing method and Pan/Tilt/Zoom camera
CN109413384A (en) * 2018-10-19 2019-03-01 天津天地人和企业管理咨询有限公司 Video monitoring system and method based on GPS information and PTZ

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102045548A (en) * 2010-12-28 2011-05-04 天津市亚安科技电子有限公司 Method for controlling automatic zoom of PTZ (pan/tilt/zoom) camera
CN103905792A (en) * 2014-03-26 2014-07-02 武汉烽火众智数字技术有限责任公司 3D positioning method and device based on PTZ surveillance camera
KR101586026B1 (en) * 2014-07-11 2016-01-18 인하대학교 산학협력단 device and method of calculating coverage of camera in video surveillance system
CN104184995A (en) * 2014-08-26 2014-12-03 天津市亚安科技股份有限公司 Method and system for achieving real-time linkage monitoring of networking video monitoring system
CN104320587A (en) * 2014-11-12 2015-01-28 南京汉图信息技术有限公司 Method for automatically obtaining shooting range of outdoor pan-tilt camera
CN108076281A (en) * 2016-11-15 2018-05-25 杭州海康威视数字技术股份有限公司 A kind of auto focusing method and Pan/Tilt/Zoom camera
CN107679015A (en) * 2017-09-08 2018-02-09 山东神戎电子股份有限公司 A kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map
CN109413384A (en) * 2018-10-19 2019-03-01 天津天地人和企业管理咨询有限公司 Video monitoring system and method based on GPS information and PTZ

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113691777A (en) * 2021-08-18 2021-11-23 浙江大华技术股份有限公司 Zoom tracking method and device for ball machine, storage medium and electronic device
CN113691777B (en) * 2021-08-18 2023-02-28 浙江大华技术股份有限公司 Zoom tracking method and device for ball machine, storage medium and electronic device
CN118429424A (en) * 2024-04-30 2024-08-02 广州赋安数字科技有限公司 Cloud deck camera preset bit generation method and device based on space data

Similar Documents

Publication Publication Date Title
CN111461994A (en) Method for obtaining coordinate transformation matrix and positioning target in monitoring picture
US9686513B2 (en) Forest fire video monitoring system and method
CN104320587A (en) Method for automatically obtaining shooting range of outdoor pan-tilt camera
CN104184995A (en) Method and system for achieving real-time linkage monitoring of networking video monitoring system
WO2014044161A1 (en) Target tracking method and system for intelligent tracking high speed dome camera
TW201328344A (en) System and method for controlling a unmanned aerial vehicle to capture images of a target location
CN101707671A (en) Panoramic camera and PTZ camera combined control method and panoramic camera and PTZ camera combined control device
CN107040752B (en) Intelligent ball-type camera, monitoring system and control method
CN112230257A (en) Positioning monitoring method based on PTZ camera
WO2013136399A1 (en) Information provision system, information provision device, photographing device, and computer program
CN113345028B (en) Method and equipment for determining target coordinate transformation information
WO2022042350A1 (en) Target sky area image acquisition method and astrophotography device
CN109523471A (en) A kind of conversion method, system and the device of ground coordinate and wide angle cameras picture coordinate
CN111046121B (en) Environment monitoring method, device and system
CN109636850B (en) Visible light positioning method for indoor intelligent lamp
CN111862197B (en) Target tracking method and system in video monitoring and ball machine
CN111857188A (en) Aerial remote target follow-shooting system and method
CN117671543B (en) Unmanned aerial vehicle image coordinate calibration method and system and electronic equipment
CN116228888B (en) Conversion method and system for geographic coordinates and PTZ camera coordinates
CN109413319A (en) A kind of full perception Internet of Things linkage camera
CN108632569B (en) Video monitoring method and device based on gun and ball linkage
CN111240617B (en) Video delivery method and system based on three-dimensional map and environment monitoring method and system
CN111163263B (en) Method for realizing camera target linkage tracking by adopting position projection mode
CN106060485B (en) A kind of monitoring device interlock method and device
CN109660720A (en) A kind of fan sweeping joining method applied to the double infrared low altitude detection systems of the anti-monitoring in land

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination