CN115713555A

CN115713555A - Method and device for determining installation position of image acquisition equipment and computer equipment

Info

Publication number: CN115713555A
Application number: CN202211395322.1A
Authority: CN
Inventors: 王叶飞; 李聪; 陶雄俊; 唐明星; 张旭文; 王维; 赵庆鹏; 姜金柱; 李博杰
Original assignee: Kunming Bureau of Extra High Voltage Power Transmission Co
Current assignee: Kunming Bureau of Extra High Voltage Power Transmission Co
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-02-24
Anticipated expiration: 2042-11-09
Also published as: CN115713555B

Abstract

The application relates to a method and a device for determining the installation position of an image acquisition device, a computer device, a storage medium and a computer program product. The method comprises the following steps: acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the coordinates of the initial installation position of the image acquisition equipment comprise an initial installation height; determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area; based on the first visible area, adjusting the initial angle and the initial installation height of the holder; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height. By adopting the method, the efficiency of determining the installation position of the image acquisition equipment can be improved.

Description

Method and device for determining installation position of image acquisition equipment and computer equipment

Technical Field

The present application relates to the field of electrical engineering technologies, and in particular, to a method and an apparatus for determining an installation location of an image capture device, a computer device, a storage medium, and a computer program product.

Background

Along with the construction of electric wire netting wisdom circuit, a large amount of image acquisition equipment begin to install on the power transmission line, have realized that the circuit corridor passageway is real-time visible, have greatly promoted transmission line's operation and maintenance level. The installation position of the current image acquisition equipment is mainly used for judging the coverage range of monitoring through subjective analysis of manual inspection pictures or maps. However, the manual determination method is based on a small number of data types, cannot accurately analyze the perspective range of the image, cannot quantify the image acquisition condition, wastes time and labor, and has the problem of low efficiency in determining the installation position of the image acquisition equipment.

Disclosure of Invention

In view of the above, it is necessary to provide an image capturing device installation position determining method, an apparatus, a computer device, a computer readable storage medium, and a computer program product, which can improve the image capturing device installation position determining efficiency, in view of the above-mentioned problem of low image capturing device installation position determining efficiency.

In a first aspect, the application provides a method for determining an installation position of an image acquisition device. The method comprises the following steps:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinate of the image acquisition equipment comprises an initial installation height;

determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area;

based on the first visible area, adjusting the initial angle and the initial installation height of the holder; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

In one embodiment, the image acquisition equipment is arranged on the Nth tower in the target area; based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area, determining a first visual area of the image acquisition equipment, comprising:

acquiring a visual angle of image acquisition equipment;

in the target area, determining a visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment;

acquiring target position coordinates corresponding to each tower in a visual field area;

determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate;

if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are positive integers.

In one embodiment, in the target area, determining a field of view of the image capturing device according to the viewing angle of the image capturing device, the initial angle of the pan/tilt head, and the initial installation position coordinates of the image capturing device includes:

determining a visual field blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinate of the image acquisition equipment;

and in the target area, determining the visual field area of the image acquisition equipment according to the visual field blind area of the image acquisition equipment.

In one embodiment, the acquiring a grid area visible between an nth tower and an N + X-1 th tower includes:

acquiring a first visual result of whether each grid area in a visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area;

and determining a visible grid area from the Nth tower to the (N + X-1) th tower according to the first visible result.

In one embodiment, the number of times of adjusting the initial angle and the initial installation height of the holder can be multiple times; based on the initial angle of the cradle head after adjustment and the initial installation height after adjustment, the installation position of the image acquisition equipment on the tower is determined, and the method comprises the following steps:

aiming at each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the cradle head after the current adjustment and the initial installation height after the current adjustment;

and selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

In one embodiment, the image capturing apparatus installation position determining method further includes:

aiming at each tower in a target area, acquiring at least one first tower in a visual field area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower;

and taking a first tower corresponding to a second tower farthest from the current tower as an installation tower of the next image acquisition device.

In a second aspect, the application further provides an apparatus for determining the installation position of the image acquisition device. The device comprises:

the acquisition module is used for acquiring the initial angle of the holder, the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinate of the image acquisition equipment comprises an initial installation height;

the first determining module is used for determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area;

the second determining module is used for adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinates of the image acquisition equipment comprise an initial installation height;

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the method, the device, the computer device, the storage medium and the computer program product for determining the installation position of the image acquisition device, the first visible area of the image acquisition device is determined through the acquired initial installation position coordinates of the image acquisition device, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area. The initial installation height of the image acquisition equipment and the initial angle of the holder are adjusted through the visual area of the image acquisition equipment, so that the determined installation position of the image acquisition equipment on the tower has a larger visual field range, the burden of manually judging the installation position is reduced, and the determination efficiency of the installation position of the image acquisition equipment is improved.

Drawings

FIG. 1 is a diagram illustrating an exemplary embodiment of a method for determining an installation location of an image capturing device;

FIG. 2 is a schematic flowchart illustrating a method for determining an installation position of an image capturing apparatus according to an embodiment;

FIG. 3 is a schematic diagram illustrating a sub-flow of S204 in one embodiment;

FIG. 4 is a diagram illustrating a visual determination method according to an embodiment;

FIG. 5 is a schematic diagram illustrating a sub-flow of S302 according to an embodiment;

FIG. 6 is a schematic diagram illustrating a sub-flow of S305 in one embodiment;

FIG. 7 is a schematic sub-flow chart of S206 in one embodiment;

FIG. 8 is a flowchart showing a method for determining the installation position of an image pickup device in another embodiment;

FIG. 9 is a schematic diagram of determining a first tower and a second tower in one embodiment;

FIG. 10 is a schematic view showing an overall flow of a method for determining the installation position of an image pickup device in one embodiment;

FIG. 11 is a schematic illustration of determining a field of view of an image capture device in one embodiment;

FIG. 12 is a block diagram showing the construction of an apparatus for determining the installation position of an image pickup device in one embodiment;

fig. 13 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The method for determining the installation position of the image acquisition equipment provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. The terminal 102 acquires an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinates of the image acquisition equipment comprise an initial installation height; determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area; adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server 104 may be implemented as a stand-alone server or a server cluster comprised of multiple servers.

In one embodiment, as shown in fig. 2, there is provided an image capturing device installation position determining method, which is described by taking the method as an example applied to the terminal 102 in fig. 1, and includes the following steps:

s202, acquiring an initial angle of a holder, initial installation position coordinates of image acquisition equipment and position coordinates of each grid area in a target area; the image acquisition equipment is arranged on a tower in the target area through a holder, and the coordinates of the initial installation position of the image acquisition equipment comprise the initial installation height.

Wherein, the image capturing apparatus refers to an apparatus having an image capturing function. The types of image capturing devices include, but are not limited to, cameras, video cameras, still cameras, scanners, infrared-enabled cameras, and other devices with image capturing capabilities. The cradle head is a supporting device for installing and fixing the image acquisition equipment and is divided into a fixed cradle head and an electric cradle head. The cloud platform can rotate wantonly to drive image acquisition equipment and have the field of vision of different angles. The pole tower is used for supporting a transmission line in an overhead transmission line. The image acquisition equipment is arranged on a tower in the target area through a holder.

The initial angle of the holder is the angle of the holder where the holder is initially installed on the tower. The holder angle may specifically be an angle of a view field center line of the image acquisition device mounted on the holder with respect to a vertical plane, or an angle of the view field center line with respect to a connecting line between two adjacent towers. The holder angle can be adjusted upwards, downwards, leftwards or rightwards through the holder control equipment. The initial installation height refers to the installation height of the image acquisition equipment on a tower. The initial installation height is the height relative to the ground location of the tower. The installation height of the image acquisition equipment on the tower can be adjusted at will in the full height range of the tower. In some embodiments, the image capture device may also be laterally adjustable on the cross-arm of the tower.

The position coordinates refer to those obtained by a DEM (Digital Elevation Model) Model. The DEM model is a spatial data model for describing the topographic features of the surface, and is a matrix formed by the elevation values of regular grid points on the ground to form a grid structure data set. Based on the DEM model, the elevation data of any geographic coordinate point can be obtained. The initial installation position coordinate of the image acquisition equipment is obtained by adding the initial installation height of the image acquisition equipment to the geographic coordinate of the ground position point where the image acquisition equipment is located. The geographic coordinates of the ground position point where the image acquisition equipment is located can be obtained through the DEM model. Illustratively, the geographic coordinates of the ground location point where the image capturing device is located are (x, y, z), the initial installation height of the image capturing device is h, and then the coordinates of the initial installation location of the image capturing device are (x, y, z + h).

The terminal divides the target area into at least one grid area with preset side length, and the position coordinates of each grid area in the target area can be directly obtained through a DEM model. The side length of the grid area can be flexibly selected according to the actual situation. The terminal obtains the initial angle of the holder, the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the target area.

S204, determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area.

Wherein, the first visual area refers to the area of the area which is not blocked by the blocking object in the visual field area of the image acquisition equipment. The target position coordinates refer to the position of the tower area desired to be photographed by the image capturing device. The target position coordinates include a first position coordinate and a second position coordinate. The first position coordinate is the upper position of a tower area expected to be shot by the image acquisition equipment, and the second position coordinate is the lower position of the tower area expected to be shot by the image acquisition equipment.

The terminal determines a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area. Specifically, the terminal can determine a visual field of the image acquisition device based on the initial angle of the holder and the initial installation position coordinates of the image acquisition device, and an area shielded by a shielding object often exists in the visual field. The area which is not blocked by the blocking object in the visual field area is the visual area of the image acquisition equipment. The area of the visible area is the first visible area.

S206, adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

The installation position of the image acquisition equipment on the tower comprises the installation height of the image acquisition equipment on the tower and the angle of a holder. The terminal is based on first visual area, and initial angle and the initial mounting height of cloud platform are adjusted and can be realized in the simulation environment. By adjusting the initial angle and the initial installation height of the holder, the adjusted visual area can be obtained based on the adjusted initial angle and the adjusted initial installation height of the holder. And the terminal takes the corresponding adjusted initial angle of the cradle head and the adjusted initial installation height when the visible area is the largest as the installation position of the image acquisition equipment on the tower.

According to the method for determining the installation position of the image acquisition equipment, the first visible area of the image acquisition equipment is determined through the acquired initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area. The initial installation height of the image acquisition equipment and the initial angle of the holder are adjusted through the visual area of the image acquisition equipment, so that the determined installation position of the image acquisition equipment on the tower has a larger visual field range, the burden of manually judging the installation position is reduced, and the determination efficiency of the installation position of the image acquisition equipment is improved.

In one embodiment, as shown in fig. 3, the image capturing device is installed on the nth tower in the target area; based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area, determining a first visual area of the image acquisition equipment, comprising:

s301, acquiring the visual angle of the image acquisition equipment.

Wherein, the visual angle refers to the angle range in which the image acquisition device can acquire clear images. The visual angle of the image acquisition device is determined by hardware parameters of the image acquisition device, and the visual angles of the same image acquisition device are consistent. The terminal obtains the visual angle of the image acquisition equipment.

S302, in the target area, determining the visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinates of the image acquisition equipment.

Wherein the field of view is the area within the target area that the image acquisition device can theoretically see. In the target area, the terminal can determine the view blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinate of the image acquisition equipment, and then determine the view area of the image acquisition equipment.

And S303, acquiring the target position coordinates corresponding to each tower in the visual field area.

Wherein, include at least one shaft tower or no shaft tower in the field of vision district. Under the condition that at least one tower is included in the visual field area, the terminal acquires the target position coordinates corresponding to each tower in the visual field area.

S304, determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate.

The terminal determines whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate. Specifically, for each tower in the visual field, the terminal brings the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the visual field and the first position coordinates in the current target position coordinates into a visual judgment formula, and determines whether the first position coordinates in the current target position coordinates in the visual field are visible by the image acquisition equipment; and the terminal brings the initial installation position coordinate of the image acquisition equipment, the position coordinate of the current grid area in the visual field area and the second position coordinate in the current target position coordinate into a visual judgment formula, and determines whether the second position coordinate in the current target position coordinate in the visual field area is visible by the image acquisition equipment. When the first position coordinate and the second position coordinate in the current target position coordinate can be visible by the image acquisition equipment, the current target position coordinate is considered to be visible by the image acquisition equipment, and therefore whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not is determined.

Referring to fig. 4, the visual judgment formula is as follows:

if tan (ab) > tan (ob), determining that (xb, yb, zb) is not visible to the image acquisition device;

if tan (ab) < tan (ob), it is determined that (xb, yb, zb) is visible by the image acquisition device.

Where, O point (xo, yo, zo) represents the coordinates of the initial installation position of the image capturing device, a point (xa, ya, za) represents the coordinates of the positions of the respective grid areas in the field of view, and B point (xb, yb, zb) represents the position point that needs to be determined whether to be visible by the image capturing device, and illustratively, B point (xb, yb, zb) may be the first position coordinate in the target position coordinates or the second position coordinate in the target position coordinates.

S305, if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are both positive integers.

The image acquisition equipment is installed on the Nth tower in the target area. And if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, the (N + X-1) th tower is considered to be the farthest tower visible by the image acquisition equipment.

In some embodiments, the grid area visible to the image capturing device includes a portion of the area between the nth tower and the (N + X-1) th tower, and between the (N + X-1) th tower and the (N + X-1) th tower, and in other embodiments, the grid area visible to the image capturing device includes only the area between the nth tower and the (N + X-1) th tower.

The terminal obtains a visible grid area from the Nth tower to the (N + X-1) th tower, and sums the areas of the visible grid area to obtain a first visible area.

In the embodiment, in the target area, the visual field area of the image acquisition device is determined according to the visual angle of the image acquisition device, the initial angle of the holder and the initial installation position coordinate of the image acquisition device, whether each target position coordinate in the visual field area is visible by the image acquisition device is determined based on the initial installation position coordinate of the image acquisition device, the position coordinate of each grid area in the visual field area and the target position coordinate, and the areas of the grid areas visible between the nth tower and the (N + X-1) th tower are summed to obtain the first visible area. The method for determining the visual area by determining the visual field area of the image acquisition equipment firstly can obtain the visual area among all the towers in the visual field range of the image acquisition equipment, and is favorable for determining the optimal installation position of the image acquisition equipment based on the first visual area.

In one embodiment, as shown in fig. 5, in the target area, determining a field of view of the image capturing device according to the viewing angle of the image capturing device, the initial angle of the pan/tilt head, and the initial installation position coordinates of the image capturing device includes:

and S502, determining a view blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinates of the image acquisition equipment.

The terminal brings the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation height of the image acquisition equipment into a view blind area calculation formula, and determines the view blind area of the image acquisition equipment. The visual field blind area calculation formula is as follows: s1= h tan (b-a/2). Wherein S1 represents a view blind area, h represents the initial installation height of the image acquisition equipment, b represents the initial angle of the holder, and a represents the visual angle of the image acquisition equipment.

S504, in the target area, the visual field area of the image acquisition equipment is determined according to the visual field blind area of the image acquisition equipment.

The terminal obtains the effective line-of-sight distance of the image acquisition equipment. And the terminal determines the area which is outside the view blind area of the image acquisition equipment and within the effective line-of-sight distance in the target area as the view area of the image acquisition equipment.

In this embodiment, the visual field blind area of the image capturing device is determined by the visual angle of the image capturing device, the initial angle of the holder, and the initial installation position coordinates of the image capturing device, and the area in the target area, which is outside the visual field blind area of the image capturing device and within the effective line-of-sight distance, is determined as the visual field area of the image capturing device. The visual field area of the image acquisition equipment can be determined through the visual angle of the image acquisition equipment, the initial angle of the holder and the coordinates of the initial installation position of the image acquisition equipment, and the determination efficiency of the installation position of the image acquisition equipment is improved.

In one embodiment, as shown in fig. 6, acquiring a grid area visible between the nth tower and the (N + X-1) th tower includes:

s602, acquiring a first visual result of whether each grid area in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area.

The first visual result is used for representing whether each grid area in the visual field area is visible by the image acquisition equipment. The first visual result includes visual and non-visual. And the terminal brings the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area into a visual judgment formula to determine whether each grid area in the visual field area is visible by the image acquisition equipment.

The terminal confirms whether the current grid area is shielded by the grid area in front of the current grid area or not aiming at each grid area in at least one grid area in the visual field area. Specifically, if the current grid area is blocked by any grid area in front, it is determined that the current grid area cannot be seen by the image acquisition device, and if the current grid area is not blocked by each grid area in front, it is determined that the current grid area is seen by the image acquisition device.

In some embodiments, if any grid area in the field of view area is judged to be visible by the image acquisition device through a visual judgment formula, and the distance between the position coordinate of the grid area and the initial installation position coordinate of the image acquisition device exceeds the effective line-of-sight distance of the image acquisition device, it is determined that the grid area cannot be visible by the image acquisition device. For example, when any one of the grid regions within the visual field area is located in a deep canyon, it may occur that the distance between the position coordinates of the grid region and the initial installation position coordinates of the image pickup device exceeds the effective line-of-sight distance of the image pickup device, and the grid region cannot be viewed by the image pickup device.

S604, determining a visible grid area from the Nth tower to the (N + X-1) th tower according to the first visible result.

And the terminal determines the grid area which is visible by the image acquisition equipment in each grid area in the visual field area according to the first visual result. And determining the grid area which is visible by the image acquisition equipment from the Nth tower to the (N + X-1) th tower in the grid area which is visible by the image acquisition equipment in each grid area in the visual field area.

In the embodiment, whether each grid region in the visual field area is visible or not is obtained based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid region in the visual field area, so that the visible grid region between the Nth tower and the (N + X-1) th tower is determined, and the determination efficiency of the installation position of the image acquisition equipment is improved.

In one embodiment, as shown in fig. 7, the number of times of adjusting the initial angle and the initial installation height of the pan/tilt head may be multiple times; based on the initial angle of the cradle head after adjustment and the initial installation height after adjustment, the installation position of the image acquisition equipment on the tower is determined, and the method comprises the following steps:

s702, aiming at each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the cradle head after the current adjustment and the initial installation height after the current adjustment.

The number of times of adjusting the initial angle and the initial installation height of the holder can be multiple times. And aiming at each adjustment in the multiple adjustments, the terminal determines the current visible area of the image acquisition equipment under the current adjusted initial angle of the holder and the current adjusted initial installation height by adopting the methods of S202-S204 according to the current adjusted initial angle of the holder and the current adjusted initial installation height.

And S704, selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the holder and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

The terminal selects the maximum visual area from each visual area in the multiple adjustments, and the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area are used as the installation positions of the image acquisition equipment on the tower.

In this embodiment, through each adjustment in the multiple adjustments, the current visible area of the image acquisition device is determined according to the currently adjusted initial angle of the cradle head and the currently adjusted initial installation height, and the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visible area are used as the installation positions of the image acquisition device on the tower, so that the image acquisition device installed on the tower can be ensured to have the maximum visible area. Because the initial angle of the holder and the initial installation height of the image acquisition equipment can be adjusted by directly adjusting parameters in the simulation environment, the installation position determining efficiency of the image acquisition equipment is further improved.

In one embodiment, as shown in fig. 8, the image capturing apparatus installation position determining method further includes:

s802, aiming at each tower in a target area, acquiring at least one first tower in a view area of target image acquisition equipment on the current tower; and acquiring at least one second tower in the visual field area of each first tower.

The method comprises the steps that a target area comprises at least one tower, and for each tower in the target area, a terminal acquires at least one first tower in a visual field area of target image acquisition equipment on the current tower; and acquiring at least one second tower in the visual field area of each first tower. Illustratively, as shown in fig. 9, the current tower is a # 1 tower, the field of view of the target image capturing device of the # 1 tower is between the # 1 tower and the # 4 tower, and then the # 2 tower, the # 3 tower and the # 4 tower are the first towers. The view area corresponding to the 2# tower is between the 3# tower and the 4# tower, and the 3# tower and the 4# tower are respectively the second tower in the view area of the 2# tower. The visual field zone corresponding to the 3# tower is between the 4# tower and the 6# tower, and the 4#, the 5# and the 6# tower are respectively the second tower in the visual field zone of the 3# tower. The view area corresponding to the 4# tower is between the 4# tower and the 5# tower, and then the 4# tower and the 5# tower are respectively the second tower in the view area of the 4# tower.

And S804, taking a first tower corresponding to a second tower farthest from the current tower as an installation tower of the next image acquisition device.

Wherein the next image capturing apparatus refers to a next image capturing apparatus of the target image capturing apparatus.

And the terminal takes the first tower corresponding to the second tower farthest from the current tower as the mounting tower of the next image acquisition device. Illustratively, in the second tower, the tower farthest from the current tower is the 6# tower, the first tower corresponding to the 6# tower is the 3# tower, and the terminal uses the 3# tower as the installation tower of the next image acquisition device.

In this embodiment, because the problem that the view areas of the image acquisition devices overlap when the image acquisition devices are installed and rotated on each tower is solved, in order to optimize the problem of overlapping the view areas, the method for installing the towers includes acquiring at least one first tower in the view area of the target image acquisition device on the current tower, acquiring at least one second tower in the view area of each first tower, and using the first tower corresponding to the second tower farthest from the current tower as the next image acquisition device, so that the overlapping view areas between the towers can be eliminated while the image acquisition devices are guaranteed to have the best visible area, unnecessary consumption of the image acquisition devices is effectively reduced, and resources are saved. Meanwhile, the position of the tower where each image acquisition device can be installed can be accurately determined, and the efficiency of determining the installation position of the image acquisition device is improved.

In order to explain the method for determining the installation position of the image acquisition device and the effect thereof in detail, the following description is given by a most detailed embodiment:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is installed on a tower in the target area through a holder, and the coordinates of the initial installation position of the image acquisition equipment comprise an initial installation height. The image acquisition equipment is arranged on the Nth tower in the target area. Fig. 10 is a schematic flowchart of the overall method for determining the installation position of the image capturing device.

And acquiring the visual angle of the image acquisition equipment. And in the target area, determining the visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinates of the image acquisition equipment. Specifically, determining a visual field blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment; and in the target area, determining the visual field area of the image acquisition equipment according to the visual field blind area of the image acquisition equipment. Fig. 11 is a schematic diagram illustrating the determination of the field of view of the image capturing device. Wherein o represents the coordinates of the initial installation position of the image acquisition equipment, a represents the initial visual angle of the image acquisition equipment, b represents the initial angle of the holder, h represents the initial installation height of the image acquisition equipment, h1 represents the height of the tower, h2 represents the height of the tower desired to be covered, L1 represents the effective line-of-sight distance of the image acquisition equipment, the upper view angle of the image acquisition equipment is shown on e, the lower view angle of the image acquisition equipment is shown on e, the upper part of a tower expected to be shot is shown on t, and the lower part of the tower expected to be shot is shown under t. ton = ton + h2. And t, the elevation data of the position where the tower is located can be obtained from an equipment ledger or a DEM model. S1 denotes a blind area of the field of view of the image pickup apparatus, S2 denotes a blocked area in the field of view of the image pickup apparatus, and S3 denotes a visible area in the field of view of the image pickup apparatus.

And acquiring the target position coordinates corresponding to each tower in the visual field area. And determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate. And if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring a visible grid area from the (N + X-1) th tower to the (N + X-1) th tower. Specifically, a first visual result of whether each grid area in a visual field area is visible by the image acquisition equipment is obtained based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area; and determining a visible grid area from the Nth tower to the (N + X-1) th tower according to the first visible result. And summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are both positive integers.

Adjusting the initial angle and the initial installation height of the holder based on the first visual area; the number of times of adjusting the initial angle and the initial installation height of the holder can be multiple times; for each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the currently adjusted initial angle of the holder and the currently adjusted initial installation height; and selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

Aiming at each tower in a target area, acquiring at least one first tower in a visual field area of target image acquisition equipment on the current tower; and acquiring at least one second tower in the visual field area of each first tower. And taking the first tower corresponding to the second tower farthest from the current tower as the mounting tower of the next image acquisition equipment.

In addition, the number of the image acquisition devices required in the target area can be accurately calculated according to the installation positions of the image acquisition devices and the number of the towers in the target area.

According to the method for determining the installation position of the image acquisition equipment, the first visible area of the image acquisition equipment is determined through the acquired initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area. The initial installation height of the image acquisition equipment and the initial angle of the holder are adjusted through the visual area of the image acquisition equipment, so that the determined installation position of the image acquisition equipment on the tower has a larger visual field range, the burden of manually judging the installation position is reduced, and the determination efficiency of the installation position of the image acquisition equipment is improved. Meanwhile, the method for determining the installation position of the image acquisition equipment can automatically optimize the installation position of the image acquisition equipment on the tower, the position of the installed tower and the angle of the holder, is favorable for improving the image quality of the image acquisition equipment, optimizes the number of the image acquisition equipment and saves the resource consumption.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides an image acquisition device installation position determining device for realizing the image acquisition device installation position determining method. The implementation scheme for solving the problem provided by the apparatus is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the apparatus for determining the installation position of the image capturing device provided below may refer to the limitations in the above method for determining the installation position of the image capturing device, and are not described herein again.

In one embodiment, as shown in fig. 12, there is provided an image pickup device mounting position determining apparatus 100 including: an acquisition module 120, a first determination module 140, and a second determination module 160, wherein:

an obtaining module 120, configured to obtain an initial angle of the pan/tilt, an initial installation position coordinate of the image acquisition device, and a position coordinate of each grid area in the target area; the image acquisition equipment is arranged on a tower in the target area through a holder, and the coordinates of the initial installation position of the image acquisition equipment comprise the initial installation height.

The first determining module 140 is configured to determine a first visible area of the image capturing device based on the initial installation position coordinates of the image capturing device, the position coordinates of each grid area in the target area, and the target position coordinates corresponding to each tower in the target area.

A second determining module 160, configured to adjust an initial angle and an initial installation height of the pan/tilt based on the first visible area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

The device for determining the installation position of the image acquisition equipment determines the first visible area of the image acquisition equipment through the acquired initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area. The initial installation height of the image acquisition equipment and the initial angle of the holder are adjusted through the visual area of the image acquisition equipment, so that the determined installation position of the image acquisition equipment on the tower has a large visual field range, the burden of manual judgment of the installation position is reduced, and the determination efficiency of the installation position of the image acquisition equipment is improved.

In one embodiment, the image acquisition equipment is arranged on the Nth tower in the target area; based on the initial installation position coordinates of the image capturing device, the position coordinates of each grid area in the target area, and the target position coordinates corresponding to each tower in the target area, the first determining module 140 is further configured to: acquiring a visual angle of image acquisition equipment; in the target area, determining a visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment; acquiring target position coordinates corresponding to each tower in a visual field area; determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate; if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are both positive integers.

In one embodiment, in the target area, the first determining module 140 is further configured to determine, according to the viewing angle of the image capturing device, the initial angle of the pan/tilt head, and the initial installation position coordinates of the image capturing device, an aspect of the field of view of the image capturing device: determining a visual field blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment; and in the target area, determining the visual field area of the image acquisition equipment according to the visual field blind area of the image acquisition equipment.

In one embodiment, in obtaining the grid area visible between the nth tower and the N + X-1 th tower, the first determining module 140 is further configured to: acquiring a first visual result of whether each grid area in a visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area; and determining a visible grid area from the Nth tower to the (N + X-1) th tower according to the first visible result.

In one embodiment, the number of times of adjusting the initial angle and the initial installation height of the holder can be multiple times; in the aspect of determining the installation position of the image capturing device on the tower based on the adjusted initial angle of the pan/tilt and the adjusted initial installation height, the second determining module 160 is further configured to: aiming at each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the cradle head after the current adjustment and the initial installation height after the current adjustment; and selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

In one embodiment, the image capturing apparatus installation position determining apparatus 100 is further configured to: aiming at each tower in a target area, acquiring at least one first tower in a visual field area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower; and taking a first tower corresponding to a second tower farthest from the current tower as an installation tower of the next image acquisition device.

The modules in the image capturing device installation position determining apparatus may be wholly or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 13. The computer apparatus includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected by a system bus, and the communication interface, the display unit and the input device are connected by the input/output interface to the system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an image pickup apparatus installation position determination method.

Those skilled in the art will appreciate that the architecture shown in fig. 13 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinate of the image acquisition equipment comprises an initial installation height; determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area; adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

In one embodiment, the processor when executing the computer program further performs the steps of:

the image acquisition equipment is arranged on the Nth tower in the target area; acquiring a visual angle of image acquisition equipment; in the target area, determining a visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment; acquiring target position coordinates corresponding to each tower in a visual field area; determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate; if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are positive integers.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

determining a visual field blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinate of the image acquisition equipment; and in the target area, determining the visual field area of the image acquisition equipment according to the visual field blind area of the image acquisition equipment.

acquiring a first visual result of whether each grid area in a visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area; and determining a visible grid area from the Nth tower to the (N + X-1) th tower according to the first visible result.

the times of adjusting the initial angle and the initial installation height of the holder can be multiple times; aiming at each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the cradle head after the current adjustment and the initial installation height after the current adjustment; and selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

aiming at each tower in a target area, acquiring at least one first tower in a visual field area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower; and taking a first tower corresponding to a second tower farthest from the current tower as an installation tower of the next image acquisition device.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in a target area through a holder, and the initial installation position coordinates of the image acquisition equipment comprise an initial installation height; determining a first visible area of the image acquisition equipment based on the initial installation position coordinates of the image acquisition equipment, the position coordinates of each grid area in the target area and the target position coordinates corresponding to each tower in the target area; based on the first visible area, adjusting the initial angle and the initial installation height of the holder; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the cradle head and the adjusted initial installation height.

In one embodiment, the computer program when executed by the processor further performs the steps of:

the times of adjusting the initial angle and the initial installation height of the holder can be multiple times; for each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the currently adjusted initial angle of the holder and the currently adjusted initial installation height; and selecting the maximum visual area from the visual areas in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

aiming at each tower in a target area, acquiring at least one first tower in a view area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower; and taking a first tower corresponding to a second tower farthest from the current tower as an installation tower of the next image acquisition device.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:

the image acquisition equipment is arranged on the Nth tower in the target area; acquiring a visual angle of image acquisition equipment; in the target area, determining a visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of a holder and the initial installation position coordinates of the image acquisition equipment; acquiring target position coordinates corresponding to each tower in a visual field area; determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinate of the image acquisition equipment, the position coordinate of each grid area in the visual field area and the target position coordinate; if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are both positive integers.

the number of times of adjusting the initial angle and the initial installation height of the holder can be multiple times; aiming at each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the cradle head after the current adjustment and the initial installation height after the current adjustment; and selecting the maximum visual area from each visual area in the multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

aiming at each tower in a target area, acquiring at least one first tower in a view area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower; and taking the first tower corresponding to the second tower farthest from the current tower as the mounting tower of the next image acquisition equipment.

It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant countries and regions.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. An image acquisition apparatus installation position determination method, characterized by comprising:

acquiring an initial angle of a holder, an initial installation position coordinate of image acquisition equipment and a position coordinate of each grid area in a target area; the image acquisition equipment is arranged on a tower in the target area through a holder, and the initial installation position coordinates of the image acquisition equipment comprise an initial installation height;

adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the holder and the adjusted initial installation height.

2. The method of claim 1, wherein the image capture device is mounted on an nth tower within the target area;

determining a first visible area of the image acquisition device based on the initial installation position coordinates of the image acquisition device, the position coordinates of each grid area in the target area, and the target position coordinates corresponding to each tower in the target area, including:

acquiring a visual angle of the image acquisition equipment;

in a target area, determining a visual field area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinate of the image acquisition equipment;

acquiring target position coordinates corresponding to each tower in the visual field area;

determining whether each target position coordinate in the visual field area is visible by the image acquisition equipment or not based on the image acquisition equipment initial installation position coordinate, the position coordinate of each grid area in the visual field area and the target position coordinate;

if the target position coordinate corresponding to the (N + X) th tower is invisible and the target position coordinate corresponding to the (N + X-1) th tower is visible, acquiring visible grid areas from the (N + X-1) th tower to the (N + X-1) th tower, and summing the areas of the visible grid areas to obtain a first visible area, wherein N and X are both positive integers.

3. The method according to claim 2, wherein the determining a field of view of the image capturing device within the target area based on the viewing angle of the image capturing device, the initial pan-tilt angle, and the initial mounting position coordinates of the image capturing device comprises:

determining a view blind area of the image acquisition equipment according to the visual angle of the image acquisition equipment, the initial angle of the holder and the initial installation position coordinate of the image acquisition equipment;

and in the target area, determining the view field area of the image acquisition equipment according to the view field blind area of the image acquisition equipment.

4. The method of claim 3, wherein the obtaining the grid area visible between the nth tower and the N + X-1 th tower comprises:

acquiring a first visual result whether each grid area in the visual field area is visible by the image acquisition equipment or not based on the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the visual field area;

5. The method according to claim 1, characterized in that the number of times of adjusting the initial angle and the initial installation height of the pan-tilt head can be multiple times; determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the holder and the adjusted initial installation height, wherein the method comprises the following steps:

for each adjustment in the multiple adjustments, determining the current visible area of the image acquisition equipment according to the initial angle of the currently adjusted holder and the initial installation height of the currently adjusted holder;

and selecting the maximum visual area from the visual areas in multiple adjustments, and taking the adjusted initial angle of the cradle head and the adjusted initial installation height corresponding to the maximum visual area as the installation positions of the image acquisition equipment on the tower.

6. The method of claim 1, further comprising:

aiming at each tower in the target area, acquiring at least one first tower in a view area of target image acquisition equipment on the current tower; acquiring at least one second tower in the visual field area of each first tower;

7. An image pickup device installation position determining apparatus, characterized in that the apparatus comprises:

the acquisition module is used for acquiring the initial angle of the holder, the initial installation position coordinates of the image acquisition equipment and the position coordinates of each grid area in the target area; the image acquisition equipment is arranged on a tower in the target area through a holder, and the initial installation position coordinate of the image acquisition equipment comprises an initial installation height;

the second determining module is used for adjusting the initial angle and the initial installation height of the holder based on the first visual area; and determining the installation position of the image acquisition equipment on the tower based on the adjusted initial angle of the holder and the adjusted initial installation height.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.