CN106482729A - The method and device of unmanned plane pursuit movement target - Google Patents
The method and device of unmanned plane pursuit movement target Download PDFInfo
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- CN106482729A CN106482729A CN201610941056.6A CN201610941056A CN106482729A CN 106482729 A CN106482729 A CN 106482729A CN 201610941056 A CN201610941056 A CN 201610941056A CN 106482729 A CN106482729 A CN 106482729A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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Abstract
The disclosure is a kind of method and device of unmanned plane pursuit movement target, and methods described includes：The Intelligent worn device for selecting moving target to be tracked to wear；The unique identifier of the Intelligent worn device is obtained by short-range communication；The moving target is tracked according to the unique identifier.The unique identifier of the Intelligent worn device that the disclosure can be worn by moving target to be tracked realizes the tracking of moving target, and tracking accuracy rate is high, takes short, amount of calculation is little, low in energy consumption, simple to operation, it is easy to user to implement real-time tracking, is that the use of user provides great convenience.
Description
Technical field
It relates to target following technical field, more particularly to a kind of unmanned plane pursuit movement mesh calibration method and dress
Put.
Background technology
With the development of science and technology, the application of the aircraft such as unmanned plane is more and more extensive, and wherein one of application is profit
The tracking of moving target is realized with unmanned plane.At present most unmanned plane motion target tracking method all by image recognition come
Realize, i.e., gather the image of pursuit movement target first, then pretreatment and target area inspection are carried out for the image for collecting
Survey, and then realize the tracking for moving target.The tracking accuracy rate of the method is higher, but time-consuming longer, and amount of calculation is larger,
Be not suitable for popularization and application.
Content of the invention
The embodiment of the present disclosure provides a kind of method and device of unmanned plane pursuit movement target.The technical scheme is as follows：
According to the embodiment of the present disclosure in a first aspect, provide a kind of unmanned plane pursuit movement mesh calibration method, including：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
Alternatively, the Intelligent worn device for selecting moving target to be tracked to wear, including：
The Intelligent worn device that search candidate's pursuit movement target is worn, obtains Intelligent worn device list；
In the Intelligent worn device list, select Intelligent worn device to be tracked.
Alternatively, the selection Intelligent worn device in Intelligent worn device list, including：
The Intelligent worn device is ranked up according to preset reference element, obtains ranking results；
Intelligent worn device is selected according to the ranking results；
Wherein, the preset reference element includes one or more in following element：
The data stability of the Intelligent worn device；
The data connection approach of the Intelligent worn device；
The data transmission quality of the Intelligent worn device.
Alternatively, described the unique identifier of the Intelligent worn device is obtained by short-range communication after, also wrap
Include：
The Intelligent worn device broadcasts identification message with predetermined time interval, at least includes described in the identification message
Unique identifier.
Alternatively, described the moving target is tracked according to the unique identifier, including：
Based on the unique identifier of the Intelligent worn device, fixed using infrared ray positioning, ultrasonic wave positioning or bluetooth
Method for position determines the direction of motion of moving target；
The moving target is tracked according to the direction of motion for determining.
Alternatively, described according to the unique identifier tracking moving target, also include：
Transmission signal strength is calculated according to the unique identifier to indicate；
When the transmission signal strength is indicated less than a predetermined threshold value, the tracking direction of moving target is adjusted.
Alternatively, described according to the unique identifier tracking moving target, also include：
Two or more transmission signal strength are calculated according to the unique identifier to indicate；
The tracking direction of adjustment moving target is indicated according to described two or multiple transmission signal strength.
According to the second aspect of the embodiment of the present disclosure, a kind of device of unmanned plane pursuit movement target is provided, including：
Selecting module, is configured to the Intelligent worn device for selecting moving target to be tracked to wear；
Acquisition module, is configured to the unique identifier that short-range communication obtains the Intelligent worn device；
Tracking module, is configured to track the moving target according to the unique identifier.
Alternatively, the selecting module includes：
Search submodule, is configured to search for the Intelligent worn device that candidate's pursuit movement target is worn, and obtains intelligence and wears
Wear list of devices；
Submodule is selected, is configured in the Intelligent worn device list, select Intelligent worn device to be tracked.
Alternatively, the selection submodule includes：
Sequencing unit, is configured to be ranked up for the Intelligent worn device according to preset reference element, the row of acquisition
Sequence result；
Select unit, is configured to select Intelligent worn device according to the ranking results；
Wherein, the preset reference element includes one or more in following element：
The data stability of the Intelligent worn device；
The data connection approach of the Intelligent worn device；
The data transmission quality of the Intelligent worn device.
Alternatively, the Intelligent worn device is configured to broadcast identification message, the identification report with predetermined time interval
At least include the unique identifier in text.
Alternatively, the tracking module includes：
Determination sub-module, the unique identifier being configured to based on the Intelligent worn device, positioned using infrared ray,
Ultrasonic wave positioning or bluetooth localization method determine the direction of motion of moving target；
Tracking submodule, is configured to track the moving target according to the direction of motion for determining.
Alternatively, the tracking module also includes：
First calculating sub module, is configured to calculate transmission signal strength instruction according to the unique identifier；
First adjustment submodule, when being configured as transmission signal strength instruction less than a predetermined threshold value, adjustment fortune
The tracking direction of moving-target.
Alternatively, the tracking module also includes：
Second calculating sub module, is configured to calculate two or more transmission signal strength according to the unique identifier
Indicate；
Second adjustment submodule, is configured to indicate adjustment moving target according to described two or multiple transmission signal strength
Tracking direction.
According to the third aspect of the embodiment of the present disclosure, a kind of device of unmanned plane pursuit movement target is provided, including：
Processor；
For storing the memory of processor executable；
Wherein, the processor is configured to：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：
In technique scheme, the Intelligent worn device that selects moving target to be tracked to wear in advance, then pass through low coverage
The unique identifier of the Intelligent worn device is obtained from communication, tracks the motion finally according to the unique identifier
Target, the unique identifier of the Intelligent worn device that the technical scheme can be worn by moving target to be tracked realize motion
The tracking of target, tracking accuracy rate are high, and time-consuming short, amount of calculation is little, low in energy consumption, simple to operation, are easy to user to implement in real time
Tracking, is that the use of user provides great convenience.
It should be appreciated that above general description and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement for meeting the disclosure
Example, and be used for together with specification explaining the principle of the disclosure.
Fig. 1 is the flow chart of the unmanned plane pursuit movement mesh calibration method according to an exemplary embodiment.
The flow process of the step of Fig. 2 is the unmanned plane pursuit movement mesh calibration method according to exemplary embodiment S101
Figure.
The flow process of the step of Fig. 3 is the unmanned plane pursuit movement mesh calibration method according to exemplary embodiment S202
Figure.
The flow process of the step of Fig. 4 is the unmanned plane pursuit movement mesh calibration method according to exemplary embodiment S103
Figure.
Fig. 5 is the block diagram of the device of the unmanned plane pursuit movement target according to an exemplary embodiment.
Fig. 6 is the frame of the selecting module of the device of the unmanned plane pursuit movement target according to an exemplary embodiment
Figure.
Fig. 7 is the frame of the selection submodule of the device of the unmanned plane pursuit movement target according to an exemplary embodiment
Figure.
Fig. 8 is the frame of the tracking module of the device of the unmanned plane pursuit movement target that implements to exemplify according to another exemplary
Figure.
Fig. 9 is the block diagram of the device suitable for unmanned plane pursuit movement target according to an exemplary embodiment.
Specific embodiment
Here in detail exemplary embodiment will be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.Conversely, they be only with as appended by
The example of consistent apparatus and method in terms of some that described in detail in claims, the disclosure.
In the technical scheme that the embodiment of the present disclosure is provided, the intelligence wearing for selecting moving target to be tracked to wear in advance sets
Standby, the unique identifier of the Intelligent worn device is then obtained by short-range communication, finally according to the unique identification
The mark tracking moving target, the technical scheme can realize motion mesh by the unique identifier of moving target to be tracked
Target is tracked, and tracking accuracy rate is high, takes short, and amount of calculation is little, low in energy consumption, simple to operation, be easy to user implement in real time with
Track, is that the use of user provides great convenience.
Fig. 1 is a kind of flow chart of the unmanned plane pursuit movement mesh calibration method according to an exemplary embodiment, such as
Shown in Fig. 1, S101-S103 is the method comprising the steps of：
In step S101, the Intelligent worn device that selection moving target to be tracked is worn；
In step s 102, the unique identifier of the Intelligent worn device is obtained by short-range communication；
In step s 103, the moving target is tracked according to the unique identifier.
In this embodiment, the Intelligent worn device for selecting moving target to be tracked to wear in advance, then by bluetooth etc.
Short-range communication obtains the unique identifier of the Intelligent worn device, described finally according to unique identifier tracking
Moving target, the unique identifier of the Intelligent worn device that the technical scheme can be worn by moving target to be tracked are realized
The tracking of moving target, tracking accuracy rate are high, and time-consuming short, amount of calculation is little, low in energy consumption, simple to operation, are easy to user to implement
Real-time tracking, realize video track automatically recording, from work such as motion tracking interviews, and then provide greatly for the use of user
Convenient.
In one embodiment, as shown in Fig. 2 step S101 comprises the following steps S201-S202：
In step s 201, the Intelligent worn device that search candidate's pursuit movement target is worn, obtains Intelligent worn device
List；
In step S202, in the Intelligent worn device list, Intelligent worn device is selected to be tracked.
In this embodiment, before motion target tracking is carried out, the aircraft such as unmanned plane first can be searched for available around
The Intelligent worn device worn of candidate's pursuit movement target, obtain an Intelligent worn device list, then further according to reality
The needs of application, or the hobby of user selects most suitable Intelligent worn device in the Intelligent worn device list, its
In, the Intelligent worn device is worn on moving target, i.e. motion tracking object.Generally, the aircraft such as unmanned plane and motion
Communication between the Intelligent worn device that target is worn adopts close range wireless communication modes, and wherein, the near radio leads to
Letter mode includes the communications such as Bluetooth communication, infrared communication, radar communication, NFC communication, mobile data communication.
Such as, millet bracelet and the light running shoes of 90 points of intelligence are the low-power consumption bluetooth products for being built-in with low-power consumption bluetooth module,
Millet unmanned plane is a low-power consumption bluetooth four-axle aircraft, using millet unmanned plane for wearing have millet bracelet, 90 points
When the motion tracking object of the light running shoes of intelligence and/or other blue-tooth intelligence wearable device is tracked, it is possible to use millet nobody
The corresponding mobile device application program of machine or directly configuration the application program on millet unmanned plane for around optional intelligence
Energy wearable device is scanned for, and obtains Intelligent worn device list, then selects a conjunction again in Intelligent worn device list
Suitable Intelligent worn device carries out data transmission and tracks.
In one embodiment, as shown in figure 3, step S202 comprises the following steps S301-S302：
In step S301, the Intelligent worn device is ranked up according to preset reference element, obtains sequence knot
Really；
In step s 302, Intelligent worn device is selected according to the ranking results.
Wherein, the preset reference element includes one or more in following element：The number of the Intelligent worn device
According to stability；The data connection approach of the Intelligent worn device；The data transmission quality of the Intelligent worn device.
In the above-described embodiments, when a certain motion tracking object has worn multiple Intelligent worn device, can be first according to pre-
If reference element is ranked up for multiple Intelligent worn device, ranking results are obtained, then select further according to the ranking results
Suitable Intelligent worn device is selected, wherein, the preset reference element includes one or more in following element：The intelligence
The data stability of wearable device；The data connection approach of the Intelligent worn device；The data of the Intelligent worn device are passed
Transmission quality.
In one embodiment, described the Intelligent worn device is ranked up according to preset reference element, obtain
Ranking results, including：
The weighted value of the Intelligent worn device is calculated according to the preset reference element；
Size according to the weighted value carries out descending sort for the Intelligent worn device, obtains ranking results.
In this embodiment, in order to, in the case of multiple composite factors are considered, enter for all of Intelligent worn device
Row effectively sorts, and realizes accurately tracking, and the present embodiment calculates each Intelligent worn device according to the preset reference element first
Weighted value, then the size further according to weighted value descending sort carries out for Intelligent worn device, obtain ranking results.Than
Such as, when a certain motion tracking object is configured with millet bracelet, 90 points of light running shoes of intelligence and/or other blue-tooth intelligence wearable device
When, the data that Intelligent worn device is obtained are more stable, data connection approach that is adopting is more reliable, data transmission quality is higher, its
Weighted value is higher, conversely, the data stability that Intelligent worn device is obtained is poorer, data connection approach reliability is lower, number
Lower according to transmission quality, its weighted value is lower, etc..Certainly, in actual applications, can also using other reference factors come
Determine the weighted value of a certain Intelligent worn device, in this regard, the disclosure is no longer described one by one.
In one embodiment, also include to carry out data transmission with the Intelligent worn device after step S101
The step of joining.
In this embodiment, after it have selected Intelligent worn device, the aircraft such as unmanned plane is set with intelligence wearing first
The standby data transmission matchings such as agreement docking that carry out are operated, so that the aircraft such as unmanned plane is subsequently carried out effectively with Intelligent worn device
Data transfer.
In one embodiment, the unique identifier includes：MAC Address, international mobile equipment identification number IMEI,
One or more in Android ID, mobile device identification code MEID.
In this embodiment, the unique identifier of Intelligent worn device can be recognized using MAC Address, international mobile device
One or more in code (IMEI), Android ID, mobile device identification code (MEID).By the unique of Intelligent worn device
Identification marking, the aircraft such as unmanned plane just can be accurately recognized for Intelligent worn device, and then are realized for intelligence
The accurate tracking of wearable device.
In one embodiment, after step S102, also include：
The Intelligent worn device broadcasts identification message with predetermined time interval, at least includes described in the identification message
Unique identifier.
In this embodiment, the Intelligent worn device is at least included described unique with predetermined time interval to surrounding broadcast
The identification message of identification marking, so that the aircraft such as unmanned plane can obtain and update the unique of the Intelligent worn device in real time
Identification marking, and then improve the accuracy rate of motion target tracking.
In one embodiment, as shown in figure 4, step S103 comprises the following steps S401-S402：
In step S401, based on the unique identifier of the Intelligent worn device, using infrared ray positioning, ultrasonic wave
Positioning or bluetooth localization method determine the direction of motion of moving target；
In step S402, the moving target is tracked according to the direction of motion for determining.
In this embodiment, the unique identifier based on the Intelligent worn device, using infrared ray positioning, ultrasonic wave
Positioning or bluetooth localization method determine the direction of motion of moving target, then track the motion further according to the direction of motion for determining
Target.Wherein, infrared ray positioning and ultrasonic wave positioning mainly determine the position of moving target to be tracked by reflective range finding,
And then determine its direction of motion；Bluetooth positioning then determines the position of moving target to be tracked by the intensity of measurement signal, enters
And determine its direction of motion.Certainly the present embodiment may also be employed other localization methods to determine the position of moving target to be tracked,
In this regard, the disclosure is no longer described one by one.
In one embodiment, step S103 also includes：
Transmission signal strength is calculated according to the unique identifier to indicate；
When the transmission signal strength is indicated less than a predetermined threshold value, the tracking direction of moving target is adjusted.
In this embodiment, transmission signal strength can be calculated according to the unique identifier of Intelligent worn device broadcast to refer to
Show, when detection finds that the transmission signal strength is indicated less than a predetermined threshold value, it is believed that the aircraft such as unmanned plane is possible to inclined
From the direction of motion of moving target to be tracked, or away from the position that moving target to be tracked is located, then the unmanned plane
Indicate to adjust its tracking direction in time according to transmission signal strength in aircraft so that transmission signal strength indicate to be not less than described
Predetermined threshold value, the real-time tracking so as to realize moving target to be tracked are adjusted, and improve the accuracy rate of tracking.
In one embodiment, step S103 also includes：
Two or more transmission signal strength are calculated according to the unique identifier to indicate；
The tracking direction of adjustment moving target is indicated according to described two or multiple transmission signal strength.
In this embodiment, can be in the various location of the aircraft such as unmanned plane, such as both sides, respectively according to receiving
The unique identifier of Intelligent worn device is calculated two transmission signal strength and indicates, then considers described two biographies
The motion target tracking direction that defeated signal strength signal intensity indicates to adjust the aircraft such as unmanned plane, so as to improve further moving target with
The accuracy rate of track.
Following for disclosure device embodiment, can be used for executing method of disclosure embodiment.
Fig. 5 is a kind of block diagram of the device of the unmanned plane pursuit movement target according to an exemplary embodiment, the dress
Put can by software, hardware or both be implemented in combination with become some or all of of electronic equipment.As shown in figure 5, should
Device includes：
Selecting module 501, is configured to the Intelligent worn device for selecting moving target to be tracked to wear；
Acquisition module 502, is configured to the unique identifier that short-range communication obtains the Intelligent worn device；
Tracking module 503, is configured to track the moving target according to the unique identifier.
In this embodiment, selecting module 501 selects the Intelligent worn device that moving target to be tracked is worn in advance, then
Acquisition module 502 obtains the unique identifier of the Intelligent worn device by short-range communications such as bluetooths, finally tracks mould
Block 503 tracks the moving target according to the unique identifier, and the technical scheme can be worn by moving target to be tracked
The unique identifier of the Intelligent worn device that wears realizes the tracking of moving target, and tracking accuracy rate is high, takes short, amount of calculation
Little, low in energy consumption, simple to operation, it is easy to user to implement real-time tracking, realizes video and track automatically recording, interview from motion tracking
Deng work, and then great convenience is provided for the use of user.
In one embodiment, as shown in fig. 6, the selecting module 501 includes：
Search submodule 601, is configured to search for the Intelligent worn device that candidate's pursuit movement target is worn, obtains intelligence
Wearable device list；
Select submodule 602, be configured in the Intelligent worn device list select Intelligent worn device carry out with
Track.
In this embodiment, before motion target tracking is carried out, the search submodule 601 of the aircraft such as unmanned plane can be first
Search for the Intelligent worn device worn by available candidate's pursuit movement target around, an Intelligent worn device list obtained,
Then submodule 602 is selected further according to the needs of practical application, or the hobby of user is in the Intelligent worn device list
Most suitable Intelligent worn device is selected, wherein, the Intelligent worn device is worn on moving target, i.e. motion tracking object
On.Generally, the communication between the Intelligent worn device that the aircraft such as unmanned plane and moving target are worn is logical using near radio
Letter mode, wherein, the close range wireless communication modes include Bluetooth communication, infrared communication, radar communication, NFC communication, movement
The communications such as data communication.
Such as, millet bracelet and the light running shoes of 90 points of intelligence are the low-power consumption bluetooth products for being built-in with low-power consumption bluetooth module,
Millet unmanned plane is a low-power consumption bluetooth four-axle aircraft, using millet unmanned plane for wearing have millet bracelet, 90 points
When the motion tracking object of the light running shoes of intelligence and/or other blue-tooth intelligence wearable device is tracked, it is possible to use millet nobody
The corresponding mobile device application program of machine or directly configuration the application program on millet unmanned plane for around optional intelligence
Energy wearable device is scanned for, and obtains Intelligent worn device list, then selects a conjunction again in Intelligent worn device list
Suitable Intelligent worn device carries out data transmission and tracks.
In one embodiment, as shown in fig. 7, the selection submodule 602 includes：
Sequencing unit 701, is configured to be ranked up for the Intelligent worn device according to preset reference element, obtains
Ranking results；
Select unit 702, is configured to select Intelligent worn device according to the ranking results.
Wherein, the preset reference element includes one or more in following element：The number of the Intelligent worn device
According to stability；The data connection approach of the Intelligent worn device；The data transmission quality of the Intelligent worn device.
In the above-described embodiments, when a certain motion tracking subject wears have multiple Intelligent worn device, sequencing unit 701
First can be ranked up for multiple Intelligent worn device according to preset reference element, ranking results be obtained, then select unit 702
Suitable Intelligent worn device is selected further according to the ranking results, wherein, the preset reference element is included in following element
One or more：The data stability of the Intelligent worn device；The data connection approach of the Intelligent worn device；Described
The data transmission quality of Intelligent worn device.
In one embodiment, the sequencing unit 701 includes：
Weight calculation subelement, is configured to calculate the weight of the Intelligent worn device according to the preset reference element
Value；
Sequence subelement, is configured to carry out descending row according to the size of the weighted value for the Intelligent worn device
Sequence, obtains ranking results.
In this embodiment, in order to, in the case of multiple composite factors are considered, enter for all of Intelligent worn device
Row effectively sorts, and realizes accurately tracking, and the present embodiment weight calculation subelement calculates each first according to the preset reference element
The weighted value of individual Intelligent worn device, the subelement that then sorts are dropped for Intelligent worn device further according to the size of weighted value
Sequence sorts, and obtains ranking results.Such as, when a certain motion tracking object be configured with the light running shoes of millet bracelet, 90 points of intelligence and/or
During other blue-tooth intelligence wearable device, Intelligent worn device obtain data more stable, adopt data connection approach more reliable,
Data transmission quality is higher, and its weighted value is higher, conversely, Intelligent worn device obtain data stability is poorer, data connect
Connect that mode reliability is lower, data transmission quality is lower, its weighted value is lower, etc..Certainly, in actual applications, may be used also
To determine the weighted value of a certain Intelligent worn device using other reference factors, in this regard, the disclosure is no longer described one by one.
In one embodiment, described device also includes：
Matching module, is configured to carry out data transmission mating with the Intelligent worn device.
In this embodiment, after it have selected Intelligent worn device, the matching module of the aircraft such as unmanned plane first with
Intelligent worn device carries out the operation of the data transmission matchings such as agreement docking, so that after the aircraft such as unmanned plane and Intelligent worn device
Continuing carries out effective data transfer.
In one embodiment, the unique identifier includes：MAC Address, international mobile equipment identification number,
One or more in Android ID, mobile device identification code.
In this embodiment, the unique identifier of Intelligent worn device can be recognized using MAC Address, international mobile device
One or more in code (IMEI), Android ID, mobile device identification code (MEID).By the unique of Intelligent worn device
Identification marking, the aircraft such as unmanned plane just can be accurately recognized for Intelligent worn device, and then are realized for intelligence
The accurate tracking of wearable device.
In one embodiment, the Intelligent worn device is configured to broadcast identification message, institute with predetermined time interval
Stating in identification message at least includes the unique identifier.
In this embodiment, the Intelligent worn device is configured at least include to surrounding broadcast with predetermined time interval
The identification message of the unique identifier, so as to the aircraft such as unmanned plane can be obtained in real time and update the intelligence wearing set
Standby unique identifier, and then improve the accuracy rate of motion target tracking.
In one embodiment, as shown in figure 8, the tracking module 503 includes：
Determination sub-module 801, the unique identifier being configured to based on the Intelligent worn device, fixed using infrared ray
Position, ultrasonic wave positioning or bluetooth localization method determine the direction of motion of moving target；
Tracking submodule 802, is configured to track the moving target according to the direction of motion for determining.
In this embodiment, unique identifier of the determination sub-module 801 based on the Intelligent worn device, using infrared
Line positioning, ultrasonic wave positioning or bluetooth localization method determine the direction of motion of moving target, then tracking submodule 802 further according to
The direction of motion of determination tracks the moving target.Wherein, infrared ray positioning and ultrasonic wave are positioned mainly by reflective range finding
To determine the position of moving target to be tracked, and then determine its direction of motion；Bluetooth positioning then by the intensity of measurement signal come
Determine the position of moving target to be tracked, and then determine its direction of motion.Certainly the present embodiment may also be employed other localization methods
To determine the position of moving target to be tracked, in this regard, the disclosure is no longer described one by one.
In one embodiment, the tracking module 503 also includes：
First calculating sub module, is configured to calculate transmission signal strength instruction according to the unique identifier；
First adjustment submodule, when being configured as transmission signal strength instruction less than a predetermined threshold value, adjustment fortune
The tracking direction of moving-target.
In this embodiment, the first calculating sub module can be calculated according to the unique identifier of Intelligent worn device broadcast and be passed
Defeated signal strength signal intensity is indicated, when the first adjustment submodule detection finds that the transmission signal strength is indicated less than a predetermined threshold value,
Think that the aircraft such as unmanned plane may deviate from the direction of motion of moving target to be tracked, or away from motion mesh to be tracked
The position being located is marked, then the aircraft such as described unmanned plane indicates to adjust its tracking direction in time according to transmission signal strength, so that
Transmission signal strength indicates to be not less than the predetermined threshold value, and the real-time tracking so as to realize moving target to be tracked is adjusted, and is improved
The accuracy rate of tracking.
In one embodiment, the tracking module 503 also includes：
Second calculating sub module, is configured to calculate two or more transmission signal strength according to the unique identifier
Indicate；
Second adjustment submodule, is configured to indicate adjustment moving target according to described two or multiple transmission signal strength
Tracking direction.
In this embodiment, the second calculating can be respectively provided with the various location of the aircraft such as unmanned plane, such as both sides
Submodule, is referred to being calculated two transmission signal strength according to the unique identifier of the Intelligent worn device for receiving respectively
Show, then the second adjustment submodule considers the fortune that described two transmission signal strength indicate to adjust the aircraft such as unmanned plane
Tracking of maneuvering target direction, so as to improve the accuracy rate of motion target tracking further.
According to the third aspect of the embodiment of the present disclosure, a kind of device of unmanned plane pursuit movement target is provided, including：
Processor；
For storing the memory of processor executable；
Wherein, processor is configured to：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
Above-mentioned processor is also configured to：
The Intelligent worn device for selecting moving target to be tracked to wear, including：
The Intelligent worn device that search candidate's pursuit movement target is worn, obtains Intelligent worn device list；
In the Intelligent worn device list, select Intelligent worn device to be tracked.
The selection Intelligent worn device in Intelligent worn device list, including：
The Intelligent worn device is ranked up according to preset reference element, obtains ranking results；
Intelligent worn device is selected according to the ranking results；
Wherein, the preset reference element includes one or more in following element：
The data stability of the Intelligent worn device；
The data connection approach of the Intelligent worn device；
The data transmission quality of the Intelligent worn device.
Described the unique identifier of the Intelligent worn device is obtained by short-range communication after, also include：
The Intelligent worn device broadcasts identification message with predetermined time interval, at least includes described in the identification message
Unique identifier.
Described the moving target is tracked according to the unique identifier, including：
Based on the unique identifier of the Intelligent worn device, fixed using infrared ray positioning, ultrasonic wave positioning or bluetooth
Method for position determines the direction of motion of moving target；
The moving target is tracked according to the direction of motion for determining.
Described the moving target is tracked according to the unique identifier, also include：
Transmission signal strength is calculated according to the unique identifier to indicate；
When the transmission signal strength is indicated less than a predetermined threshold value, the tracking direction of moving target is adjusted.
Described the moving target is tracked according to the unique identifier, also include：
Two or more transmission signal strength are calculated according to the unique identifier to indicate；
The tracking direction of adjustment moving target is indicated according to described two or multiple transmission signal strength.
With regard to the device in above-described embodiment, wherein modules execute the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
Fig. 9 is a kind of block diagram of the device for unmanned plane pursuit movement target according to an exemplary embodiment,
The device is applied to terminal device.For example, device 900 can be mobile phone, computer, digital broadcast terminal, information receiving and transmitting
Equipment, game console, tablet device, Medical Devices, body-building equipment, personal digital assistant etc..
Device 900 can include following one or more assemblies：Process assembly 902, memory 904, power supply module 906,
Multimedia groupware 908, audio-frequency assembly 910, the interface 912 of input/output (I/O), sensor cluster 914, and communication component
916.
The integrated operation of 902 usual control device 900 of process assembly, such as with display, call, data communication, phase
The associated operation of machine operation and record operation.Process assembly 902 can refer to execute including one or more processors 920
Order, to complete all or part of step of above-mentioned method.Additionally, process assembly 902 can include one or more modules, just
Interaction between process assembly 902 and other assemblies.For example, process assembly 902 can include multi-media module, many to facilitate
Interaction between media component 908 and process assembly 902.
Memory 904 is configured to store various types of data to support the operation in device 900.The showing of these data
Example include on device 900 operate any application program or method instruction, contact data, telephone book data, disappear
Breath, picture, video etc..Memory 904 can be by any kind of volatibility or non-volatile memory device or their group
Close and realize, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable compile
Journey read-only storage (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash
Device, disk or CD.
Power supply module 906 provides electric power for the various assemblies of device 900.Power supply module 906 can include power management system
System, one or more power supplys, and other generate, manage and distribute, with for device 900, the component that electric power is associated.
Multimedia groupware 908 includes the screen of one output interface of offer between described device 900 and user.One
In a little embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch sensings
Device is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or sliding action
Border, but also detect and the touch or slide related duration and pressure.In certain embodiments, many matchmakers
Body component 908 includes a front-facing camera and/or post-positioned pick-up head.When device 900 be in operator scheme, such as screening-mode or
During video mode, front-facing camera and/or post-positioned pick-up head can receive outside multi-medium data.Each front-facing camera and
Post-positioned pick-up head can be the optical lens system of a fixation or with focusing and optical zoom capabilities.
Audio-frequency assembly 910 is configured to output and/or input audio signal.For example, audio-frequency assembly 910 includes a Mike
Wind (MIC), when device 900 is in operator scheme, such as call model, logging mode and speech recognition mode, microphone is joined
It is set to reception external audio signal.The audio signal for being received can be further stored in memory 904 or via communication set
Part 916 sends.In certain embodiments, audio-frequency assembly 910 also includes a loudspeaker, for exports audio signal.
I/O interface 912 is to provide interface between process assembly 902 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 914 includes one or more sensors, and the state for providing various aspects for device 900 is commented
Estimate.For example, sensor cluster 914 can detect/the closed mode of opening of device 900, and the relative positioning of component is for example described
Component is display and the keypad of device 900, and sensor cluster 914 can be with 900 1 components of detection means 900 or device
Position change, user is presence or absence of with what device 900 was contacted, 900 orientation of device or acceleration/deceleration and device 900
Temperature change.Sensor cluster 914 can include proximity transducer, be configured to detect when without any physical contact
The presence of object nearby.Sensor cluster 914 can also include optical sensor, such as CMOS or ccd image sensor, for becoming
As used in application.In certain embodiments, the sensor cluster 914 can also include acceleration transducer, gyro sensors
Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 916 is configured to facilitate the communication of wired or wireless way between device 900 and other equipment.Device
900 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.In an exemplary enforcement
In example, communication component 916 receives broadcast singal or the broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 916 also includes near-field communication (NFC) module, to promote junction service.Example
Such as, NFC module can be based on RF identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology,
Bluetooth (BT) technology and other technologies are realizing.
In the exemplary embodiment, device 900 can be by one or more application specific integrated circuits (ASIC), numeral letter
Number processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing said method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 904 for instructing, above-mentioned instruction can be executed by the processor 920 of device 900 to complete the tracking of above-mentioned unmanned plane
The method of moving target.For example, the non-transitorycomputer readable storage medium can be ROM, random access memory
(RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the process of device 900
When device is executed so that device 900 is able to carry out above-mentioned unmanned plane pursuit movement mesh calibration method, and methods described includes：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments be considered only as exemplary, the true scope of the disclosure and spirit by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (15)
1. a kind of unmanned plane pursuit movement mesh calibration method, it is characterised in that include：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
2. the method for claim 1, it is characterised in that the intelligence wearing that selection moving target to be tracked is worn sets
Standby, including：
The Intelligent worn device that search candidate's pursuit movement target is worn, obtains Intelligent worn device list；
In the Intelligent worn device list, select Intelligent worn device to be tracked.
3. method as claimed in claim 2, it is characterised in that described in Intelligent worn device list, select intelligence wearing to set
Standby, including：
The Intelligent worn device is ranked up according to preset reference element, obtains ranking results；
Intelligent worn device is selected according to the ranking results；
Wherein, the preset reference element includes one or more in following element：
The data stability of the Intelligent worn device；
The data connection approach of the Intelligent worn device；
The data transmission quality of the Intelligent worn device.
4. the method for claim 1, it is characterised in that described the Intelligent worn device is obtained by short-range communication
Unique identifier after, also include：
The Intelligent worn device broadcasts identification message with predetermined time interval, at least includes described unique in the identification message
Identification marking.
5. the method for claim 1, it is characterised in that described the motion mesh is tracked according to the unique identifier
Mark, including：
Based on the unique identifier of the Intelligent worn device, using infrared ray positioning, ultrasonic wave positioning or bluetooth positioning side
Method determines the direction of motion of moving target；
The moving target is tracked according to the direction of motion for determining.
6. method as claimed in claim 5, it is characterised in that described the motion mesh is tracked according to the unique identifier
Mark, also includes：
Transmission signal strength is calculated according to the unique identifier to indicate；
When the transmission signal strength is indicated less than a predetermined threshold value, the tracking direction of moving target is adjusted.
7. method as claimed in claim 5, it is characterised in that described the motion mesh is tracked according to the unique identifier
Mark, also includes：
Two or more transmission signal strength are calculated according to the unique identifier to indicate；
The tracking direction of adjustment moving target is indicated according to described two or multiple transmission signal strength.
8. a kind of device of unmanned plane pursuit movement target, it is characterised in that include：
Selecting module, is configured to the Intelligent worn device for selecting moving target to be tracked to wear；
Acquisition module, is configured to the unique identifier that short-range communication obtains the Intelligent worn device；
Tracking module, is configured to track the moving target according to the unique identifier.
9. device as claimed in claim 8, it is characterised in that the selecting module includes：
Search submodule, is configured to search for the Intelligent worn device that candidate's pursuit movement target is worn, and obtains intelligence wearing and sets
Standby list；
Submodule is selected, is configured in the Intelligent worn device list, select Intelligent worn device to be tracked.
10. device as claimed in claim 9, it is characterised in that the selection submodule includes：
Sequencing unit, is configured to be ranked up for the Intelligent worn device according to preset reference element, obtains sequence knot
Really；
Select unit, is configured to select Intelligent worn device according to the ranking results；
Wherein, the preset reference element includes one or more in following element：
The data stability of the Intelligent worn device；
The data connection approach of the Intelligent worn device；
The data transmission quality of the Intelligent worn device.
11. devices as claimed in claim 8, it is characterised in that the Intelligent worn device is configured to between the scheduled time
Every broadcast identification message, in the identification message, at least include the unique identifier.
12. devices as claimed in claim 8, it is characterised in that the tracking module includes：
Determination sub-module, the unique identifier being configured to based on the Intelligent worn device, using infrared ray positioning, ultrasound
Ripple positioning or bluetooth localization method determine the direction of motion of moving target；
Tracking submodule, is configured to track the moving target according to the direction of motion for determining.
13. devices as claimed in claim 12, it is characterised in that the tracking module also includes：
First calculating sub module, is configured to calculate transmission signal strength instruction according to the unique identifier；
First adjustment submodule, when being configured as transmission signal strength instruction less than a predetermined threshold value, adjusts motion mesh
Target tracking direction.
14. devices as claimed in claim 12, it is characterised in that the tracking module also includes：
Second calculating sub module, is configured to be referred to according to the two or more transmission signal strength of unique identifier calculating
Show；
Second adjustment submodule, be configured to according to described two or multiple transmission signal strength indicate adjustment moving target with
Track direction.
15. a kind of devices of unmanned plane pursuit movement target, it is characterised in that include：
Processor；
For storing the memory of processor executable；
Wherein, the processor is configured to：
The Intelligent worn device for selecting moving target to be tracked to wear；
The unique identifier of the Intelligent worn device is obtained by short-range communication；
The moving target is tracked according to the unique identifier.
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| CN201610941056.6A CN106482729A (en) | 2016-10-25 | 2016-10-25 | The method and device of unmanned plane pursuit movement target |
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|---|---|---|---|
| CN201610941056.6A CN106482729A (en) | 2016-10-25 | 2016-10-25 | The method and device of unmanned plane pursuit movement target |
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Application publication date: 20170308 |