CN108693892A - A kind of tracking, electronic device - Google Patents
A kind of tracking, electronic device Download PDFInfo
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- CN108693892A CN108693892A CN201810359287.5A CN201810359287A CN108693892A CN 108693892 A CN108693892 A CN 108693892A CN 201810359287 A CN201810359287 A CN 201810359287A CN 108693892 A CN108693892 A CN 108693892A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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Abstract
The present invention relates to technical field of aerospace more particularly to a kind of tracking, electronic device, this method to be, receives the first image that unmanned plane is sent;Determining target following object is identified in the first image, and determine position of the target following object in described first image, according to position of the target following object in described first image, it controls unmanned plane and carries out pose adjustment, in this way, the target following object tracked can be needed with real-time update, and it can be by adjusting the posture of unmanned plane, so that unmanned plane can be with real-time tracking target following object, adjust automatically, simpler convenience.
Description
Technical field
The present invention relates to technical field of aerospace more particularly to a kind of tracking, electronic devices.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, because of it
The advantages that small, easy to use, application is more and more extensive.Holder can be carried on unmanned plane, realize the shooting posture of camera
Adjustment, the winged control of unmanned plane is exactly the flight control system of unmanned plane, and the function of realization mainly has unmanned plane attitude stabilization and control
System, the management of unmanned plane task device and emergency flight control three categories., into when line trace, it is to target following object using unmanned plane
So that the holder phase function is taken the image for including target following object always, needs constantly to carry out posture to unmanned plane and holder
Adjustment.
Under the prior art, when tracking target using unmanned plane, user controls unmanned plane and holder by remote controler, so that
The image for including target following object can be taken by obtaining, and realize the real-time tracking to target following object.
But under the prior art, this tracking, it is distant that the adjustment of the posture of unmanned plane and holder is required for user to pass through
Control device is completed, cumbersome and cumbersome, and efficiency is comparatively, and also very inconvenient.
Invention content
A kind of tracking of offer of the embodiment of the present invention, electronic device track mesh to solve unmanned plane in the prior art
It needs to manually adjust control, less efficient problem when mark.
Specific technical solution provided in an embodiment of the present invention is as follows:
A kind of tracking, including:
Receive the first image that unmanned plane is sent;
Determining target following object is identified in described first image, and determines the target following object described
Position in first image;
According to position of the target following object in described first image, controls the unmanned plane and carry out posture tune
It is whole.
Determining target following object is identified preferably, described, including:
The characteristic information for pre-setting the target following object is known according to the characteristic information of the target following object
Do not go out the target following object.
Preferably, the characteristic information of the target following object updates once at regular intervals.
Preferably, before receiving the first image that unmanned plane is sent, further comprise:
Receive the second image;Wherein, target following object is included at least in second image;
Determine the target following object selected in second image.
Preferably, the second image of the reception includes:
The second image that unmanned plane is sent;
Alternatively, the second image that ground based terminal is sent.
Determining target following object is identified preferably, described, including:
Determine the characteristic information for the target following object selected in second image;
According to preset track algorithm, using the characteristic information of the target following object as sample, in described first image
In matched, identify the target following object.
Preferably, the position according to the target following object in described first image, controls the unmanned plane and carries out
Pose adjustment specifically includes:
Calculate the deviation between position and preset target location of the target following object in described first image
Value;
The deviation is sent to unmanned plane, so that the unmanned plane carries out pose adjustment according to the deviation.
Preferably, the method further includes terminal and server, if the first image is sent to the end by the unmanned plane
End, and the terminal executes any of the above-described kind of tracking, then further comprises:
The terminal obtains the characteristic information of the target following object from the server.
Preferably, the method further includes terminal and server, if the first image is sent to the end by the unmanned plane
End, then specifically include:
The server receives the first image that unmanned plane is sent by the terminal, and is determining the target following pair
Behind the position in described first image, according to position of the target following object in described first image, pass through institute
It states unmanned plane described in terminal control and carries out pose adjustment.
Preferably, the method further includes server, if the first image is directly sent to the service by the unmanned plane
Device, then the server execute any of the above-described kind of tracking.
A kind of electronic device, including the first electronic equipment, first electronic equipment include:
At least one processor, for storing program instruction;
At least one processor, for calling the program instruction stored in the memory, according to the program instruction of acquisition
It executes:
Receive the first image that unmanned plane is sent;
Determining target following object is identified in described first image, and determines the target following object described
Position in first image;
According to position of the target following object in described first image, controls the unmanned plane and carry out posture tune
It is whole.
Preferably, first electronic equipment further includes:
First communication device, the first communication device is connect with UAV Communication, for sending and receiving data.
Preferably, the electronic device further includes the second electronic equipment;Second electronic equipment includes second processor
And secondary communication device;
The secondary communication device is used to communicate to connect with unmanned plane and the first electronic equipment;
The data that the second processor is used to receive secondary communication device are handled.
Preferably, second electronic equipment is used to forward the communication data of unmanned plane and the first electronic equipment.
Preferably, the processor is specifically used for:
The characteristic information for pre-setting the target following object is known according to the characteristic information of the target following object
Do not go out the target following object.
Preferably, before receiving the first image that unmanned plane is sent, the processor is further used for:
Receive the second image that unmanned plane is sent;Wherein, target following object is included at least in second image;
Determine the target following object selected in second image.
Preferably, described identify that determining target following object, the processor are specifically used for:
Determine the characteristic information for the target following object selected in second image;
According to preset track algorithm, using the characteristic information of the target following object as sample, in described first image
In matched, identify the target following object.
Preferably, the position according to the target following object in described first image, controls the unmanned plane and carries out
Pose adjustment, the processor are specifically used for:
Calculate the deviation between position and preset target location of the target following object in described first image
Value;
The deviation is sent to unmanned plane, so that the unmanned plane carries out pose adjustment according to the deviation.
In the embodiment of the present invention, the first image that unmanned plane is sent is received;It is identified in described first image determining
Target following object, and determine position of the target following object in described first image, according to the target following pair
It as the position in described first image, controls the unmanned plane and carries out pose adjustment, in this way, tracking target using unmanned plane
When tracking object, for holder, without manually being controlled by remote controler, but handled by the track algorithm of terminal to realize
The adjust automatically of the posture of holder, simpler convenience, and it is possible to real-time update needs the target following object tracked,
Target following object is automatically identified in the image that unmanned plane is sent, to realize the real-time tracking to target following object.
Description of the drawings
Fig. 1 is the general introduction flow chart of tracking in the embodiment of the present invention;
Fig. 2 is the detail flowchart of tracking in the embodiment of the present invention;
Fig. 3 is the structural schematic diagram of tracks of device in the embodiment of the present invention;
Fig. 4 is a kind of electronic device construction schematic diagram in the embodiment of the present invention;
Fig. 5 is another electronic device construction schematic diagram in the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, is not whole embodiment.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Control in order to solve unmanned plane and holder in the prior art is required for manually adjusting, and not very convenient asks
It inscribes, in the embodiment of the present invention, according to the image that unmanned plane is sent, using preset track algorithm and the target following pair determined
As, identify target following object, determine the position of target following object, and then calculate the position of target following object with it is pre-
If target location between deviation, above-mentioned deviation is sent to unmanned plane so that unmanned plane carry out pose adjustment, ensure
Unmanned function to the real-time tracking of target following object, and ensure in the image of the camera shooting on the holder of unmanned plane target with
It the position of track object can be always situated on preset target location.
It is worth noting that in the embodiment of the present invention, mainly handled by identification to target following object and tracking,
Come realize unmanned plane holder posture adjust automatically and tracking.
As shown in fig.1, in the embodiment of the present invention, the detailed process of tracking is as follows:
Step 100:Receive the first image that unmanned plane is sent.
In practice, the circuit control system of unmanned plane is mainly made of three parts:Flight control system, holder+camera, image
Transmission system.The holder of unmanned plane can rotate so that the camera on holder can take required image.To target with
For track object into when line trace, the camera on holder obtains image by taking photo by plane.
When executing step 100, specially:The holder of unmanned plane can (hereinafter referred to as figure passes by image delivering system
System), send the first image.
In practice, the figure hero of biography will have analog- and digital- two kinds, in the embodiment of the present invention, not be defined, specifically, whole
A figure passes the course of work and is generally (by taking digitized map passes as an example):Camera on the holder of unmanned plane transmits the picture signal of acquisition
To on unmanned plane figure pass sender unit, then by figure pass sender unit wireless signal, such as 2.4GHz without
Line signal sends the first image, such as is sent to terminal, and terminal receives figure and passes signal stream, and user can monitor in real time as a result,
To the image of unmanned plane.
Step 110:Determining target following object is identified in the first image, and determines target following object first
Position in image.
When executing step 110, specifically include:
1) characteristic information of target following object first, is determined.
Wherein, the characteristic information of target following object updates once at regular intervals, you can with according to predetermined period not
Disconnected update needs the target following object tracked.
Wherein it is determined that target following object, can also there is following several situations:
The first situation:Pre-set the characteristic information of target following object.
That is, in the embodiment of the present invention, the target following object for needing to track can be preset, in this way, receiving
Unmanned plane send image after, can with the target following object in automatic identification image, realize to target following object with
Track.
The second situation:Before executing step 100, further comprise:The second image is received, and is determined in the second image
Selected target following object;Wherein, target following object is included at least in the second image.
Wherein, receiving the second image may include:The second image that unmanned plane is sent is received, alternatively, receiving earth terminal
The second image sent.
That is, determine to target following object into when line trace, need first to acquire at the beginning comprising target with
Second image of track object, such as specific implementation can control unmanned plane or holder for user by remote controler, adjust nobody
The posture of machine or holder so that the camera on holder can take the image for including target following object.
And the characteristic information of target following object can also be obtained, wherein the characteristic information of target following object, such as
The position for being target following object in the second image, target following object the information such as size.
Wherein it is determined that the target following object selected in the second image, can specifically there is following two modes:
First way:By the image in the region selected based on the pattern drawn in the second image, as selected
Target following object.
For example, the second image is sent to terminal, terminal is mobile phone, and after mobile phone receives the second image, user is in hand
A rectangle is drawn on the second image shown on machine screen, then the image in the region selected rectangle, as target following
Object.
The second way:By the image in the region selected in the second image based on preset pattern, as selected
Target following object.
In another example user directly uses the preset pattern provided in mobile phone, carry out selected target tracking object, that is, is not necessarily to use
Family is drawn manually, clicks directly on preset pattern, is dragged on the position for the object that user wants tracking, or pass through
It is again tapped on the object for wanting tracking, carrys out selected target tracking object.
That is, needing user to carry out selected target tracking object, subsequently to target following pair by terminal at the beginning
As into line trace, with regard to selecting and operating without user, also, the characteristic information of target following object being obtained, with after an action of the bowels
It is continuous that target following object is determined using track algorithm.
2) target following object then, is identified in the first image.
Correspondingly, it is possibility to have two kinds of situations:
The first situation:Specially:The characteristic information for pre-setting target following object, according to the spy of target following object
Reference ceases, and identifies target following object.
The second situation:Specially:The characteristic information for determining the target following object selected in the second image, according to default
Track algorithm matched in the first image using the characteristic information of target following object as sample, identify target following
Object.
Wherein, preset track algorithm, for example, core correlation filter (Kernelized Correlation
Filter, KCF) algorithm, tracking study detection (Tracking-Learning-Detection, TLD) algorithm etc., the present invention is real
It applies in example, is not defined.
It is worth explanation, specifically how using track algorithm determines target following object, is not the emphasis of the present invention,
It also can directly be realized using the tracking of existing track algorithm without limiting in the embodiment of the present invention.
3) position of the target following object in the first image finally, is determined.
Step 120:According to position of the target following object in described first image, control unmanned plane carries out posture tune
It is whole.
When executing step 120, specially:Calculate position of the target following object in the first image and preset target position
Deviation between setting, and deviation is sent to unmanned plane, so that unmanned plane carries out pose adjustment according to the deviation.
For example, preset target location is the center of the first image, position of the target following object in the first image
It is set to the position in the upper left corner, then there is centainly inclined between position and target location of the target following object in the first image
Difference can be used as deviation by the deviation of center point coordinate both calculated, can also by other calculations come
To deviation.
Since in practice, the winged control of usual unmanned plane is exactly the flight control system of unmanned plane, to control the appearance of unmanned plane
State adjusts, therefore, it is also desirable to the deviation be sent to the winged control of unmanned plane, the pose adjustment of unmanned plane is indicated by flying control, then
It specifically includes:
First, deviation is sent to the winged control of unmanned plane.
Then, when winged control receives deviation, according to the deviation, indicate that the holder of unmanned plane carries out pose adjustment.
For example, if position of the target following object in the first image is the lower right corner, target location is in the first image
Heart position, the deviation for calculating the center point coordinate of the two obtains deviation, when winged control receives deviation, the image of determining shooting
The position of middle target following object has had deviated from target location, it indicates that and the posture of the holder of unmanned plane is adjusted to the lower right corner,
The position of target following object can be centered in image to ensure shooting.
Further, it if deviation is 0, that is, determines that target following object is located on target location, then at this moment flies control instruction
Unmanned plane is without carrying out pose adjustment.
This way it is ensured that can not only include target following pair always in the image that the camera on the holder of unmanned plane obtains
As realizing the tracking to target following object, and target following object can be always positioned on preset target location.
In the embodiment of the present invention, the holder of unmanned plane is controlled without manually, is directly handled according to track algorithm, to realize
The adjust automatically of the holder of unmanned plane is more convenient, simple.
It is worth noting that in the embodiment of the present invention, it may be service that the executive agent of tracking, which can be terminal,
Device provides several possible embodiments based on different executive agents in the embodiment of the present invention:
The first embodiment:Terminal is connected with unmanned plane and server respectively, server for real-time update need with
The characteristic information of the target following object of track, terminal obtain the characteristic information of target following object from server.Terminal receives nothing
After first image of man-machine transmission, according to the target following object of acquisition, target following object is identified from the first image, and
Calculate deviation, deviation is sent to unmanned plane so that unmanned plane carry out pose adjustment, track target following object, i.e., without
Man-machine that first image is sent to terminal, terminal executes the tracking in the embodiment of the present invention.
Second of embodiment:Terminal is connected with unmanned plane and server respectively, and server needs more for real-time update
The characteristic information of new target following object, and carry out the identification of target following object.Terminal receives first that unmanned plane is sent
After image, the first image is sent to server, server according to target following object, identified from the first image target with
Track object, and determine position of the target following object in described first image, deviation is calculated, deviation is sent to end
End, then the deviation is sent to unmanned plane by terminal, so that unmanned plane carries out pose adjustment, track target following object.
The third embodiment:Unmanned plane is connected with server, and the first image taken is transmitted directly to by unmanned plane
Server, server identify target following object, and determine target following pair according to target following object from the first image
As the position in described first image, deviation is calculated, deviation is sent to unmanned plane, so that unmanned plane carries out posture tune
It is whole, target following object is tracked, the first image is directly sent to server by even unmanned plane, then it is real to execute the present invention for server
Apply the tracking in example.
Certainly, in the embodiment of the present invention, it is not limited in above-mentioned three kinds of embodiments, for other embodiments, originally
It in inventive embodiments and is not limited, the tracking that can be applicable in the embodiment of the present invention, in this manner it is achieved that nobody
Machine tracks target following object, for example, in disaster relief, the image that can be shot by unmanned plane, the real time inspection disaster relief shows
If desired situation tracks people or object, then can pre-set target following object, rear personnel can remote control nobody
Machine, or track and identify target following object automatically by unmanned plane, carry out real-time tracking.
Further description is made to above-described embodiment using a specific application scenarios below.Referring particularly to Fig. 2
It is shown, it is illustrated so that the executive agent of tracking is terminal as an example, in the embodiment of the present invention, the implementation procedure of tracking
It is specific as follows:
By taking terminal is mobile phone as an example, in the embodiment of the present invention, mainly by using track algorithm to target on mobile phone
Tracking object is handled, and by the winged control of unmanned plane, to realize the adjust automatically of holder.Wherein, fly control, holder and mobile phone
It is carried out at the same time work.
Step 200:Holder pose adjustment.
Further, while unmanned plane is adjusted, is specifically as follows user by remote controler to be adjusted, in order to
Make to include target following object in the image that the camera on holder acquires.
It is worth noting that first time execute step 200 when, holder pose adjustment can for user by remote controler come
Control, in order to obtain the image for including target following object first, also, if only by adjusting unmanned plane, just
The phase function on holder can be made to collect the image for including target following object, then can not also execute step in first time
200, in this way, selected target tracking object on the second image that user can receive on mobile phone.In subsequent execution step 200
When, then it is controlled manually without user, holder can carry out pose adjustment automatically according to the instruction of the winged control of unmanned plane.
Step 201:Camera on holder acquires image.
Step 202:Holder is passed by scheming in real time, and the image collected is sent to mobile phone.
Wherein, the image that first time holder is sent is the second image, and the image subsequently sent is the first image.
Step 203:Mobile phone receives figure and passes signal stream.
Step 204:Determine selected target following object.
For example, user inputs when starting, mobile phone determines the target following object that user selectes in the second image.
It is worth noting that step 204 is only executing once at the beginning, i.e., when receiving the second image, execute step
204, in order to target following object is determined, when follow-up progress target following is to image tracing, just without performing.
Step 205:Determine the characteristic information of target following object.
For example, the characteristic information of target following object is the information such as position and the size of target following object.
It is worth noting that at the beginning, that is, it is the target following object selected according to user when having step 204, comes true
The characteristic information for the tracking object that sets the goal;Later, when without executing step 204, be according to track algorithm, come determine target with
The characteristic information of track object.
Step 206:Using track algorithm, position of the target following object in the first image is determined.
Step 207:The deviation between position and target location of the target following object in the first image is calculated, and will
The deviation is sent to winged control.
Step 208:The winged control of unmanned plane carries out pose adjustment according to deviation, instruction holder, and continues to turn to and execute step
Rapid 200.
Based on above-described embodiment, as shown in fig.3, in the embodiment of the present invention, tracks of device specifically includes:
First receiving unit 30, the first image for receiving unmanned plane transmission;
Recognition unit 31 for identifying determining target following object in described first image, and determines the target
Position of the tracking object in described first image;
Control unit 32 controls the nothing for the position according to the target following object in described first image
Man-machine carry out pose adjustment.
Preferably, described identify that determining target following object, recognition unit 31 are used for:Pre-set the target with
The characteristic information of track object identifies the target following object according to the characteristic information of the target following object.
Preferably, before receiving the first image that unmanned plane is sent, further comprise:Second receiving unit 34, for connecing
Receive the second image that unmanned plane is sent;Wherein, target following object is included at least in second image;Second determination unit
35, for determining the target following object selected in second image.
Preferably, described identify that determining target following object, recognition unit 31 are used for:It determines in second image
The characteristic information of selected target following object;According to preset track algorithm, with the characteristics of image of the target following object
Information is sample, is matched in described first image, identifies the target following object.
Preferably, the position according to the target following object in described first image, controls the unmanned plane and carries out
Pose adjustment, control unit 32 are specifically used for:It calculates position of the target following object in described first image and presets
Target location between deviation;The deviation is sent to unmanned plane, so that the unmanned plane is according to the deviation,
Carry out pose adjustment.
Based on above-described embodiment, as shown in fig.4, in the embodiment of the present invention, a kind of structural schematic diagram of electronic device.This
Inventive embodiments provide a kind of electronic device, which may include the first electronic equipment, which can
To include processor 410 (Center Processing Unit, CPU), memory 420, input equipment 430 and output equipment
440 etc., input equipment 430 may include keyboard, mouse, touch screen etc., and output equipment 440 may include display equipment, such as liquid
Crystal display (Liquid Crystal Display, LCD), cathode-ray tube (Cathode Ray Tube, CRT) etc..
Memory 420 may include read-only memory (ROM) and random access memory (RAM), and be carried to processor 410
For the program instruction and data stored in memory 420.In embodiments of the present invention, memory 420 can be used for storing this hair
The program of tracking in bright embodiment.
Processor 410 is by the program instruction for calling memory 420 to store, and processor 410 is for the program according to acquisition
Instruction execution:
Receive the first image that unmanned plane is sent;
Determining target following object is identified in described first image, and determines the target following object described
Position in first image;
According to position of the target following object in described first image, controls the unmanned plane and carry out posture tune
It is whole.
Preferably, first electronic equipment further includes:First communication device 450, the first communication device 450 and nothing
Man-machine communication connects, for sending and receiving data.For example, processor 410 passes through first communication device in the embodiment of the present invention
450 receive the first image that unmanned planes are sent, or can also be by first communication device 450 by target following Object identifying knot
Fruit and deviation are sent to unmanned plane.
Preferably, the processor 410 is specifically used for:The characteristic information for pre-setting the target following object, according to
The characteristic information of the target following object identifies the target following object.
Preferably, before receiving the first image that unmanned plane is sent, the processor 410 is further used for:
Receive the second image that unmanned plane is sent;Wherein, target following object is included at least in second image;
Determine the target following object selected in second image.
Preferably, described identify that determining target following object, the processor 410 are specifically used for:
Determine the characteristic information for the target following object selected in second image;
According to preset track algorithm, using the characteristic information of the target following object as sample, in described first image
In matched, identify the target following object.
Preferably, the position according to the target following object in described first image, controls the unmanned plane and carries out
Pose adjustment, the processor 410 are specifically used for:Calculate position of the target following object in described first image with it is pre-
If target location between deviation;The deviation is sent to unmanned plane, so that the unmanned plane is according to the deviation
Value carries out pose adjustment.
Based on above-described embodiment, as shown in fig.5, the structure of another electronic device provided in the embodiment of the present invention is shown
It is intended to.The electronic device may include the first electronic equipment and the second electronic equipment, wherein the first electronic equipment may include place
Device 510, memory 520, input equipment 530 and output equipment 540 etc. are managed, preferably, the first electronic equipment can also include the
One communication device 550.Second electronic equipment may include second processor 560, secondary communication device 570 etc..
Wherein, the second electronic equipment is used to forward the communication data of unmanned plane and the first electronic equipment, for example, the present invention is real
It applies in example, the first electronic equipment can receive the first image etc. of unmanned plane by the second electronic equipment.
Memory 520 may include read-only memory (ROM) and random access memory (RAM), and be carried to processor 510
For the program instruction and data stored in memory 520, program, the end of the tracking in the embodiment of the present invention can also be stored
Operating system, application program (Application, APP) (for example, APP for controlling UAV Attitude), module and the end at end
Various data etc. used in end.
Processor 510 is the first electronic equipment control centre, utilizes each of various interfaces and the entire terminal of connection
Part by running or execute the software program and/or module that are stored in memory 510, and calls and is stored in memory
Data in 520 execute the various functions and processing data of the first electronic equipment, to carry out whole prison to the first electronic equipment
Control.
The data that second processor 560 is used to receive secondary communication device 570 are handled.
First communication device 550 and secondary communication device 570 include but not limited to Wireless Fidelity
(wirelessfidelity, WiFi) module, bluetooth module, infrared communication module etc..Wherein, secondary communication device 570 is used for
It is communicated to connect with unmanned plane and the first electronic equipment.
It is worth noting that such as based in Fig. 4 embodiments, the first electronic equipment can be with terminal, or server,
Based in Fig. 5 embodiments, the first electronic equipment can be server, and the second electronic equipment can be terminal.
Certainly, the structure of electronic device shown in Fig. 4 and Fig. 5, only one of which example, may include than diagram
More or fewer components either combine certain components or different components arrangement.
In the embodiment of the present invention, the first image that unmanned plane is sent is received;It is identified in described first image determining
Target following object, and determine position of the target following object in described first image, according to the target following pair
It as the position in described first image, controls the unmanned plane and carries out pose adjustment, in this way, tracking target using unmanned plane
When tracking object, for holder, without manually being controlled by remote controler, but handled by the track algorithm of terminal to realize
The adjust automatically of the posture of holder, and can also realize the real-time tracking to target following object.
Also, it can also calculate between position and preset target location of the target following object in the first image
Deviation so that unmanned plane constantly carries out pose adjustment according to the deviation, ensures that target following object can be always positioned at target
On position, simpler convenience.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of any of the above-described kind of tracking is realized when row.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (18)
1. a kind of tracking, which is characterized in that including:
Receive the first image that unmanned plane is sent;
Determining target following object is identified in described first image, and determines the target following object described first
Position in image;
According to position of the target following object in described first image, controls the unmanned plane and carry out pose adjustment.
2. the method as described in claim 1, which is characterized in that it is described to identify determining target following object, including:
The characteristic information for pre-setting the target following object is identified according to the characteristic information of the target following object
The target following object.
3. according to the method described in claim 2, it is characterized in that, the characteristic information of the target following object is when one section
Between update it is primary.
4. the method as described in claim 1, which is characterized in that before receiving the first image that unmanned plane is sent, further wrap
It includes:
Receive the second image;Wherein, target following object is included at least in second image;
Determine the target following object selected in second image.
5. according to the method described in claim 4, it is characterized in that, the second image of the reception includes:
The second image that unmanned plane is sent;
Alternatively, the second image that ground based terminal is sent.
6. method as claimed in claim 4, which is characterized in that it is described to identify determining target following object, including:
Determine the characteristic information for the target following object selected in second image;
According to preset track algorithm, using the characteristic information of the target following object as sample, in described first image into
Row matching, identifies the target following object.
7. the method as described in claim 1, which is characterized in that according to the target following object in described first image
Position controls the unmanned plane and carries out pose adjustment, specifically includes:
Calculate the deviation between position and preset target location of the target following object in described first image;
The deviation is sent to unmanned plane, so that the unmanned plane carries out pose adjustment according to the deviation.
8. such as claim 1-7 any one of them methods, which is characterized in that the method further includes terminal and server, if
First image is sent to the terminal by the unmanned plane, and the terminal executes the claims 1-7 any one of them
Method then further comprises:
The terminal obtains the characteristic information of the target following object from the server.
9. such as claim 1-7 any one of them methods, which is characterized in that the method further includes terminal and server, if
First image is sent to the terminal by the unmanned plane, then is specifically included:
The server receives the first image that unmanned plane is sent by the terminal, and is determining that the target following object exists
Behind position in described first image, according to position of the target following object in described first image, pass through the end
End controls the unmanned plane and carries out pose adjustment.
10. such as claim 1-7 any one of them methods, which is characterized in that the method further includes server, if the nothing
Man-machine that the first image is directly sent to the server, then the server executes described in the claims any one of 1-7
Method.
11. a kind of electronic device, which is characterized in that including the first electronic equipment, first electronic equipment includes:
At least one processor, for storing program instruction;
At least one processor is executed for calling the program instruction stored in the memory according to the program instruction of acquisition:
Receive the first image that unmanned plane is sent;
Determining target following object is identified in described first image, and determines the target following object described first
Position in image;
According to position of the target following object in described first image, controls the unmanned plane and carry out pose adjustment.
12. electronic device according to claim 11, which is characterized in that first electronic equipment further includes:
First communication device, the first communication device is connect with UAV Communication, for sending and receiving data.
13. electronic device according to claim 11, which is characterized in that the electronic device further includes that the second electronics is set
It is standby;Second electronic equipment includes second processor and secondary communication device;
The secondary communication device is used to communicate to connect with unmanned plane and the first electronic equipment;
The data that the second processor is used to receive secondary communication device are handled.
14. electronic device according to claim 13, which is characterized in that second electronic equipment is for forwarding unmanned plane
With the communication data of the first electronic equipment.
15. electronic device as claimed in claim 11, which is characterized in that the processor is specifically used for:
The characteristic information for pre-setting the target following object is identified according to the characteristic information of the target following object
The target following object.
16. electronic device as claimed in claim 11, which is characterized in that before receiving the first image that unmanned plane is sent, institute
Processor is stated to be further used for:
Receive the second image that unmanned plane is sent;Wherein, target following object is included at least in second image;
Determine the target following object selected in second image.
17. electronic device as claimed in claim 16, which is characterized in that described to identify determining target following object, institute
Processor is stated to be specifically used for:
Determine the characteristic information for the target following object selected in second image;
According to preset track algorithm, using the characteristic information of the target following object as sample, in described first image into
Row matching, identifies the target following object.
18. electronic device as claimed in claim 11, which is characterized in that according to the target following object in first figure
Position as in controls the unmanned plane and carries out pose adjustment, and the processor is specifically used for:
Calculate the deviation between position and preset target location of the target following object in described first image;
The deviation is sent to unmanned plane, so that the unmanned plane carries out pose adjustment according to the deviation.
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| CN201810359287.5A CN108693892A (en) | 2018-04-20 | 2018-04-20 | A kind of tracking, electronic device |
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| CN201810359287.5A CN108693892A (en) | 2018-04-20 | 2018-04-20 | A kind of tracking, electronic device |
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