CN113917942A - Unmanned aerial vehicle real-time target tracking method, device, equipment and storage medium - Google Patents
Unmanned aerial vehicle real-time target tracking method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a real-time target tracking method, a real-time target tracking device, real-time target tracking equipment and a real-time target tracking storage medium for an unmanned aerial vehicle. The method comprises the following steps: switching operation according to the control of a user to display a remote control interface; acquiring a cradle head locking operation of a user based on a remote control interface so as to display one or more targets to be tracked on the remote control interface according to the cradle head locking operation; the method comprises the steps of obtaining target tracking operation of a user based on one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle can track the target according to the target tracking instruction. The embodiment of the invention solves the problem that the unmanned aerial vehicle cannot be controlled by a remote server to track the suspicious target in real time, can switch the control right to the server when remote control is needed, and can remotely track the target to be tracked under the control of the server, thereby realizing remote control and on-site control switching as well as route task and tracking task switching under remote control.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a real-time target tracking method, a real-time target tracking device, real-time target tracking equipment and a storage medium for an unmanned aerial vehicle.
Background
Along with the development of unmanned aerial vehicle technology, the application scenes are more and more extensive, the great effect is played in scenes such as power line patrol, traffic rescue, customs frontier defense and the like, the expansion of the application scenes puts forward higher requirements on the performance of the unmanned aerial vehicle, most of the existing unmanned aerial vehicles can only execute pre-designed tasks or can execute the tasks by controlling the unmanned aerial vehicle to fly by a flyer in real time when executing the tasks, specific task contents or execution modes can not be clearly known by the flyer in some special scenes, the unmanned aerial vehicle is required to be handed to a remote control center to execute the tasks at the moment, and the target tracking of the unmanned aerial vehicle is difficult to control in real time by the remote control center due to the delay of data transmission.
Disclosure of Invention
In view of the above, the present invention provides a real-time target tracking method, device, apparatus, and storage medium for an unmanned aerial vehicle, so as to switch a control mode in time and perform lock tracking on a designated target under remote control when remote control is required.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a real-time target tracking method for an unmanned aerial vehicle, including:
switching operation according to the control of a user to display a remote control interface;
acquiring a holder locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the holder locking operation;
and acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
Optionally, in some embodiments, the switching to display the remote control interface according to the control of the user includes:
sending a control switching instruction to a remote terminal for controlling the unmanned aerial vehicle according to the control switching operation of the user;
acquiring switching receiving information returned by the remote terminal according to the control switching instruction, displaying the remote control interface according to the switching receiving information and acquiring the control right of the unmanned aerial vehicle;
after the remote control interface is displayed according to the control switching operation of the user, the method further comprises the following steps:
and exiting the remote control interface according to the control returning operation of the user, and sending a control returning instruction to the remote terminal so that the remote terminal recovers the unmanned aerial vehicle control right.
Optionally, in some embodiments, after displaying one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation, the method further includes:
judging whether the user does not perform target tracking for the first time;
and if so, displaying tracking guide information on the remote control interface.
Optionally, in some embodiments, the obtaining a target tracking operation of the user based on the one or more targets to be tracked to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, includes:
generating a cradle head locking instruction according to target selection operation of a user based on the one or more targets to be tracked, displaying tracking options of the unmanned aerial vehicle, and sending the cradle head locking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks the corresponding target to be tracked according to the cradle head locking instruction to perform tracking shooting;
generating a flight following instruction according to the operation of the unmanned aerial vehicle tracking option selected by a user, and sending the flight following instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks a corresponding target to be tracked according to the flight following instruction to perform tracking flight.
Optionally, in some embodiments, after the target tracking operation of the obtaining user based on the one or more targets to be tracked, the method further includes:
obtaining the exit tracking operation of a user based on the remote control interface, and displaying exit options based on the exit tracking operation;
and generating and sending a return route instruction or an in-place hovering instruction according to the selection operation of the user based on the exit option, wherein the return route instruction is used for enabling the unmanned aerial vehicle to return to the original route, and the in-place hovering instruction is used for enabling the unmanned aerial vehicle to stop tracking shooting and tracking flight.
Optionally, in some embodiments, after generating the flight following instruction according to the operation of the user selecting the drone tracking option, the method further includes:
and displaying a stop following option, and generating a stop following instruction based on the operation of selecting the stop following option by the user, wherein the stop following instruction is used for enabling the unmanned aerial vehicle to stop the tracking flight and keep the tracking shooting.
Optionally, in some embodiments, after the obtaining a target tracking operation of the user based on the one or more targets to be tracked to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, the method further includes:
and acquiring target switching operation of a user based on the one or more targets to be tracked, and generating and sending a switching tracking instruction according to the target switching operation so that the unmanned aerial vehicle switches the target according to the switching tracking instruction to track the target.
In a second aspect, the present invention provides a real-time target tracking device for an unmanned aerial vehicle, including:
the control switching module is used for displaying a remote control interface according to the control switching operation of a user;
the target display module is used for acquiring the holder locking operation of a user based on the remote control interface so as to display one or more targets to be tracked on the remote control interface according to the holder locking operation;
and the target tracking module is used for acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
In a third aspect, the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the real-time target tracking method for a drone according to any embodiment of the present invention.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, the computer program comprising program instructions, which when executed, implement the real-time target tracking method for a drone according to any one of the embodiments of the present invention.
Compared with the prior art, the real-time target tracking method for the unmanned aerial vehicle, provided by the embodiment of the invention, comprises the steps of displaying a remote control picture according to the control switching operation of a user when remote tracking is required through a server, acquiring the pan-tilt locking operation of the user based on a remote control interface, further displaying one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation, acquiring the target tracking operation of the user based on one or more targets to be tracked, generating a target tracking instruction and sending the target tracking instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to remotely track the targets, so that the problem that the unmanned aerial vehicle cannot be controlled to track suspicious targets in real time at the remote server is solved, the control right can be switched to the server when remote control is required, the server controls the targets to be tracked to be remotely tracked, and the remote control switching between the remote control and the on-spot and the switching between the route task and the tracking task under the remote control are realized, is suitable for richer scenes.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only part of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a real-time target tracking method for an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a remote control interface according to an embodiment of the present invention;
fig. 3 is a flowchart of a real-time target tracking method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 4 is a flowchart of another real-time target tracking method for an unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a remote control interface according to a second embodiment of the present invention;
fig. 6 is a sub-flowchart of a real-time target tracking method for an unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 7 is a schematic diagram of another remote control interface provided in accordance with a second embodiment of the present invention;
fig. 8 is a sub-flowchart of another real-time target tracking method for an unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 9 is a schematic diagram of another remote control interface provided in the second embodiment of the present invention;
fig. 10 is a schematic structural diagram of a real-time target tracking device of an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The technical solution in the implementation of the present application is described clearly and completely below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of some, and not restrictive, of the current application. It should be further noted that, based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, the first example may be referred to as a second use case, and similarly, the second example may be referred to as the first use case, without departing from the scope of the present invention. Both the first and second use cases are use cases, but they are not the same use case. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include a combination of one or more features. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Example one
Referring to fig. 1, the present embodiment provides a real-time target tracking method for an unmanned aerial vehicle, where the method may be applied to an unmanned aerial vehicle system, where the system includes an unmanned aerial vehicle, a control terminal, and a server, where: the unmanned aerial vehicle is an unmanned aerial vehicle which is controlled by a control terminal or a self-contained program control device or a server and has a task load; the control terminal is communicated with the unmanned aerial vehicle and is used for controlling the unmanned aerial vehicle on the spot; the server keeps communicating with control terminal, also can with unmanned aerial vehicle direct communication. The real-time target tracking method for the unmanned aerial vehicle provided by the embodiment is applied to a server, and as shown in fig. 1, the method comprises the following steps:
and S110, switching operation and displaying a remote control interface according to the control of the user.
In this embodiment, the server is a remote command center, and the command center is provided with an operation interface for user operation, and the control switching operation is unmanned aerial vehicle control right switching operation performed by the user through the operation interface, and is used for switching the control right of the unmanned aerial vehicle from the remote terminal to the server. The remote control interface is an interactive interface which is provided by the control end and used for controlling the unmanned aerial vehicle to fly and executing tasks, the remote control interface is provided with a plurality of remote control options, and different control options correspond to different control instructions and are used for enabling the unmanned aerial vehicle to execute different tasks.
Specifically, in this embodiment, the service end is a terminal device with an interactive capability, such as a computer device, which can display various information, acquire an operation of a user, and send a control instruction to the drone and/or the remote terminal according to the operation of the user. When the user needs to carry out remote control on the unmanned aerial vehicle through the server, the server acquires control switching operation of the user through interaction with the user, transfers the control right of the unmanned aerial vehicle to the server, and displays a remote control interface for controlling the unmanned aerial vehicle.
And S120, acquiring a cradle head locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the cradle head locking operation.
The remote control interface in this embodiment is provided with at least an option for starting remote tracking, and the pan tilt of the unmanned aerial vehicle enters a locking state after the tracking is started, which is called a pan tilt locking option, and the pan tilt locking operation is an operation in which a user clicks the option, and after the user clicks the option, the pan tilt locking state is entered, which indicates that the user needs to control the unmanned aerial vehicle to perform remote tracking, and one or more targets to be tracked appear to be selected by a common user. The target to be tracked is a target which can be remotely tracked by a user in the real-time image shot by the unmanned aerial vehicle, and is usually a person, a vehicle, a ship and the like, and the target to be tracked is obtained by identifying the real-time image shot by a preset identification algorithm (different targets correspond to different algorithms, and one or more identification algorithms can be adopted at the same time). It can be understood that, because the remote tracking cannot be performed when there is no target to be tracked, the situation is not mentioned here, and different identification results can be obtained by adjusting the shooting direction of the unmanned aerial vehicle, adopting different identification algorithms and the like when the target to be tracked is not identified.
Specifically, in this embodiment, the server is provided with a cradle head locking option for starting remote tracking through the remote control interface, and is further provided with a first area for displaying an image shot by the unmanned aerial vehicle in real time, and after the user triggers the cradle head locking option, the server identifies a target to be tracked in the image shot in real time, and displays the identified target to be tracked in the remote control interface.
In a specific example, as shown in fig. 2, a schematic diagram of a remote control interface provided by a server is shown, where the schematic diagram includes a first display area (which may not be required) 21 and a second display area 22, where the first display area 21 is used to display current flight information (including flight path, etc.) of an unmanned aerial vehicle, the second display area 22 is used to display a real-time captured image of the unmanned aerial vehicle, and a "pan/tilt lock" option 221 is provided in the second display area 22 in fig. 2. Of course, it is to be understood that the "pan/tilt lock" option can be provided anywhere in the remote control interface, and the above-described arrangement in the second display area is merely for example and not intended to be limiting.
S130, acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
The target tracking operation is the operation of performing remote tracking on the target to be tracked by a user based on the remote control interface, and is also completed through an operation option provided by the remote control interface, and the target tracking instruction is a control instruction generated by the server according to the target tracking operation and is used for controlling the unmanned aerial vehicle to complete the execution of a corresponding remote tracking task.
Specifically, in this embodiment, the service end further provides a target tracking option based on the remote control interface, the user selects a target to be tracked from the targets to be tracked through the target tracking option, at this time, a target to be tracked is determined as a tracking target, a specific remote tracking task is determined through the target tracking option, the service end obtains a target tracking operation of the user based on the target tracking option, generates a target tracking instruction, and finally sends the target tracking instruction to the unmanned aerial vehicle, and after the unmanned aerial vehicle receives the target tracking instruction, the target to be tracked is determined through analysis, and then the target tracking task is executed.
The embodiment provides a real-time target tracking method of an unmanned aerial vehicle, which is applied to a server serving as a command center, when remote tracking is required to be performed through the server, a remote control picture is displayed according to control switching operation of a user, holder locking operation of the user is acquired based on a remote control interface, one or more targets to be tracked are displayed on the remote control interface according to the holder locking operation, target tracking operation of the user based on one or more targets to be tracked is acquired, a target tracking instruction is generated and sent to the unmanned aerial vehicle to control the unmanned aerial vehicle to perform target tracking remotely, the method solves the problem that the unmanned aerial vehicle cannot be controlled to track suspicious targets in real time at the remote server, can switch the control right to the server when remote control is required, and the server controls the targets to be tracked to perform remote tracking, so that remote control, on-site control switching and airline task and tracking task switching under remote control are realized, is suitable for richer scenes.
Example two
An embodiment two provides a real-time target tracking method for an unmanned aerial vehicle, which can be implemented on the basis of the embodiment one, and specifically supplements or exemplifies part of the content in the embodiment one, for example, provides a process of performing target tracking according to a target tracking operation, and specifically includes:
as shown in fig. 3, the real-time target tracking method for an unmanned aerial vehicle provided in this embodiment includes:
and S210, sending a control switching instruction to a remote terminal for controlling the unmanned aerial vehicle according to the control switching operation of the user.
And S220, acquiring switching receiving information returned by the remote terminal according to the control switching instruction, displaying the remote control interface according to the switching receiving information and acquiring the unmanned aerial vehicle control right.
S230, acquiring a cradle head locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the cradle head locking operation;
s240, acquiring target tracking operation of the user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
And S250, quitting the remote control interface according to the control returning operation of the user, and sending a control returning instruction to the remote terminal so that the remote terminal can recover the unmanned aerial vehicle control right.
Steps S210-220 are processes of requesting a switching control right from a remote terminal according to a switching operation from a user, and a control switching instruction is generated by a server according to the control switching operation from the user, for notifying the remote terminal that the server needs to perform remote control. The step of receiving the switching information to allow the remote terminal to agree to give the unmanned aerial vehicle control right is information which is generated by the remote terminal and sent to the server, and the server can enter a remote control interface only after receiving the switching information. In some alternative embodiments, when the remote terminal does not agree to give the drone control right, the server may prompt the remote terminal to refuse to perform remote control, and cannot enter the remote control interface.
Step S250 is a step of returning the control right of the unmanned aerial vehicle after the server finishes implementing the target tracking, where the server can provide an option for exiting the remote control on the remote control interface, for example, display an option of "exit the remote" for the user to select, and a control return operation is an operation in which the user triggers the option of "exit the remote", and at this time, the server sends a control return instruction for notifying the remote terminal to take over the control right of the unmanned aerial vehicle to the remote terminal, and the server exits the remote control interface.
Optionally, in some embodiments, as shown in fig. 4, after step S230, steps S260-270 for determining whether an operation guidance for the user is required are further included:
and S260, judging whether the user does not perform target tracking for the first time.
And S270, if so, displaying the tracking guide information on the remote control interface.
When the target tracking is performed for the first time by the user, the steps S260 to S270 may not be familiar with the operation flow, and the user needs to be prompted by the tracking guidance information about the specific meaning of each option in the remote control interface and how to use the option in the target tracking process.
In one specific example, as shown in fig. 5, a schematic diagram of a remote control interface displaying tracking guidance information is shown. Fig. 5 is a further illustration of the remote control interface shown in fig. 2, which further provides three selection boxes 222, 223 and 224 for selecting an object to be tracked, each of which represents an object to be tracked, and a prompt box 225 displays tracking guidance information for prompting a user how to select the object to be tracked, which is also only an example here, and actually in some alternative embodiments, the tracking guidance information can also be set based on the selection boxes, and the selection boxes can also be replaced by other schemes, which are not examples here.
Optionally, in some embodiments, a specific process of target tracking, that is, step S240, as shown in fig. 6, includes steps S241 to 242:
s241, generating a cradle head locking instruction according to target selection operation of a user based on the one or more targets to be tracked, displaying tracking options of the unmanned aerial vehicle, and sending the cradle head locking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks the corresponding targets to be tracked according to the cradle head locking instruction to perform tracking shooting;
s242, generating a flight following instruction according to the operation that the user selects the unmanned aerial vehicle tracking option, and sending the flight following instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can lock the corresponding target to be tracked according to the flight following instruction to perform tracking flight.
After the user clicks the pan-tilt locking option, the terminal interaction interface displays one or more targets to be tracked as shown in fig. 5, and the target selection operation is an operation (one of clicking and frame selecting) in which the user selects one target from the one or more targets to be tracked as a tracking target to track; the cloud deck locking instruction is a control instruction generated by the server and used for enabling a cloud deck of the unmanned aerial vehicle to lock a tracking target selected by a user for shooting, namely tracking shooting; the unmanned aerial vehicle tracking option is an operation option displayed by the remote terminal and is used for being selected by a user so that the server generates a flight following instruction; the flight following instruction is a control instruction generated by the server and used for controlling the unmanned aerial vehicle to track the tracking target selected by the user to fly (namely, tracking flight).
Taking the remote control interface shown in fig. 5 as an example, the target selection operation is specifically that the user clicks any one of the selection boxes 222, 223, and 224, assuming that the user clicks the selection box 223, then the remote control interface shown in fig. 5 is further changed to the remote control interface shown in fig. 7, as shown in fig. 7, the selection box 221 and the selection box 224 disappear, only the selection box 223 is displayed, the prompt box 225 also disappears, then the "airplane tracking" option 226 is displayed, the "cradle head locking" option 221 is changed to the "exit cradle head locking" option 227, after the user clicks the "exit cradle head locking" option 227, the remote control interface shown in fig. 5 returns, and the user clicks the "airplane tracking" option 226, that is, the operation of the user selecting the option of tracking the unmanned aerial vehicle.
Optionally, in some embodiments, a situation that the tracking task needs to be terminated may occur during target tracking, so that a real-time target tracking method for a drone as shown in fig. 8 is further provided, and after step S240, steps S280 to 290 are further included:
s280, obtaining the exit tracking operation of the user based on the remote control interface, and displaying exit options based on the exit tracking operation.
And S290, generating and sending a returning air route instruction or an in-place hovering instruction according to the selection operation of the user based on the exit option, wherein the returning air route instruction is used for enabling the unmanned aerial vehicle to return to the original air route, and the in-place hovering instruction is used for enabling the unmanned aerial vehicle to stop tracking shooting and tracking flight.
Steps S280 to 290 are a process of canceling the target tracking for the user, in this embodiment, the remote control interface provides an option button for exiting the target tracking after step S240, the operation of exiting the target tracking is an operation of selecting the option by the user, and in order to clarify a next step of the command of the service end user on the unmanned aerial vehicle, after exiting the target tracking, the remote control interface further provides an exit option, the exit option includes a plurality of selecting sub-items, and different selecting sub-items are used for generating different control commands to control the unmanned aerial vehicle to perform different actions, for example, pop up three options: the method comprises the steps of returning to an original air route (an air route before target tracking), hovering in place and canceling, wherein an option of returning to the original air route is used for generating an instruction of returning to the air route so as to control the unmanned aerial vehicle to return to the original air route, an option of hovering in place is used for generating an instruction of hovering in place so as to control the unmanned aerial vehicle to stop tracking shooting and tracking flight, hovering in the current place, and a cancel option is used for canceling an exit option so as to control the unmanned aerial vehicle to continue target tracking.
In one specific example, as shown in fig. 9, the user is presented with a remote control interface after clicking on the "airplane tracking" option 226 in fig. 7, wherein the captured image is changed since the drone is performing target tracking, here to show only the captured tracking target, at which time the "airplane tracking" option 226 has disappeared and the "stop airplane tracking" option 228 has newly appeared, which is the option button for exiting target tracking.
More specifically, in some embodiments, step S200 (not shown) is further included after step S240:
s201, displaying a follow stopping option, and generating a follow stopping instruction based on the operation of selecting the follow stopping option by a user, wherein the follow stopping instruction is used for enabling the unmanned aerial vehicle to stop the tracking flight but keeping the tracking shooting.
The option button that the option was followed in the remote control interface display for the server side stops, and it is used for generating the instruction of following that stops after the user selection, stops to follow the control command that the instruction is used for controlling unmanned aerial vehicle, and after unmanned aerial vehicle received and stopped to follow the instruction, its cloud platform still kept locking the tracking target of user selection, but unmanned aerial vehicle no longer follows the flight.
Optionally, in some embodiments, a step S202 (not shown) for replacing the currently tracked target is further included after the step S240:
s202, acquiring target switching operation of a user based on the one or more targets to be tracked, and generating and sending a switching tracking instruction according to the target switching operation so that the unmanned aerial vehicle switches the targets according to the switching tracking instruction to track the targets.
Specifically, in this embodiment, an option button (hereinafter referred to as a target switching option) for switching the tracking target is further provided in the remote control interface, an operation of the user for changing the tracking target based on the target switching option is referred to as target switching operation, the target switching operation determines a new tracking target, the server generates a switching tracking instruction for controlling the unmanned aerial vehicle to change the tracking target according to the target switching operation, and after receiving the switching tracking instruction, the unmanned aerial vehicle performs target tracking on the new tracking target, including performing tracking shooting and tracking flight on the new tracking target.
The embodiment further provides a process of performing remote control under the condition that the remote terminal agrees to avoid accidents caused by temporary switching of the control right of the unmanned aerial vehicle, and also provides a process of performing tracking operation guidance on a remote control interface so as to prevent a user from using target tracking for the first time and not operating, and also provides a mode of quitting the target tracking to perform other flight tasks, and more tasks needing to be completed by remote control can be supported.
EXAMPLE III
Fig. 10 is a schematic structural diagram of a real-time target tracking apparatus 300 for an unmanned aerial vehicle according to a third embodiment of the present invention, and as shown in fig. 10, the apparatus 300 includes:
a control switching module 310, configured to display a remote control interface according to a control switching operation of a user;
a target display module 320, configured to obtain a pan-tilt locking operation of a user based on the remote control interface, so as to display one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation;
the target tracking module 330 is configured to obtain a target tracking operation of a user based on the one or more targets to be tracked, generate a target tracking instruction according to the target tracking operation, and send the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction.
Optionally, in some embodiments, the switching to display the remote control interface according to the control of the user includes:
sending a control switching instruction to a remote terminal for controlling the unmanned aerial vehicle according to the control switching operation of the user;
acquiring switching receiving information returned by the remote terminal according to the control switching instruction, displaying the remote control interface according to the switching receiving information and acquiring the control right of the unmanned aerial vehicle;
after the remote control interface is displayed according to the control switching operation of the user, the method further comprises the following steps:
and exiting the remote control interface according to the control returning operation of the user, and sending a control returning instruction to the remote terminal so that the remote terminal recovers the unmanned aerial vehicle control right.
Optionally, in some embodiments, after displaying one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation, the method further includes:
judging whether the user does not perform target tracking for the first time;
and if so, displaying tracking guide information on the remote control interface.
Optionally, in some embodiments, the obtaining a target tracking operation of the user based on the one or more targets to be tracked to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, includes:
generating a cradle head locking instruction according to target selection operation of a user based on the one or more targets to be tracked, displaying tracking options of the unmanned aerial vehicle, and sending the cradle head locking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks the corresponding target to be tracked according to the cradle head locking instruction to perform tracking shooting;
generating a flight following instruction according to the operation of the unmanned aerial vehicle tracking option selected by a user, and sending the flight following instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks a corresponding target to be tracked according to the flight following instruction to perform tracking flight.
Optionally, in some embodiments, after the target tracking operation of the obtaining user based on the one or more targets to be tracked, the method further includes:
obtaining the exit tracking operation of a user based on the remote control interface, and displaying exit options based on the exit tracking operation;
and generating and sending a return route instruction or an in-place hovering instruction according to the selection operation of the user based on the exit option, wherein the return route instruction is used for enabling the unmanned aerial vehicle to return to the original route, and the in-place hovering instruction is used for enabling the unmanned aerial vehicle to stop tracking shooting and tracking flight.
Optionally, in some embodiments, after generating the flight following instruction according to the operation of the user selecting the drone tracking option, the method further includes:
and displaying a stop following option, and generating a stop following instruction based on the operation of selecting the stop following option by the user, wherein the stop following instruction is used for enabling the unmanned aerial vehicle to stop the tracking flight and keep the tracking shooting.
Optionally, in some embodiments, after the obtaining a target tracking operation of the user based on the one or more targets to be tracked to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, the method further includes:
and acquiring target switching operation of a user based on the one or more targets to be tracked, and generating and sending a switching tracking instruction according to the target switching operation so that the unmanned aerial vehicle switches the target according to the switching tracking instruction to track the target.
The embodiment provides an unmanned aerial vehicle real-time target tracking device, when remote tracking is required to be performed through a server, a remote control picture is displayed according to control switching operation of a user, cradle head locking operation of the user is acquired based on a remote control interface, one or more targets to be tracked are further displayed on the remote control interface according to the cradle head locking operation, target tracking operation of the user based on the one or more targets to be tracked is acquired, a target tracking instruction is generated and sent to an unmanned aerial vehicle to control the unmanned aerial vehicle to perform remote target tracking, the method solves the problem that the unmanned aerial vehicle cannot be controlled in real time at the remote server to track suspicious targets, control right can be switched to the server when remote control is required, the server controls the targets to be tracked to perform remote tracking, and remote control and on-site control switching as well as route task and tracking task switching under remote control are realized, is suitable for richer scenes.
Example four
Fig. 11 is a schematic structural diagram of an electronic device 400 capable of implementing a real-time target tracking method for a drone according to a fourth embodiment of the present invention, as shown in fig. 11, the device includes a memory 410 and a processor 420, where the number of the processors 420 in the device may be one or more, and fig. 11 illustrates one processor 420 as an example; the memory 410 and the processor 420 in the device may be connected by a bus or other means, and fig. 11 illustrates the connection by a bus as an example.
The memory 410 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the real-time target tracking method for the drone according to the embodiment of the present invention (for example, the control switching module 310, the target display module 320, and the target tracking module 330 in the real-time target tracking device for the drone). The processor 420 executes various functional applications and data processing of the two-dimensional code-based page guidance second page guidance module by running the software programs, instructions and modules stored in the memory 410, so as to implement the real-time target tracking method for the unmanned aerial vehicle.
Wherein the processor 420 is configured to run the computer executable program stored in the memory 410 to implement the following steps: step S110, displaying a remote control interface according to control switching operation of a user; step S120, acquiring a cradle head locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the cradle head locking operation; step S130, acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
Of course, the real-time target tracking device for the unmanned aerial vehicle provided in the embodiment of the present invention is not limited to the above method operations, and may also perform related operations in the real-time target tracking method for the unmanned aerial vehicle provided in any embodiment of the present invention.
The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 410 may further include memory located remotely from processor 420, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE five
An embodiment of the present invention further provides a storage medium including computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a real-time target tracking method for an unmanned aerial vehicle, where the real-time target tracking method for an unmanned aerial vehicle includes:
switching operation according to the control of a user to display a remote control interface;
acquiring a holder locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the holder locking operation;
and acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the real-time target tracking method for a drone provided by any embodiment of the present invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling an electronic device (which may be a personal computer, a device, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the authorization system, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A real-time target tracking method for an unmanned aerial vehicle is characterized by comprising the following steps:
switching operation according to the control of a user to display a remote control interface;
acquiring a holder locking operation of a user based on the remote control interface, and displaying one or more targets to be tracked on the remote control interface according to the holder locking operation;
and acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation, and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
2. The real-time target tracking method for unmanned aerial vehicles according to claim 1, wherein the displaying of the remote control interface according to the control switching operation of the user comprises:
sending a control switching instruction to a remote terminal for controlling the unmanned aerial vehicle according to the control switching operation of the user;
acquiring switching receiving information returned by the remote terminal according to the control switching instruction, displaying the remote control interface according to the switching receiving information and acquiring the control right of the unmanned aerial vehicle;
after the remote control interface is displayed according to the control switching operation of the user, the method further comprises the following steps:
and exiting the remote control interface according to the control returning operation of the user, and sending a control returning instruction to the remote terminal so that the remote terminal recovers the unmanned aerial vehicle control right.
3. The real-time target tracking method for unmanned aerial vehicles according to claim 1, wherein after displaying one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation, the method further comprises:
judging whether the user does not perform target tracking for the first time;
and if so, displaying tracking guide information on the remote control interface.
4. The real-time target tracking method for the unmanned aerial vehicle according to claim 1, wherein the obtaining user performs target tracking operation based on the one or more targets to be tracked to generate a target tracking command according to the target tracking operation and send the target tracking command to the unmanned aerial vehicle so that the unmanned aerial vehicle performs target tracking according to the target tracking command, and the method comprises:
generating a cradle head locking instruction according to target selection operation of a user based on the one or more targets to be tracked, displaying tracking options of the unmanned aerial vehicle, and sending the cradle head locking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks the corresponding target to be tracked according to the cradle head locking instruction to perform tracking shooting;
generating a flight following instruction according to the operation of the unmanned aerial vehicle tracking option selected by a user, and sending the flight following instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle locks a corresponding target to be tracked according to the flight following instruction to perform tracking flight.
5. The real-time target tracking method for unmanned aerial vehicle of claim 4, wherein after the target tracking operation of the user based on the one or more targets to be tracked, the method further comprises:
obtaining the exit tracking operation of a user based on the remote control interface, and displaying exit options based on the exit tracking operation;
and generating and sending a return route instruction or an in-place hovering instruction according to the selection operation of the user based on the exit option, wherein the return route instruction is used for enabling the unmanned aerial vehicle to return to the original route, and the in-place hovering instruction is used for enabling the unmanned aerial vehicle to stop tracking shooting and tracking flight.
6. The real-time target tracking method for unmanned aerial vehicles according to claim 4, wherein after generating the flight following command according to the operation of the user selecting the unmanned aerial vehicle tracking option, the method further comprises:
and displaying a stop following option, and generating a stop following instruction based on the operation of selecting the stop following option by the user, wherein the stop following instruction is used for enabling the unmanned aerial vehicle to stop the tracking flight and keep the tracking shooting.
7. The real-time target tracking method for the unmanned aerial vehicle according to claim 1, wherein after the obtaining user performs target tracking operation based on the one or more targets to be tracked to generate a target tracking command according to the target tracking operation and send the target tracking command to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs target tracking according to the target tracking command, the method further comprises:
and acquiring target switching operation of a user based on the one or more targets to be tracked, and generating and sending a switching tracking instruction according to the target switching operation so that the unmanned aerial vehicle switches the target according to the switching tracking instruction to track the target.
8. The utility model provides a real-time target tracking device of unmanned aerial vehicle which characterized in that includes:
the control switching module is used for displaying a remote control interface according to the control switching operation of a user;
the target display module is used for acquiring the holder locking operation of a user based on the remote control interface so as to display one or more targets to be tracked on the remote control interface according to the holder locking operation;
and the target tracking module is used for acquiring target tracking operation of a user based on the one or more targets to be tracked, generating a target tracking instruction according to the target tracking operation and sending the target tracking instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can track the target according to the target tracking instruction.
9. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the real-time target tracking method for drones according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program comprising program instructions that, when executed, implement the drone real-time target tracking method of any one of claims 1-7.
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| CN202111128400.7A CN113917942A (en) | 2021-09-26 | 2021-09-26 | Unmanned aerial vehicle real-time target tracking method, device, equipment and storage medium |
| PCT/CN2022/121358 WO2023046174A1 (en) | 2021-09-26 | 2022-09-26 | Unmanned aerial vehicle real-time target tracking method and apparatus, device and storage medium |
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