CN110580053A - Target tracking method, aircraft and flight system - Google Patents
Target tracking method, aircraft and flight system Download PDFInfo
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- CN110580053A CN110580053A CN201910745366.4A CN201910745366A CN110580053A CN 110580053 A CN110580053 A CN 110580053A CN 201910745366 A CN201910745366 A CN 201910745366A CN 110580053 A CN110580053 A CN 110580053A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
the invention discloses a target tracking method, an aircraft and a flight system, wherein the target tracking method is applied to the aircraft, the aircraft is provided with a camera device, and the method comprises the following steps: acquiring first media data of a target object, wherein the first media data is acquired by shooting of the camera device; generating category information of the target object according to the first media data; sending the category information to terminal equipment in communication connection with the aircraft, so that the terminal equipment generates corresponding prompt information according to the category information; acquiring a response instruction for responding to the prompt message; and identifying an object to be tracked from the target object according to the response instruction, and tracking the object to be tracked.
Description
Technical Field
the invention relates to the technical field of aircraft control, in particular to a target tracking method, an aircraft and a flight system.
background
With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied to the fields of military reconnaissance, disaster area rescue, address exploration and the like, and in the application field, how to realize the target tracking of the unmanned aerial vehicle becomes a research hotspot of the unmanned aerial vehicle technology.
Disclosure of Invention
The invention mainly aims to provide a target tracking method, an aircraft and a flight system, and aims to accurately track a target of the aircraft.
in order to achieve the above object, the present invention provides a target tracking method applied to an aircraft, the aircraft being provided with a camera device, the method comprising:
Acquiring first media data of a target object, wherein the first media data is acquired by shooting of the camera device;
Generating category information of the target object according to the first media data; sending the category information to terminal equipment in communication connection with the aircraft, so that the terminal equipment generates corresponding prompt information according to the category information;
Acquiring a response instruction for responding to the prompt message;
And identifying an object to be tracked from the target object according to the response instruction, and tracking the object to be tracked.
Preferably, the acquiring the first media data of the target object includes:
acquiring a shooting instruction, wherein the shooting instruction is an instruction generated by the aircraft for identifying the limb characteristics of a user according to the limb characteristics;
and controlling the camera device to acquire the first media data of the target object according to the shooting instruction.
Preferably, the acquiring the first media data of the target object includes:
acquiring a shooting instruction, wherein the shooting instruction is an instruction sent by a user for controlling the terminal equipment;
And controlling the camera device to acquire the first media data of the target object according to the shooting instruction.
Preferably, if the first media data is video data, the generating the category information of the target object according to the first media data includes:
acquiring target object image data according to the video data;
Acquiring target object characteristics according to the target object image data;
and acquiring the corresponding category information according to the target object characteristics.
preferably, if the first media data is image data of a target object, and the first media data is image data, the generating the category information of the target object according to the media data includes:
acquiring target object characteristics according to the target object image data;
And acquiring the corresponding category information according to the target object characteristics.
Preferably, the prompt message is at least one of the following messages:
Voice prompt information, image prompt information and text prompt information.
preferably, the obtaining of the response instruction responding to the prompt message includes:
and acquiring the response instruction sent by the user for controlling the terminal equipment according to the prompt information.
Preferably, the obtaining of the response instruction responding to the prompt message includes:
acquiring the limb characteristics of the user responding to the prompt information;
and generating the corresponding response instruction according to the limb characteristics.
Preferably, the acquiring the limb characteristics of the user responding to the prompt information includes:
acquiring second media data of the user, wherein the second media data comprises video data or image data of the user;
And acquiring the limb characteristics of the user according to the second media data.
The invention also provides an aircraft, which comprises an aircraft body, an arm connected with the aircraft body, a power device arranged on the arm, a camera device connected with the aircraft body and a vision chip arranged on the aircraft body, wherein the vision chip comprises:
A memory and a processor;
the camera device is electrically connected with the processor;
the memory is used for storing a target tracking program executable by a computer;
the processor is used for calling the target tracking program executable by the computer to realize the target tracking method.
the invention also provides a flight system, which comprises an aircraft and terminal equipment in communication connection with the aircraft, wherein the aircraft comprises a fuselage, a horn connected with the fuselage, a power device arranged on the horn, a camera device connected with the fuselage and a vision chip arranged on the fuselage, and the vision chip comprises:
A memory and a processor;
the memory is used for storing a target tracking program executable by a computer;
The processor is used for calling the target tracking program executable by the computer to realize the target tracking method.
Compared with the prior art, the target tracking method provided by the invention obtains the first media data of the target object through the camera device, and identifies the corresponding target object through the first media data to generate category information of the corresponding target object, and transmits the category information to the terminal device, so that the terminal equipment generates corresponding prompt information according to the category information, the user can select an object to be tracked from corresponding target objects according to the prompt information, and sends a response instruction of corresponding prompt information to the aircraft through the body language or the control terminal equipment, so that the aircraft can identify a corresponding object to be tracked from the target object according to the received response instruction to track the object to be tracked, by acquiring the image of the target to be tracked, the user can confirm the tracked target, so that the target tracking accuracy is improved.
Drawings
fig. 1 is a schematic structural diagram of an application scenario of a flight control system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a target tracking method according to an embodiment of the present invention;
FIG. 3A is a flowchart illustrating one embodiment of step S10 of FIG. 2;
FIG. 3B is a schematic view of a scene in which an aircraft acquires a user image or video;
FIG. 3C is a flowchart of the aircraft extracting user limb features from the environmental image;
FIG. 3D is a flowchart illustrating one embodiment of step S10 of FIG. 2;
FIG. 4 is a schematic diagram of a scenario in which a user controls an aircraft to perform target object tracking by changing a body language;
Fig. 5 is a block diagram and schematic structural diagram of an aircraft according to an embodiment of the present invention.
Detailed Description
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is 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 at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a target tracking method, an aircraft and a flight system, wherein the target tracking method is applied to the aircraft, the aircraft is provided with a camera device, and the method comprises the following steps: acquiring first media data of a target object, wherein the first media data is acquired by shooting of the camera device; generating category information of the target object according to the first media data; sending the category information to terminal equipment in communication connection with the aircraft, so that the terminal equipment generates corresponding prompt information according to the category information; acquiring a response instruction for responding to the prompt message; and identifying an object to be tracked from the target object according to the response instruction so as to track the object to be tracked.
that is, the target tracking method provided by the present invention obtains the first media data of the target object through the camera device, identifies the corresponding target object through the first media data to generate the category information of the corresponding target object, and sends the category information to the terminal device, so that the terminal device generates the corresponding prompt information according to the category information, the user can select the object to be tracked from the corresponding target object according to the prompt information, and sends the response instruction of the corresponding prompt information to the aircraft through the body language or the control terminal device, so that the aircraft can identify the corresponding object to be tracked from the target object according to the received response instruction to track the object to be tracked, the target tracking method provided by the present invention obtains the first media data of the target object through the camera device, and identifies the corresponding target object through the first media data to generate the category information of the corresponding target object, and sending the category information to the terminal equipment so that the terminal equipment generates corresponding prompt information according to the category information, and the user can select an object to be tracked from corresponding target objects according to the prompt information and send a response instruction of the corresponding prompt information to the aircraft through the body language or the control of the terminal equipment, so that the aircraft can identify the corresponding object to be tracked from the target objects according to the received response instruction so as to track the object to be tracked.
referring to fig. 1, fig. 1 shows a flight system 100 according to the present invention, where the flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected to the aircraft 10, where the terminal device 20 is used to control the aircraft 10, and the terminal device 20 may be a remote control device, a smart phone, a tablet computer, or a laptop computer.
The aircraft 10 may be a rotary wing aircraft, such as a quad-rotor aircraft, a hexa-rotor aircraft, or may be a fixed wing aircraft.
the aircraft 10 comprises a fuselage 101, a horn 102 connected to the fuselage 101, a power plant 103 arranged at the horn 102, and a control system (not shown) arranged at the fuselage 101. The power plant 103 is used to provide thrust, lift, etc. for the flight of the aircraft 10, and the control system is the central nerve of the aircraft 10 and may include a plurality of functional units, such as flight control systems, tracking systems, path planning systems, and other systems with specific functions. The tracking system is used for obtaining the position and the tracking distance of the target to be tracked, namely the distance between the aircraft 10 and the target to be tracked. The flight control system comprises various sensors, such as a gyroscope, an accelerometer and the like, and is used for controlling the flight attitude of the unmanned aerial vehicle and the like. The path planning system is used for planning the flight path of the unmanned aerial vehicle based on the position of the tracking target and indicating the flight control system to control the flight attitude of the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to the designated path. The tracking system comprises a camera device 104 connected with the body 101 and a vision chip arranged on the body 101, wherein the camera device 104 is electrically connected with the vision chip, the camera device 104 is used for shooting and acquiring media data such as images or videos of a target to be tracked, and the vision chip is used for identifying the target to be tracked from the media data so as to generate a corresponding tracking control instruction. The camera device 104 may be a high-definition digital camera or other camera device, and the camera device 104 may be disposed at any suitable position that facilitates shooting, and in some embodiments, the camera device 104 is mounted at the bottom of the body 101 through a cradle head. In some embodiments, the vision chip may also be disposed on the horn 102.
the vision chip can frame and track the target by using the target according to the characteristics of the target. In some application scenarios of the aircraft 10, a terminal device 20 is also included, and the target box may be transmitted to the aircraft 10 via the terminal device 20. Specifically, the terminal device 20 may display a picture taken by the aircraft 10, and a user selects a target to be tracked in the picture to obtain an initial target frame, and then uploads the initial target frame to the aircraft 10.
the terminal device 20 is, for example, a smart phone, a tablet computer, a remote controller, or the like. A user may interact with terminal device 20 through one or more user interaction devices of any suitable type, such as a mouse, buttons, touch screen, etc. The aircraft 10 and the terminal device 20 may establish a communication connection, upload or issue data/commands through wireless communication modules, such as signal receivers, signal transmitters, and the like, respectively arranged inside the aircraft and the terminal device. In other embodiments, the initial target box may also be stored in advance in a memory device or vision chip of the aircraft 10.
referring to fig. 2, fig. 2 is a diagram of a target tracking method applied to an aircraft 10 and executed by a vision chip of the aircraft 10, the method including:
Step S10: acquiring first media data of a target object, wherein the first media data is acquired by shooting of the camera device.
referring to fig. 3A, in some embodiments, step S10 includes:
step S101 a: acquiring a shooting instruction, wherein the shooting instruction is an instruction generated by the aircraft for identifying the limb characteristics of a user according to the limb characteristics;
step S102 a: and controlling the camera device to acquire first media data of the target object according to the shooting instruction.
Wherein, the aircraft discerns the limbs characteristic of user includes:
Acquiring a user image;
Identifying a feature of the user image;
identifying and acquiring a characteristic region of the user image according to the characteristic part;
And identifying the limb characteristics of the user according to a preset characteristic image database and the characteristic area.
referring to fig. 3B-3C, for example, different body languages of the user preset in the aircraft 10 may control the aircraft 10 to perform different actions, where the different body languages correspondingly have different body characteristics, and the body language that the user needs to express through the body characteristics is identified by identifying the body characteristics of the user.
taking the arm C as an example, the aircraft 10 acquires an environment image of the user through the camera device 104, identifies the area a of the user image from the environment image, identifies the feature C of the user from the area a of the user image, and determines the feature image area B in the environment image a from the feature C of the user.
Comparing the characteristic image area B with a preset characteristic image database to obtain a characteristic image D from the preset characteristic image database, and obtaining corresponding limb characteristics according to the characteristic image D and the association relationship between the preset characteristic image and the limb characteristics, as shown in fig. 3B, the limb characteristics of the user in the environment image obtained by the aircraft 10 are the included angle θ formed by the lifting of the two arms C and the horizontal plane.
And generating a shooting instruction corresponding to the limb characteristics according to the identified limb characteristics and the preset relation, and acquiring media data of the target object according to the shooting instruction, wherein the media data can be video data or image data.
Referring to fig. 3D, in some embodiments, step S10 includes:
step S101 b: acquiring a shooting instruction, wherein the shooting instruction is an instruction sent by a user for controlling the terminal equipment;
Step S102 b: and controlling the camera device to acquire first media data of the target object according to the shooting instruction.
Illustratively, the user operates the terminal device 20 to enable the terminal device 20 to send a shooting instruction to the aircraft 10, where the way that the user operates the terminal device 20 may be through voice control, or may be through triggering a key provided on the terminal device 20, where the key may be a physical key or a virtual key generated by installing an APP, and is not limited herein.
step S11: and generating the category information of the target object according to the first media data.
And generating category information corresponding to the target object according to the first media data and the corresponding preset association relationship, wherein the association relationship is the association relationship between the first media data and the category information of the target object.
In some embodiments, the generating the category information of the target object according to the first media data includes:
acquiring target object image data according to the video data;
Acquiring target object characteristics according to the target object image data;
and acquiring the corresponding category information according to the target object characteristics.
In some embodiments, the generating the category information of the target object according to the media data includes:
Acquiring target object characteristics according to the target object image data;
and acquiring the corresponding category information according to the target object characteristics.
For example, if there are multiple target objects in the target image acquired by the aircraft 10, for example, multiple target objects such as people, cars, animals, etc. in the target image. According to the different target object characteristics corresponding to each target object, the target object in the target image can be identified through the corresponding target object characteristics, and the category information corresponding to the target object is obtained according to the target object.
Step S12: and sending the category information to terminal equipment in communication connection with the aircraft, so that the terminal equipment generates corresponding prompt information according to the category information.
The aircraft 10 sends category information to the terminal device 20 in communication connection with the aircraft 10, so that the terminal device 20 generates prompt information corresponding to the prompt instruction according to the category information, and a user can select an object to be tracked according to the prompt information to perform target tracking, wherein the prompt information is at least one of the following information: voice prompt information, image prompt information and text prompt information.
for example, when the target image includes a person, a car, an animal, and other target objects, the terminal device 20 plays the voice of the person, the car, and the animal included in the target image, or distinguishes different target objects by using different color block diagrams, or distinguishes different target objects by using different text labels, and the user can select an object to be tracked according to the need.
meanwhile, if the target image comprises a plurality of vehicles, a plurality of persons or a plurality of animals, vehicle characteristics of different vehicles, such as license plates, can be identified; the method can accurately identify a certain vehicle, a certain person or a certain animal by identifying the facial features of different people or by identifying the body type features of different animals and the like.
Step S13: and acquiring a response instruction for responding to the prompt message.
The aircraft 10 obtains a response instruction corresponding to the prompt message, and the response instruction can be sent by the user control terminal device 20 or formed by the user by changing the body language.
In some embodiments, the obtaining of the response instruction responding to the prompt message includes:
And acquiring a response instruction sent by the user for controlling the terminal equipment according to the prompt information.
For example, when the user determines that the target object to be tracked is a car, the user may send a response instruction for tracking the car corresponding to the operation terminal device 20.
when the user determines that the target object to be tracked is a person, the user may send a response instruction for tracking the person corresponding to the operation terminal device 20.
When the user determines that the target object to be tracked is an animal, the user may send a response instruction for tracking the animal corresponding to the operation terminal device 20.
in some embodiments, the obtaining of the response instruction responding to the prompt message includes:
acquiring the limb characteristics of the user responding to the prompt information;
and generating a corresponding response instruction according to the limb characteristics.
Wherein the obtaining of the limb characteristics of the user responding to the prompt information includes:
acquiring second media data of a user, wherein the second media data may be the user image data or the video data of the user.
And acquiring the limb characteristics of the user according to the second media data. The aircraft 10 acquires second media data of the user, which may be user image data or video data of the user, through the camera 104. And recognizing the body language characteristics of the user in the second media data through an image recognition technology according to the second media data, and generating a corresponding response instruction according to the body characteristics and a preset relationship, wherein the preset relationship is the corresponding relationship between the body characteristics and the response instruction.
for example, presetting different limb characteristics of the user may control the aircraft 10 to track different target objects. For example, the double arms C are lifted and form an included angle theta with the horizontal plane, and the aircraft 10 is correspondingly controlled to track the vehicle when the included angle theta is more than or equal to 90 degrees and more than or equal to 60 degrees; the single arm C lifts and forms an included angle theta with the horizontal plane, and the angle theta is more than or equal to 90 degrees and more than or equal to 60 degrees, so that the aircraft 10 is correspondingly controlled to track people; the single arm C is raised at an angle theta to the horizontal, wherein theta less than 60 deg. corresponds to controlling the aircraft 10 to track the animal.
after confirming the target object to be tracked, the user can control the aircraft 20 to execute corresponding operations by changing the body language and recognizing the body language.
as shown in fig. 4, the user changes the body language to be that the arm C is lifted by one hand and forms an included angle θ with the horizontal plane, the included angle θ is greater than or equal to 90 ° and greater than or equal to 60 °, and the body feature correspondence enables the aircraft 10 to track the corresponding person in the target object.
Step S14: and identifying an object to be tracked from the target object according to the response instruction, and tracking the object to be tracked.
referring to fig. 5, in some embodiments, the vision chip of the aircraft 10 further includes a memory 105 and a processor 106, and the memory 105 is electrically connected to the processor 106.
the memory 105 includes at least one type of readable storage medium, which includes flash memory, hard disk, multi-media card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 105 may be an internal storage unit of the aircraft 10 in some embodiments, such as a hard disk of the aircraft 10. The memory 105 may also be an external storage device of the aircraft 10 in other embodiments, such as a plug-in hard drive provided on the aircraft 10, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so forth. The memory 105 can be used not only to store application software installed in the aircraft 10 and various types of data, such as code of a computer-readable object tracking program, etc., but also to temporarily store data that has been output or is to be output.
The processor 106 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and the processor 106 may call the program codes stored in the memory 105 or process data to execute the aforementioned target tracking method.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. a target tracking method is applied to an aircraft, and the aircraft is provided with a camera device, and is characterized by comprising the following steps:
acquiring first media data of a target object, wherein the first media data is acquired by shooting of the camera device;
generating category information of the target object according to the first media data;
Sending the category information to terminal equipment in communication connection with the aircraft, so that the terminal equipment generates corresponding prompt information according to the category information;
Acquiring a response instruction for responding to the prompt message;
And identifying an object to be tracked from the target object according to the response instruction, and tracking the object to be tracked.
2. The method of claim 1, wherein said obtaining the first media data of the target object comprises:
acquiring a shooting instruction, wherein the shooting instruction is an instruction generated by the aircraft for identifying the limb characteristics of a user according to the limb characteristics;
and controlling the camera device to acquire the first media data of the target object according to the shooting instruction.
3. The method of claim 1, wherein said obtaining first media data for the target object comprises:
acquiring a shooting instruction, wherein the shooting instruction is an instruction sent by a user for controlling the terminal equipment;
and controlling the camera device to acquire the first media data of the target object according to the shooting instruction.
4. The method of claim 1, wherein the generating the category information of the target object according to the first media data comprises:
Acquiring target object image data according to the video data;
acquiring target object characteristics according to the target object image data;
And acquiring the corresponding category information according to the target object characteristics.
5. the method of claim 1, wherein the first media data is target object image data, and the first media data is image data, and the generating the category information of the target object according to the media data comprises:
acquiring target object characteristics according to the target object image data;
And acquiring the corresponding category information according to the target object characteristics.
6. the method of claim 1, wherein: the prompt message is at least one of the following messages:
Voice prompt information, image prompt information and text prompt information.
7. The method of claim 6, wherein said obtaining the response instruction in response to the prompt message comprises:
And acquiring the response instruction sent by the user for controlling the terminal equipment according to the prompt information.
8. the method of claim 6, wherein said obtaining the response instruction in response to the prompt message comprises:
acquiring the limb characteristics of the user responding to the prompt information;
And generating the corresponding response instruction according to the limb characteristics.
9. the method of claim 8, wherein said obtaining the limb characteristic of the user in response to the prompt comprises:
acquiring second media data of the user, wherein the second media data comprises video data or image data of the user;
and acquiring the limb characteristics of the user according to the second media data.
10. The utility model provides an aircraft, aircraft include the fuselage, with the horn that the fuselage links to each other, locate the power device of horn, with camera device that the fuselage links to each other and locate the vision chip of fuselage, its characterized in that, the vision chip includes:
A memory and a processor;
the camera device is electrically connected with the processor;
The memory is used for storing a target tracking program executable by a computer;
the processor is used for calling the computer-executable object tracking program to realize the object tracking method according to any one of claims 1-9.
11. The utility model provides a flight system, flight system include the aircraft and with aircraft communication connection's terminal equipment, the aircraft include the fuselage, with the horn that the fuselage links to each other, locate the power device of horn, with camera device that the fuselage links to each other and locate the vision chip of fuselage, its characterized in that, the vision chip includes:
a memory and a processor;
the memory is used for storing a target tracking program executable by a computer;
the processor is used for calling the computer-executable object tracking program to realize the object tracking method according to any one of claims 1-9.
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| CN113989694A (en) * | 2021-09-18 | 2022-01-28 | 北京远度互联科技有限公司 | Target tracking method and device, electronic equipment and storage medium |
| CN114187666A (en) * | 2021-12-23 | 2022-03-15 | 中海油信息科技有限公司 | Identification method and system for watching mobile phone while walking |
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Address after: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant before: AUTEL ROBOTICS Co.,Ltd. |
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Application publication date: 20191217 |