CN111383243A

CN111383243A - Method, device, equipment and storage medium for tracking target object

Info

Publication number: CN111383243A
Application number: CN201811623119.9A
Authority: CN
Inventors: 程亚峰; 郑阳
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikmicro Sensing Technology Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-07-07
Anticipated expiration: 2038-12-28
Also published as: WO2020135084A1; CN111383243B

Abstract

The invention provides a method, a device, equipment and a storage medium for tracking a target object, and relates to the field of communication. The method comprises the following steps: the method comprises the steps that when a target object is detected by first monitoring equipment, first position information of the target object is obtained; when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the target object cannot be accurately tracked in the designated area by the second tracking device under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

Description

Method, device, equipment and storage medium for tracking target object

Technical Field

The present invention relates to the field of communications, and in particular, to a method, an apparatus, a device, and a storage medium for tracking a target object.

Background

In recent years, with the development of scientific technology, intelligent tracking technology is receiving more and more attention from people in the communication field, and is applied in a wide range of scenes, such as large exhibition halls, meeting halls, high-grade residence in cells and dangerous traffic road sections. The gun and ball linkage tracking technology is an advanced intelligent tracking technology, and the technology takes a gun camera as a launching point, intelligently analyzes a target object in a monitoring area, sends position information of the target object to be monitored to a ball machine, and instructs the ball machine to track and monitor the target object.

In a system of controlling one or more ball machines by a rifle bolt, when a target object is monitored by the rifle bolt in a monitoring area, first coordinate information of the target object in the rifle bolt is acquired, the first coordinate information is converted into second coordinate information of the target object in the ball machine, and a tracking instruction is sent to the ball machine, wherein the tracking instruction carries the second coordinate information of the target object. And the ball machine receives the tracking instruction and tracks the target object according to the second coordinate information of the target object.

In the method, the target object is always tracked by the gun-controlled dome camera, however, in some areas of the monitored area, the second coordinate information of the target object obtained by converting the gun camera is distorted, so that the target object cannot be tracked by the dome camera according to the second coordinate information, and the tracking accuracy is low.

Disclosure of Invention

The invention provides a method, a device, equipment and a storage medium for tracking a target object, which can improve the tracking accuracy.

According to a first aspect of embodiments of the present invention, there is provided a method of tracking a target object, including:

the method comprises the steps that when a target object is detected by first monitoring equipment, first position information of the target object is obtained;

when the first monitoring device determines that the target object is in a designated area of a second tracking device to be controlled based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device;

when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object;

the geographic positions of the first monitoring device and the first tracking device are the same, and the geographic positions of the first monitoring device and the second tracking device are different.

In one possible implementation manner, when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device includes:

when the first monitoring device determines that the target object is not in the designated area and is located in the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information, the second tracking device and the first tracking device are controlled to track the target object.

In another possible implementation manner, the controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first position information includes:

when the first monitoring device determines that the target object is not in the designated area and the target object is only in the monitoring area of the first tracking device based on the first position information;

the first monitoring device controls the first tracking device to enable the first tracking device to track the target object.

when the first monitoring device determines that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information;

and the first monitoring equipment controls the second tracking equipment so that the second tracking equipment tracks the target object.

In another possible implementation manner, the method further includes:

when the first monitoring device determines that the target object is located in a monitoring area of second monitoring device based on the first position information, the first monitoring device gives the control authority of the second tracking device to the second monitoring device, and the second monitoring device controls the second tracking device so that the second tracking device tracks the target object;

wherein the second monitoring device is geographically co-located with the second tracking device.

In another possible implementation manner, before the first monitoring device controls the first tracking device, the method further includes:

the first monitoring equipment sends a first control request to the first tracking equipment, wherein the first control request carries an equipment identifier of the first monitoring equipment;

when the first monitoring device receives a first confirmation response corresponding to the first control request returned by the first tracking device according to the device identifier, the first monitoring device determines to obtain the authority for controlling the first tracking device according to the first confirmation response.

In another possible implementation manner, when the first monitoring device detects a target object, acquiring first position information of the target object, including:

when the first monitoring device detects the target object, acquiring coordinate information of the target object in a coordinate system of the first monitoring device to obtain first coordinate information;

and the first monitoring equipment takes the first coordinate information as the first position information.

In another possible implementation manner, after the first monitoring device obtains the first position information of the target object, the method further includes:

the first monitoring device determines a coordinate value of the target object in a horizontal direction in a coordinate system of the first monitoring device from the first coordinate information to obtain a first coordinate value;

when the first coordinate value is greater than a first coordinate threshold value and smaller than a second coordinate threshold value, the first monitoring device determines that the target object is located in the designated area, the first coordinate threshold value is the minimum coordinate value of a distortion area of the second tracking device in the horizontal direction, and the second coordinate threshold value is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;

when the first coordinate value is not larger than the first coordinate threshold value or not smaller than the second coordinate threshold value, the first monitoring device determines that the target object is not located in the designated area.

when the first coordinate value is larger than a third coordinate threshold and smaller than a fourth coordinate threshold, the first monitoring device determines that the target object is located in the designated area, the third coordinate threshold is the minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the fourth coordinate threshold is the minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;

when the first coordinate value is not greater than the third coordinate threshold value or not less than the fourth coordinate threshold value, the first monitoring device determines that the target object is not located in the designated area.

In another possible implementation manner, the determining, by the first monitoring device, that the target object is in the designated area, and canceling the control of the second tracking device includes:

the first monitoring equipment determines the moving track of the target object;

when the moving track indicates that the target object moves from the monitoring area of the second monitoring device to the monitoring area of the first monitoring device, canceling the control of the second tracking device when the first monitoring device determines that the target object is in the designated area.

In another possible implementation manner, the controlling, by the first monitoring device, the first tracking device so that the first tracking device tracks the target object includes:

the first monitoring equipment converts the first position information into second position information, wherein the first position information is the position information of the target object in the first monitoring equipment, and the second position information is the position information of the target object in the first tracking equipment;

and the first monitoring equipment sends a first tracking instruction to the first tracking equipment, the first tracking instruction carries the second position information, and the first tracking equipment tracks the target object based on the second position information.

In another possible implementation manner, the controlling, by the first monitoring device, the second tracking device so that the second tracking device tracks the target object includes:

the first monitoring device converts the first position information into third position information, wherein the first position information is the position information of the target object in the first monitoring device, and the third position information is the position information of the target object in the second tracking device;

and the first monitoring equipment sends a second tracking instruction to the second tracking equipment, the second tracking instruction carries the third position information, and the second tracking equipment tracks the target object based on the third position information.

According to a second aspect of the embodiments of the present invention, there is provided another method for tracking a target object, including:

when a tracked target object is in a designated area of second tracking equipment, the second tracking equipment automatically tracks the target object;

when the target object is not in the designated area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device;

the first monitoring device and the second tracking device have different geographic positions, and the second monitoring device and the second tracking device have the same geographic position.

In another possible implementation manner, the tracking, by the second tracking device, the target object based on the control of the first monitoring device or the second monitoring device includes:

and when the target object is in the monitoring area of the first monitoring device, the second tracking device tracks the target object based on the control of the first monitoring device.

and when the target object is in the monitoring area of the second monitoring device, the second tracking device tracks the target object based on the control of the second monitoring device.

In another possible implementation manner, before the second tracking device tracks the target object based on the control of the second monitoring device, the method further includes:

the second tracking device receives a second control request sent by the second monitoring device, wherein the second control request carries a device identifier of the second monitoring device;

and when the second monitoring device has the control right of preferentially controlling the second tracking device compared with the first monitoring device, the second tracking device returns a second confirmation response corresponding to the second control request to the second monitoring device according to the device identifier, wherein the second confirmation response is used for indicating the second monitoring device to control the second tracking device.

In another possible implementation manner, the tracking, by the second tracking device, the target object based on the control of the first monitoring device includes:

the second tracking device receives a second tracking instruction sent by the first monitoring device, wherein the second tracking instruction carries third position information, and the third position information is the position information of the target object in the second tracking device;

the second tracking device tracks the target object based on the third position information.

In another possible implementation manner, the tracking, by the second tracking device, the target object based on the control of the second monitoring device includes:

the second tracking device receives a third tracking instruction sent by the second monitoring device, wherein the third tracking instruction carries third position information, and the third position information is position information of the target object in the second tracking device;

According to a third aspect of embodiments of the present invention, there is provided an apparatus for tracking a target object, the apparatus including:

the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is configured to acquire first position information of a target object when the target object is detected;

a first determination module configured to cancel control of a second tracking device to be controlled by which the target object is automatically tracked when it is determined that the target object is in a specified area of the second tracking device to be controlled based on the first position information;

a second determination module configured to control the second tracking device and/or the first tracking device to track the target object when it is determined that the target object is not in the designated area based on the first position information;

the geographic position of the local terminal is the same as that of the first tracking equipment, and the geographic position of the local terminal is different from that of the second tracking equipment.

In a possible implementation manner, the second determining module is further configured to, when it is determined that the target object is not in the designated area and is located within the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information, control the second tracking device and the first tracking device so that the target object is tracked by the second tracking device and the first tracking device.

In another possible implementation manner, the second determination module is further configured to determine that the target object is not in the designated area and the target object is only in the monitoring area of the first tracking device based on the first position information;

and controlling the first tracking device to enable the first tracking device to track the target object.

In another possible implementation manner, the second determination module is further configured to determine that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information;

and controlling the second tracking equipment to enable the second tracking equipment to track the target object.

In another possible implementation manner, the apparatus further includes:

a third determining module, configured to, when it is determined that the target object is located in a monitoring area of a second monitoring device based on the first location information, give a control authority of the second tracking device to the second monitoring device, and control the second tracking device by the second monitoring device, so that the second tracking device tracks the target object;

In another possible implementation manner, the apparatus further includes:

a sending module, configured to send a first control request to the first tracking device, where the first control request carries a device identifier of a home terminal;

and the first receiving module is configured to determine to obtain the authority for controlling the first tracking device according to the first confirmation response when receiving the first confirmation response corresponding to the first control request returned by the first tracking device according to the device identifier.

In another possible implementation manner, the obtaining module is further configured to, when the target object is detected, obtain coordinate information of the target object in a local coordinate system, to obtain first coordinate information;

and taking the first coordinate information as the first position information.

In another possible implementation manner, the apparatus further includes:

the fourth determining module is configured to determine a coordinate value of the target object in a horizontal direction in a local coordinate system from the first coordinate information to obtain a first coordinate value;

a fifth determining module configured to determine that the target object is in the designated area when the first coordinate value is greater than a first coordinate threshold and less than a second coordinate threshold, the first coordinate threshold being a minimum coordinate value of a distortion area of the second tracking device in a horizontal direction, the second coordinate threshold being a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;

a sixth determining module configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the first coordinate threshold or not less than the second coordinate threshold.

In another possible implementation manner, the apparatus further includes:

a seventh determining module, configured to determine, from the first coordinate information, a coordinate value of the target object in a horizontal direction in a local coordinate system, so as to obtain a first coordinate value;

an eighth determining module configured to determine that the target object is in the designated area when the first coordinate value is greater than a third coordinate threshold and smaller than a fourth coordinate threshold, where the third coordinate threshold is a minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the fourth coordinate threshold is a minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;

a ninth determination module configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold.

In another possible implementation manner, the first determining module is further configured to determine a movement trajectory of the target object;

and when the moving track indicates that the target object moves from the monitoring area of the second monitoring device to the monitoring area of the local terminal, canceling the control of the second tracking device under the condition that the target object is determined to be in the specified area.

In another possible implementation manner, the second determining module is further configured to convert the first location information into second location information, where the first location information is location information of the target object in a local terminal, and the second location information is location information of the target object in the first tracking device;

and sending a first tracking instruction to the first tracking device, wherein the first tracking instruction carries the second position information, and the first tracking device tracks the target object based on the second position information.

In another possible implementation manner, the second determining module is further configured to convert the first location information into third location information, where the first location information is location information of the target object in a local terminal, and the third location information is location information of the target object in the second tracking device;

and sending a second tracking instruction to the second tracking device, wherein the second tracking instruction carries the third position information, and the second tracking device tracks the target object based on the third position information.

According to a fourth aspect of the embodiments of the present invention, there is provided another apparatus for tracking a target object, including:

the first tracking module is configured to automatically track the target object when the tracked target object is in a designated area of a local terminal;

a second tracking module configured to track the target object based on control of the first monitoring device or the second monitoring device when the target object is not in the designated area;

the geographical positions of the first monitoring device and the home terminal are different, and the geographical positions of the second monitoring device and the home terminal are the same.

In another possible implementation manner, the second tracking module is further configured to track the target object based on control of the first monitoring device when the target object is in the monitoring area of the first monitoring device.

In another possible implementation manner, the second tracking module is further configured to track the target object based on control of the second monitoring device when the target object is in the monitoring area of the second monitoring device.

In another possible implementation manner, the apparatus further includes:

a second receiving module, configured to receive a second control request sent by the second monitoring device, where the second control request carries a device identifier of the second monitoring device;

and the return module is configured to, when the second monitoring device has a control right for preferentially controlling the second tracking device compared with the first monitoring device, return a second confirmation response corresponding to the second control request to the second monitoring device according to the device identifier, where the second confirmation response is used to instruct the second monitoring device to control the home terminal.

In another possible implementation manner, the second tracking module is further configured to receive a second tracking instruction sent by the first monitoring device, where the second tracking instruction carries third location information, and the third location information is location information of the target object in the local terminal;

tracking the target object based on the third position information.

In another possible implementation manner, the second tracking module is further configured to receive a third tracking instruction sent by the second monitoring device, where the third tracking instruction carries third location information, and the third location information is location information of the target object in the local terminal;

tracking the target object based on the third position information.

According to a fifth aspect of embodiments of the present invention, there is provided a monitoring apparatus, including:

a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the operations performed in the method of tracking a target object of the first aspect.

According to a sixth aspect of embodiments of the present invention, there is provided a tracking device, including:

a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the operations performed in the method of tracking a target object according to the second aspect.

According to a seventh aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, which is loaded and executed by a processor to implement the operations performed in any one of the methods for tracking a target object described in the first aspect.

According to an eighth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, which is loaded and executed by a processor to implement the operations performed in any one of the methods for tracking a target object described in the second aspect.

The technical scheme provided by the embodiment of the invention can have the following beneficial effects:

the method comprises the steps that when a target object is detected by first monitoring equipment, first position information of the target object is obtained; when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the target object cannot be accurately tracked in the designated area by the second tracking device under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic diagram illustrating an application scenario in accordance with some exemplary embodiments of the present invention;

FIG. 2 is a schematic diagram of another application scenario shown in accordance with some exemplary embodiments of the present invention;

FIG. 3 is a flow chart illustrating a method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 4 is a schematic diagram illustrating another method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 5 is a flow chart illustrating another method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 6 is a flow chart illustrating another method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 7 is a schematic diagram illustrating another method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 8 is a flowchart illustrating another method of tracking a target object in accordance with some exemplary embodiments of the invention;

FIG. 9 is a flowchart illustrating another method of tracking a target object, in accordance with some exemplary embodiments of the invention;

fig. 10 is a block diagram illustrating an apparatus for tracking a target object according to some exemplary embodiments of the present invention.

Fig. 11 is a block diagram illustrating another apparatus for tracking a target object according to some exemplary embodiments of the present invention.

Fig. 12 is a block diagram illustrating the structure of an apparatus according to some exemplary embodiments of the invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

Fig. 1 is a schematic diagram of an application scenario of an example of the present invention, and the implementation environment includes a first monitoring device 101, a second monitoring device 102, a first tracking device 201, and a second tracking device 202. The first monitoring device 101 is connected to the first tracking device 201 and the second tracking device 202 in a wired or wireless manner, so that the first monitoring device 101 controls the first tracking device 201 and/or the second tracking device 202 to monitor the target object in the first monitoring area. The second monitoring device 102 is connected to the second tracking device 202 in a wired or wireless manner, so that the second monitoring device 102 controls the second tracking device 202 to monitor the target object in the second monitoring area.

The first monitoring device 101 may be disposed on a first support, on which the first tracking device 201 is also disposed; the second monitoring device 102 and the second tracking device 202 are disposed on a second rack. The height of the first support and the height of the second support can be the same or different. In addition, the height of the first bracket and the height of the second bracket can be set and changed according to requirements, and in the embodiment of the invention, the heights are not particularly limited; for example, the first support and the second support have the same height, and are both 6 meters or 7 meters, and the like. In addition, the distance between the first bracket and the second bracket may also be set and changed as required, which is not specifically limited in the embodiment of the present invention; for example, the distance between the first bracket and the second bracket is 300 meters or 350 meters, etc.

The first monitoring device 101 and the second monitoring device 102 may be any devices having a detection function; for example, the first monitoring device 101 and the second monitoring device 102 may be high definition cameras or bolt sets. The first tracking device 201 and the second tracking device 202 may be any device having a tracking function; for example, the first tracking device 201 and the second tracking device 202 may be ball machines. The target object may be a person, a vehicle, an animal, or the like. In the embodiment of the present invention, the first monitoring device 101, the second monitoring device 102, the first tracking device 201, the second tracking device 202, and the target object are not particularly limited.

The monitoring area of the first monitoring device 101 is a first monitoring area, and the monitoring area of the second monitoring device 102 is a second monitoring area. The first monitoring area and the second monitoring area may be two non-overlapping areas, or the first monitoring area and the second monitoring area may also have two overlapping areas.

The first monitoring device 101 controls the first tracking device 201 to track and monitor the target object in the first monitoring area, and the second monitoring device 102 controls the second tracking device 202 to track the target object in the second monitoring area. When the second tracking device 202 is in the idle state, the first monitoring device 101 may also control the second tracking device 202 to track the target object within the first monitoring area. When the first monitoring device 101 controls the second tracking device 202 to track the target object, the position information of the target object is sent to the second tracking device 202, and the second tracking device 202 tracks according to the position information. The monitoring area of the first tracking device and the monitoring area of the second tracking device may be two monitoring areas independent from each other without crossing, or may have two monitoring areas with an overlapped portion.

In a designated area of the first monitoring area, the first monitoring device converts first position information of a target object into second position information in the second tracking device, when the second tracking device tracks the target object in the designated area, the target object moves a small distance, the second tracking device needs to rotate a larger angle, due to the limitation of the sensitivity of the second tracking device, the coordinates of the second position information obtained by the second tracking device 202 are distorted, that is, the target object is not at the coordinate position of the second information, so that the second tracking device 202 cannot track the target object accurately, and the designated area is a distortion area of the second tracking device 202.

In the embodiment of the present invention, when the target object is in the designated area, the target object is automatically tracked by the second tracking device 202; when the target object is not in the designated area, the first monitoring device 101 controls the first tracking device 201 and/or the second tracking device 202 to track the target object, or the second monitoring device 102 controls the second tracking device 202 to track the target object.

In fig. 1, an application scenario including two monitoring devices and two tracking devices is illustrated as an example, and in the embodiment of the present invention, the two monitoring devices and the two tracking devices are not limited. The application scenario may also include a plurality of monitoring devices and a plurality of tracking devices. Fig. 2 is a schematic diagram of another application scenario of an example of the present invention, and the implementation environment includes a plurality of monitoring devices 10 and a plurality of tracking devices 20. For each monitoring device 10, the monitoring device 10 is connected with at least one tracking device 20 that is controlled in a wired or wireless manner, so that the monitoring device 10 controls the at least one tracking device 20 to monitor the target object in the monitoring area.

Wherein, one tracking device 20 can be controlled by one monitoring device 10, or can be controlled by a plurality of monitoring devices 10 at the same time. Wherein, when one tracking device 20 is controlled by a plurality of monitoring devices 10 at the same time, the tracking device 20 can set the control authority; when the tracking device 20 is in the idle state, any monitoring device 10 of the plurality of monitoring devices 10 can control the tracking device 20; when the tracking device 20 is in the tracking state, the tracking device 20 is preferentially controlled by the monitoring device 10 having the control authority.

FIG. 3 is a flowchart illustrating a method of tracking a target object according to some exemplary embodiments of the invention. The method is applied to monitoring equipment and used for solving the problem that the tracking equipment cannot accurately track the target object in the specified area, and comprises the following steps:

step 301, when detecting a target object, a first monitoring device acquires first position information of the target object.

Referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first bolt, and the second tracking device 202 is a second ball machine. The method comprises the steps that a person is located in a first monitoring area of first monitoring equipment, a first bolt face obtains first position information of the person, and the first position information is coordinate information of the person in the first bolt face. The first gun machine divides a first monitoring area into a plane rectangular coordinate system, x represents a horizontal coordinate which is a coordinate in the horizontal direction, the direction points to the second ball machine direction from the first gun machine direction, y represents a vertical coordinate which is a coordinate perpendicular to the horizontal direction, and the monitoring starting position of the first gun machine is an origin coordinate.

And 302, when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device.

The first rifle bolt determines the position of the personnel based on the first position information of the personnel, when the personnel are in the designated area of the second ball machine, namely the distortion area, the first rifle bolt cancels the control right of the second ball machine, and the second ball machine tracks the personnel by using an Automatic Tracking (ATK) mode.

Step 303, when the first monitoring device determines that the target object is not located in the designated area based on the first position information, controlling a second tracking device and/or a first tracking device to track the target object.

The first rifle bolt determines the area where the personnel are located based on the first position information of the personnel, and when the personnel are not in the designated area of the second ball machine, the first ball machine and/or the second ball machine are controlled to track the personnel, so that the first ball machine can be controlled to track the personnel independently, the second ball machine can be controlled to track the personnel independently, and the first ball machine and the second ball machine can be controlled to track the personnel together.

It should be noted that the geographical locations of the first monitoring device and the first tracking device are the same, and the geographical locations of the monitoring device and the second tracking device are different. For example, the first monitoring device and the first tracking device are mounted on a first bracket, and the second monitoring device and the second tracking device are mounted on a second bracket.

FIG. 5 is a flowchart illustrating another method of tracking a target object, according to some exemplary embodiments of the invention. The method is applied to the tracking equipment and used for solving the problem that the tracking equipment cannot accurately track the target object in the specified area, and comprises the following steps:

step 501, when the tracked target object is in the designated area of the second tracking device, the second tracking device automatically tracks the target object.

Referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first bolt, and the second tracking device 202 is a second ball machine. When the tracked person is in the designated area of the second ball machine, namely the distortion area, the second ball machine tracks the person by using the ATK mode

Step 502, when the target object is not in the designated area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device.

And when the personnel is not in the designated area, the second ball machine tracks the personnel under the control of the first gun camera or the second gun camera.

When the target object is in the designated area, the second tracking equipment automatically tracks the target object; and when the target object is not in the designated area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device. The problem that the target object cannot be accurately tracked in the specified area by the second tracking device under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

FIG. 6 is a flowchart illustrating another method of tracking a target object, according to some exemplary embodiments of the invention. The method comprises the following steps:

step 601, when the first monitoring device detects the target object, obtaining first position information of the target object.

In this embodiment, the first monitoring device may be a high-definition camera, a bolt, or another monitoring device capable of monitoring a target object, which is not limited in this embodiment. The first monitoring device is provided with a first monitoring area, and the first monitoring area is an effective monitoring area of the first monitoring device. The target object may be a person, a vehicle, an animal, or the like to be monitored, which is not limited in this embodiment.

When the first monitoring device detects the target object, first position information of the target object is acquired according to the geographical position of the target object. In one possible implementation, the first monitoring device determines a distance between the target object and the first monitoring device, and uses the distance as the first position information.

In another possible implementation manner, the first monitoring device obtains coordinate information of the target object in a coordinate system of the first monitoring device to obtain first coordinate information, and the first coordinate information is used as first position information. The first monitoring device includes coordinate system information, for example, the first monitoring area is divided into a rectangular planar coordinate system, x represents an abscissa, and y represents a ordinate, the monitoring start position of the first monitoring device is an origin coordinate, and according to the rectangular planar coordinate system, the target object in the first monitoring area corresponds to first coordinate information, and the first monitoring device stores the first coordinate information as the first position information in the first monitoring device.

For example, referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first bolt, and the second tracking device 202 is a second ball machine. (Xa, Ya) indicates first position information of the person in the first bolt.

Step 602, the first monitoring device determines whether the target object is in a designated area based on the first position information.

The specified area is a specified area of the second tracking device, and in a possible implementation manner, the specified area may be a distortion area of the second tracking device, and accordingly, this step may be implemented in the first implementation manner. In another possible implementation, the designated area may be a distortion area of the second tracking device and an area between the distortion area and the second monitoring area, and accordingly, this step may be implemented in the second implementation. The second monitoring area is an effective monitoring area of the second monitoring device.

For the first implementation, the step may be:

the first monitoring device determines a first coordinate value of the target object based on the first position information, wherein the first coordinate value is a coordinate value of the target object in a horizontal direction of the first monitoring device; determining that the target object is located in the designated area when the first coordinate value is greater than a first coordinate threshold and smaller than a second coordinate threshold, where the first coordinate threshold is a minimum coordinate value of a distortion area of the second tracking device in a horizontal direction, and the second coordinate threshold is a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction; and when the first coordinate value is not larger than the first coordinate threshold value or not smaller than the second coordinate threshold value, determining that the target object is not in the designated area.

For example, as shown in fig. 7, the first monitoring device 101 is a first rifle bolt, the second monitoring device 102 is a second rifle bolt, the first tracking device 201 is a first ball machine, the second tracking device 202 is a second ball machine, and the target object 205 is a person. The first monitoring area is divided into a rectangular plane coordinate system by the first bolt, x represents a horizontal coordinate, i.e., a coordinate in a horizontal direction in which the first bolt direction points toward the ball machine direction, y represents a vertical coordinate, i.e., a coordinate perpendicular to the horizontal direction, and the monitoring start position of the first monitoring device is an origin coordinate. The first bolt specifies a first coordinate value of the person based on first position information (Xa, Ya) of the person, and the first coordinate value is a coordinate value of the person in a horizontal direction of the first bolt. The horizontal coordinate value of the monitoring start position of the first bolt is 0, and the horizontal coordinate value of the person is Xa, and the first coordinate value is Xa. And the second ball machine has a coordinate distortion in a designated area where a horizontal coordinate value is greater than a first coordinate threshold Xp and a horizontal coordinate value is less than a second coordinate threshold Xq, and cannot accurately track the target by adjusting the monitoring angle of the second ball machine, wherein the designated area is a distortion area of the second ball machine, the first coordinate threshold Xp is a minimum coordinate value of the distortion area of the second tracking device in the horizontal direction, and the second coordinate threshold Xq is a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction. When the first coordinate value Xa is larger than a first coordinate threshold value Xp and smaller than a second coordinate threshold value Xq, the first bolt machine determines that the person is in the designated area; when the first coordinate value Xa is not greater than the first coordinate threshold Xp or not less than the second coordinate threshold Xq, the first bolt face determines that the person is not located in the designated area.

For the second implementation, the step may be:

the first monitoring device determines a first coordinate value of the target object based on the first position information, wherein the first coordinate value is a coordinate value of the target object in a horizontal direction of the first monitoring device; when the first coordinate value is greater than a third coordinate threshold and smaller than a fourth coordinate threshold, determining that the target object is located in the designated area, where the third coordinate threshold is a minimum coordinate value of a distortion area of the second tracking device in a horizontal direction, the fourth coordinate threshold is a minimum coordinate value of a second monitoring area in the horizontal direction, and the second monitoring area is a monitoring area of the second monitoring device; and when the first coordinate value is not larger than the third coordinate threshold value or not smaller than the fourth coordinate threshold value, determining that the target object is not in the designated area.

For example, as shown in fig. 8, the first monitoring device 101 is a first gun, the second monitoring device 102 is a second gun, the first tracking device 201 is a first ball machine, the second tracking device 202 is a second ball machine, and the target object 205 is a person. The first bolt machine divides the first monitoring area into a plane rectangular coordinate system, x represents a horizontal coordinate, namely a coordinate in the horizontal direction, the direction is that the first bolt machine direction points to the second ball machine direction, y represents a vertical coordinate, namely a coordinate perpendicular to the horizontal direction, and the monitoring starting position of the first bolt machine is an origin coordinate. The first bolt specifies a first coordinate value of the person based on first position information (Xa, Ya) of the person, and the first coordinate value is a coordinate value of the person in a horizontal direction of the first bolt. The horizontal coordinate value of the monitoring start position of the first bolt is 0, and the horizontal coordinate value of the person is Xa, and the first coordinate value is Xa. The third coordinate threshold Xr is a minimum coordinate value of the distortion area of the dome camera in the horizontal direction, the fourth coordinate threshold Xr is a minimum coordinate value of the second monitoring area in the horizontal direction in the coordinate system of the second gun camera, and a horizontal coordinate value of the position in the first monitoring area is Xs. When the first coordinate value Xa is larger than a third coordinate threshold value Xr and smaller than a fourth coordinate threshold value Xs, the first rifle bolt determines that the person is in the designated area; when the first coordinate value Xa is not greater than the third coordinate threshold value Xr or not less than the fourth coordinate threshold value Xs, the first bolt machine determines that the person is not in the designated area.

When the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, performing step 603;

when the first monitoring device determines that the target object is not in the designated area of the second tracking device to be controlled based on the first location information, step 604 is performed.

Step 603, when the target object is determined to be in the designated area of the controlled second tracking device based on the first position information, the first monitoring device cancels the control of the second tracking device, the second tracking device automatically tracks the target object, and the process is finished.

The first monitoring equipment cancels the control of the second tracking equipment, in a possible implementation mode, the first monitoring equipment sends cancellation control information to the second tracking equipment, and the second tracking equipment enters an ATK tracking mode after receiving the cancellation control information and automatically detects and tracks the target object; in another possible implementation manner, the first monitoring device sends an automatic tracking instruction to the second tracking device, and the second tracking device enters an ATK tracking mode after receiving the automatic tracking instruction, and automatically detects and tracks the target object. In another possible implementation manner, the first monitoring device stops sending the tracking instruction to the second tracking device, and when the second tracking device does not receive the tracking instruction of the first monitoring device, the second tracking device enters an ATK tracking mode to automatically detect and track the target object.

Referring to fig. 7, when the first rifle bolt determines that the person is not in the designated area of the second ball machine, the first rifle bolt cancels the control of the second ball machine, and the second ball machine enters an ATK mode to track and monitor the person. The ATK mode is an automatic tracking mode of the second dome camera, and the second dome camera automatically detects and tracks the target object in the automatic tracking mode.

It should be noted that, before the target object acquires the first position information, the target object is in the monitoring area of the first monitoring device, and the first monitoring device controls the second tracking device to track the target object. After the first monitoring equipment acquires the first position information, determining whether a target object is in a monitoring area of the first monitoring equipment; when the target object is within the monitoring area of the first monitoring device, the first monitoring device determines whether the target object is within the designated area of the second tracking device based on the first location information.

When the first monitoring device determines that the target object is located in the monitoring area of the second monitoring device based on the first position information, the first monitoring device gives the control authority of the second tracking device to the second monitoring device, and the second monitoring device controls the second tracking device, so that the second tracking device tracks the target object. And the second tracking equipment tracks the target object based on the control of the second monitoring equipment. Wherein the second monitoring device is geographically co-located with the second tracking device.

The second monitoring device controls the second tracking device, and the process of tracking the target object may be as follows:

the second monitoring device sends a third tracking instruction to the second tracking device. In a possible implementation manner, the third tracking instruction carries the first location information, the second tracking device receives the third tracking instruction, converts the first location information carried in the third tracking instruction into third location information, where the third location information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third location information. In another possible implementation manner, the second monitoring device converts the first position information into third position information, where the third position information is coordinate information of the target object in a second tracking device coordinate system; the second monitoring equipment sends a third tracking instruction to the second tracking equipment, and the first tracking instruction carries third position information; and the second tracking equipment receives the first tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

It should be noted that, before the second tracking device tracks the target object based on the control of the second monitoring device, the second monitoring device needs to acquire the control authority of the second tracking device; the process of acquiring the control authority of the second tracking device by the second monitoring device may be:

and the second monitoring equipment sends a second control request to the second tracking equipment. The second control request carries the equipment identifier of the first monitoring equipment; the second tracking device receives a second tracking request sent by the second monitoring device, and determines whether the second monitoring device has a control authority for controlling the second tracking device according to the device identifier of the second monitoring device; when the second tracking device determines that the second monitoring device has the control right for controlling the second tracking device, a second confirmation response corresponding to the second control request is returned to the second monitoring device, the second confirmation response is used for indicating the second monitoring device to control the second tracking device, and after the second monitoring device receives the second confirmation response, the second tracking device is controlled based on the second confirmation response; and when the second tracking device determines that the second monitoring device does not have the control right for controlling the second tracking device, returning a second reject response corresponding to the second control request to the second monitoring device, wherein the second reject response is used for indicating that the second monitoring device cannot control the second tracking device, and after receiving the second reject response, the second monitoring device does not control the second tracking device.

The step of determining, by the second tracking device, whether the second monitoring device has a control right to control the second tracking device according to the device identifier of the second monitoring device may be:

the geographical positions of the second monitoring device and the second tracking device are the same, and the second tracking device is bound with the MAC address of the second monitoring device and has the priority control right of the second tracking device. And after receiving the second control request of the second monitoring device, the second tracking device judges the current working state. And when the working state of the tracking device is an idle state or when the second monitoring device is determined to have priority control right according to the device identifier, the second tracking device sends a second confirmation response corresponding to the second control request to the second monitoring device. And when the working state of the second tracking device is a busy state and the second monitoring device is determined not to have the priority control right according to the device identifier, the second tracking device sends a second refusing response to the second monitoring device.

The device identifier may be a Media Access Control (MAC) address or an IP address of the second monitoring device.

It should be further noted that, before the first monitoring device determines that the target object is located in the designated area, the first monitoring device determines the movement trajectory of the target object, when the movement trajectory of the target object moves from the second monitoring area of the second monitoring device to the first monitoring area of the first monitoring device, the second monitoring device cancels the control of the second tracking device, the second tracking device automatically tracks the target object, and the first monitoring device does not send a control request to the second tracking device, that is, the first monitoring device does not request a control right to the second tracking device.

For example, referring to fig. 8, when a person enters the first monitoring area from the second monitoring area, the first gun does not send a control request to the second ball machine before the person passes through the distortion area of the second ball machine, and the second ball machine keeps the ATK mode to track and monitor the person. If the personnel leave the second monitoring area and do not enter the distortion area of the second dome camera, the first rifle bolt requests the control right of the second dome camera, the second dome camera is idle at the moment, the first rifle bolt obtains the control right of the second dome camera, and the second dome camera performs tracking monitoring on the personnel under the control of the first rifle bolt; when personnel enter a distortion area of a second dome camera, the first dome camera gives up the control right of the second dome camera, and the second dome camera enters an ATK mode to track and monitor the personnel; when the personnel leave the distortion area of the second dome camera, the first gun machine sends a control request to the second dome camera again, the second dome camera is idle at the moment, the first gun machine obtains the control right of the second dome camera, and the second dome camera performs tracking monitoring on the personnel under the control of the first gun machine. The process is complicated, the control instruction is sent to the second dome camera again after the control right is obtained every time, the operational capability of the gunlock and the dome camera is occupied, and when the area between the distortion area and the second monitoring area is small, the second tracking device can automatically track the target object more accurately.

In step 604, when it is determined that the target object is not in the designated area of the controlled second tracking device based on the first position information, the first monitoring device controls the second tracking device and/or the first tracking device to track the target object.

The area that the first tracking device can monitor is a monitoring area of the first tracking device, and the monitoring area of the first tracking device may cover the first monitoring area of the first monitoring device or only cover a part of the first monitoring area of the first monitoring device; the area that the second tracking device can monitor is a monitoring area of the second tracking device, the monitoring area of the second tracking device may cover the second monitoring area of the second monitoring device, or may cover only a part of the second monitoring area of the second monitoring device, and the monitoring area of the second tracking device may cover the first monitoring area of the first monitoring device, or may cover only a part of the first monitoring area of the first monitoring device; the monitoring area of the first tracking device and the monitoring area of the second tracking device may have an overlapping portion and an independent portion, or may be independent of each other and have no overlapping portion.

When the first monitoring device determines that the target object is not located in the designated area of the controlled second tracking device and is only located in the monitoring area of the first tracking device, the first monitoring device controls the first tracking device so that the first tracking device tracks the target object. And when the first monitoring device determines that the target object is only in the monitoring area of the first tracking device, namely not in the monitoring area of the second tracking device, based on the first position information, the first monitoring device controls the first tracking device to track the target object.

The first monitoring device controls the first tracking device, and the process of tracking the target object may be as follows:

the first monitoring device sends a first tracking instruction to the first tracking device. In a possible implementation manner, the first tracking instruction carries the first location information, the first tracking device receives the first tracking instruction and converts the first location information carried by the first tracking instruction into second location information, the second location information is coordinate information of the target object in a coordinate system of the first tracking device, and the first tracking device tracks the target object based on the second location information. In another possible implementation manner, the first monitoring device converts the first position information into second position information, where the first position information is coordinate information of the target object in a coordinate system of the first monitoring device; the first monitoring equipment sends a first tracking instruction to the first tracking equipment, wherein the first tracking instruction carries second position information; and the first tracking equipment receives the first tracking instruction and tracks the target object based on second position information carried in the first tracking instruction.

It should be noted that, before the first monitoring device controls the first tracking device, the first monitoring device needs to acquire a control authority of the first tracking device; the process of the first monitoring device acquiring the control authority of the first tracking device may be:

the first monitoring device sends a first control request to the first tracking device. The first control request carries an equipment identifier of the first monitoring equipment; the method comprises the steps that a first tracking device receives a first control request of a first monitoring device, and whether the first monitoring device has a control authority for controlling the first tracking device is determined according to a device identifier of the first monitoring device; when the first tracking device determines that the first monitoring device has the control right for controlling the first tracking device, a first confirmation response corresponding to the first control request is returned to the first monitoring device, the first confirmation response is used for indicating the second monitoring device to control the first tracking device, and after the first monitoring device receives the first confirmation response, the first tracking device is controlled based on the first confirmation response; when the first tracking device determines that the first monitoring device does not have the control right for controlling the first tracking device, a first reject response corresponding to the first control request is returned to the first monitoring device, the first reject response is used for indicating that the first monitoring device cannot control the first tracking device, and the first monitoring device does not control the first tracking device after receiving the first reject response.

The step of determining, by the first tracking device, whether the first monitoring device has a control right to control the first tracking device according to the device identifier of the first monitoring device may be:

the geographical positions of the first monitoring device and the first tracking device are the same, and the first tracking device is bound with the MAC address of the first monitoring device and has the priority control right of the first tracking device. And after receiving the first control request of the first monitoring device, the first tracking device judges the current working state. When the working state of the first tracking device is an idle state or when the first monitoring device is determined to have priority control right according to the device identifier, the first tracking device sends a first confirmation response corresponding to the first control request to the first monitoring device. And when the working state of the first tracking device is a busy state and the first monitoring device is determined not to have the priority control right according to the device identifier, the first tracking device sends a first refusing response to the first monitoring device.

The device identifier may be a Media Access Control (MAC) address or an IP address of the first monitoring device.

When the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is only in the monitoring area of the second tracking device, the first monitoring device controls the second tracking device so that the second tracking device tracks the target object. And when the first monitoring device determines that the target object is only in the monitoring area of the second tracking device based on the first position information, namely not in the monitoring area of the first tracking device, the first monitoring device controls the second tracking device to track the target object.

The first monitoring device controls the second tracking device, and the process of tracking the target object may be as follows:

the first monitoring device sends a second tracking instruction to the second tracking device. In a possible implementation manner, the second tracking instruction carries the first location information, the second tracking device receives the second tracking instruction, converts the first location information carried in the second tracking instruction into third location information, where the third location information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third location information. In another possible implementation manner, the first monitoring device converts the first position information into third position information, where the third position information is coordinate information of the target object in a second tracking device coordinate system; the first monitoring equipment sends a second tracking instruction to the second tracking equipment, and the first tracking instruction carries third position information; and the second tracking equipment receives the first tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

It should be noted that, before the first monitoring device controls the second tracking device, the first monitoring device needs to acquire a control authority of the second tracking device; the process of the first monitoring device acquiring the control authority of the second tracking device may be:

and the first monitoring device sends a third control request to the second tracking device. The third control request carries the device identifier of the first monitoring device; the second tracking device receives a third control request of the first monitoring device, and determines whether the first monitoring device has a control authority for controlling the second tracking device according to the device identifier of the first monitoring device; when the second tracking device determines that the first monitoring device has the control right for controlling the second tracking device, a third confirmation response corresponding to a third control request is returned to the first monitoring device, the third confirmation response is used for indicating the second monitoring device to control the second tracking device, and after the first monitoring device receives the third confirmation response, the second tracking device is controlled based on the third confirmation response; and when the second tracking device determines that the first monitoring device does not have the control right for controlling the second tracking device, returning a third reject response corresponding to the third control request to the first monitoring device, wherein the third reject response is used for indicating that the first monitoring device cannot control the second tracking device, and after receiving the third reject response, the first monitoring device does not control the second tracking device.

The step of determining, by the second tracking device, whether the first monitoring device has a control right to control the second tracking device according to the device identifier of the first monitoring device may be:

the geographical positions of the first monitoring device and the second tracking device are different, and the first monitoring device and the second tracking device do not have the priority control right of the first tracking device. And after receiving the third control request of the first monitoring device, the second tracking device judges the current working state. And when the working state of the second tracking device is an idle state or when the first monitoring device is determined to have the priority control right according to the device identifier, the second tracking device sends a first confirmation response corresponding to the first control request to the first monitoring device. And when the working state of the second tracking device is a busy state and the first monitoring device is determined not to have the priority control right according to the device identifier, the second tracking device sends a third refusing response to the first monitoring device.

When the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is in the monitoring area of the first tracking device and the monitoring area of the second tracking device, the first monitoring device controls the first tracking device and the second tracking device so that the first tracking device and the second tracking device track the target object. And when the first monitoring device determines that the target object is positioned at the overlapped part of the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information, the first monitoring device controls the second tracking device and the first tracking device to track the target object.

The first monitoring device controls the second tracking device and the first tracking device, and the process of tracking the target object may be as follows:

in one possible implementation, the first monitoring device sends a fourth tracking instruction to the first tracking device and the second tracking device, respectively. The fourth tracking instruction carries the first position information, the first tracking device and the second tracking device respectively receive the fourth tracking instruction, the first tracking device converts the first position information carried by the fourth tracking instruction into second position information, the second position information is coordinate information of a target object in a coordinate system of the first tracking device, and the first tracking device tracks the target object based on the second position information; and the second tracking device converts the first position information carried in the fourth tracking instruction into third position information, wherein the third position information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third position information.

In another possible implementation manner, the first monitoring device converts the first position information into second position information and third position information, where the second position information is coordinate information of the target object in a coordinate system of the first tracking device, and the third position information is coordinate information of the target object in a coordinate system of the second tracking device. The first monitoring equipment sends a fifth tracking instruction to the first tracking equipment, wherein the fifth tracking instruction carries second position information; and the first tracking equipment receives the first tracking instruction and tracks the target object based on second position information carried in the first tracking instruction. The first monitoring equipment sends a sixth tracking instruction to the second tracking equipment, and the first tracking instruction carries third position information; and the second tracking equipment receives the sixth tracking instruction and tracks the target object based on the third position information carried in the first tracking instruction.

For example, as shown in fig. 9, the first monitoring device 101 is a first rifle bolt, the second monitoring device 102 is a first rifle bolt, the first tracking device 201 is a first ball machine, the second tracking device 202 is a second ball machine, and the target object 205 is a person. In a first implementation manner, the first rifle bolt sends fourth tracking instructions to the first dome camera and the second dome camera respectively. The first ball machine and the second ball machine receive the first tracking instruction, the first ball machine converts the first position information carried by the fourth tracking instruction into second position information, the second position information is coordinate information of a target object in a coordinate system of the first ball machine, and the first ball machine tracks the target object based on the second position information; and the second dome camera converts the first position information carried in the fourth tracking instruction into third position information, wherein the third position information is coordinate information of the target object in a coordinate system of the second dome camera, and the second dome camera tracks the target object based on the third position information. In a second implementation manner, the first rifle bolt converts the first position information into second position information and third position information, the second position information is coordinate information of the target object in a coordinate system of the first ball machine, and the third position information is coordinate information of the target object in a coordinate system of the second ball machine. The first gunlock sends a fifth tracking instruction to the first ball machine, and the fifth tracking instruction carries second position information; and the first ball machine receives the first tracking command and tracks the target object based on second position information carried in the first tracking command. The first gun camera sends a sixth tracking instruction to the second ball machine, and the first tracking instruction carries third position information; and the second ball machine receives the sixth tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

FIG. 10 is a block diagram illustrating an apparatus for tracking a target object in accordance with an example embodiment. The device is used for solving the problem that the tracking equipment cannot accurately track the target object in the designated area. The apparatus comprises an obtaining module 1001, a first determining module 1002 and a second determining module 1003.

The obtaining module 1001 is configured to obtain first position information of a target object when the target object is detected;

the first determination module 1002 configured to cancel the control of the second tracking device and automatically track the target object by the second tracking device when it is determined that the target object is in the designated area of the second tracking device to be controlled based on the first position information;

the second determining module 1003 is configured to control the second tracking device and/or the first tracking device to track the target object when it is determined that the target object is not in the designated area based on the first position information;

the geographic position of the home terminal is the same as that of the first tracking device, and the geographic position of the home terminal is different from that of the second tracking device.

In one possible implementation, the second determining module 1003 is further configured to, when determining that the target object is not in the designated area and is located within the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information, control the second tracking device and the first tracking device so that the second tracking device and the first tracking device track the target object.

In another possible implementation, the second determining module 1003 is further configured to, when it is determined that the target object is not in the designated area and the target object is only in the monitoring area of the first tracking device based on the first position information;

In another possible implementation, the second determining module 1003 is further configured to, when it is determined that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information;

and controlling the second tracking device to enable the second tracking device to track the target object.

In another possible implementation manner, the apparatus further includes:

the third determining module is configured to, when it is determined that the target object is located in the monitoring area of the second monitoring device based on the first position information, give the control authority of the second tracking device to the second monitoring device, and control the second tracking device by the second monitoring device, so that the second tracking device tracks the target object;

In another possible implementation manner, the apparatus further includes:

the sending module is configured to send a first control request to the first tracking device, wherein the first control request carries a device identifier of a local terminal;

In another possible implementation manner, the obtaining module is further configured to, when the target object is detected, obtain coordinate information of the target object in a coordinate system of the home terminal to obtain first coordinate information;

the first coordinate information is taken as first position information.

In another possible implementation manner, the apparatus further includes:

the fourth determining module is configured to determine a coordinate value of the target object in the local coordinate system in the horizontal direction from the first coordinate information to obtain a first coordinate value;

a fifth determining module configured to determine that the target object is in the designated area when the first coordinate value is greater than a first coordinate threshold and smaller than a second coordinate threshold, the first coordinate threshold being a minimum coordinate value of a distortion area of the second tracking device in a horizontal direction, the second coordinate threshold being a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;

and the sixth determining module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the first coordinate threshold value or not less than the second coordinate threshold value.

In another possible implementation manner, the apparatus further includes:

the seventh determining module is configured to determine a coordinate value of the target object in the local coordinate system in the horizontal direction from the first coordinate information to obtain a first coordinate value;

an eighth determining module, configured to determine that the target object is in the designated area when the first coordinate value is greater than a third coordinate threshold and smaller than a fourth coordinate threshold, where the third coordinate threshold is a minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the fourth coordinate threshold is a minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;

and the ninth determining module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the third coordinate threshold value or not less than the fourth coordinate threshold value.

In another possible implementation manner, the first determining module 1002 is further configured to determine a moving track of the target object;

and when the moving track indicates that the target object moves from the monitoring area of the second monitoring device to the monitoring area of the local terminal, under the condition that the target object is determined to be in the specified area, canceling the control of the second tracking device.

In another possible implementation manner, the second determining module 1003 is further configured to convert the first location information into second location information, where the first location information is location information of the target object in the local terminal, and the second location information is location information of the target object in the first tracking device;

and sending a first tracking instruction to the first tracking device, wherein the first tracking instruction carries second position information, and the first tracking device tracks the target object based on the second position information.

In another possible implementation manner, the second determining module is further configured to convert the first location information into third location information, where the first location information is location information of the target object in the local terminal, and the third location information is location information of the target object in the second tracking device;

and sending a second tracking instruction to second tracking equipment, wherein the second tracking instruction carries third position information, and tracking the target object by the second tracking equipment based on the third position information.

The method comprises the steps that when a target object is detected by first monitoring equipment, first position information of the target object is obtained; when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

Fig. 11 is a block diagram illustrating an apparatus for tracking a target object according to an example embodiment. The device is used for solving the problem that the tracking equipment cannot accurately track the target object in the designated area. The apparatus comprises a first tracking module 1101, a second tracking module 1102. The device comprises:

a first tracking module 1101 configured to automatically track a target object when the tracked target object is in a designated area of a home terminal;

a second tracking module 1102 configured to track the target object based on control of the first monitoring device or the second monitoring device when the target object is not in the designated area;

In another possible implementation manner, the second tracking module 1102 is further configured to track the target object based on control of the first monitoring device when the target object is in the monitoring area of the first monitoring device.

In another possible implementation manner, the second tracking module 1102 is further configured to track the target object based on control of the second monitoring device when the target object is in the monitoring area of the second monitoring device.

In another possible implementation manner, the apparatus further includes:

the second receiving module is configured to receive a second control request sent by a second monitoring device, where the second control request carries a device identifier of the second monitoring device;

and the return module is configured to, when the second monitoring device has the control right of preferentially controlling the second tracking device compared with the first monitoring device, return a second confirmation response corresponding to the second control request to the second monitoring device according to the device identifier, where the second confirmation response is used to instruct the second monitoring device to control the home terminal.

In another possible implementation manner, the second tracking module 1102 is further configured to receive a second tracking instruction sent by the first monitoring device, where the second tracking instruction carries third location information, and the third location information is location information of the target object in the local terminal;

and tracking the target object based on the third position information.

In another possible implementation manner, the second tracking module 1102 is further configured to receive a third tracking instruction sent by the second monitoring device, where the third tracking instruction carries third location information, and the third location information is location information of the target object in the local terminal;

and tracking the target object based on the third position information.

When the target object is in the designated area, the first monitoring device does not control the second tracking device, and the second tracking device automatically tracks the target object; and when the target object is in the designated area, the first monitoring device controls the second tracking device to track the target object. The problem that the target object cannot be accurately tracked in the designated area by the second tracking device under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

Fig. 12 shows a block diagram of an apparatus 1200 according to an exemplary embodiment of the present invention. The device 1200 may be a monitoring device or a tracking device, such as: a gun bolt and a ball machine. Device 1200 may also be referred to by other names such as user device, portable device, laptop device, desktop device, and so forth.

In general, the apparatus 1200 includes: a processor 1201 and a memory 1202.

The processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1201 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1201 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1201 may be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing content that the display screen needs to display. In some embodiments, the processor 1201 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1202 may include one or more computer-readable storage media, which may be non-transitory. Memory 1202 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1202 is used to store at least one instruction for execution by processor 1201 to implement the method of tracking a target object provided by the method embodiments of the present application.

In some embodiments, the apparatus 1200 may further optionally include: a peripheral interface 1203 and at least one peripheral. The processor 1201, memory 1202, and peripheral interface 1203 may be connected by a bus or signal line. Various peripheral devices may be connected to peripheral interface 1203 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1204, touch display 1205, camera 1206, audio circuitry 1207, pointing component 1208, and power source 1209.

The peripheral interface 1203 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, memory 1202, and peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1201, the memory 1202 and the peripheral device interface 1203 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1204 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 1204 communicates with a communication network and other communication devices by electromagnetic signals. The radio frequency circuit 1204 converts an electric signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electric signal. Optionally, the radio frequency circuit 1204 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1204 may communicate with other devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1204 may further include NFC (Near field communication) related circuits, which are not limited in this application.

The display screen 1205 is used to display a UI (user interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1205 is a touch display screen, the display screen 1205 also has the ability to acquire touch signals on or over the surface of the display screen 1205. The touch signal may be input to the processor 1201 as a control signal for processing. At this point, the display 1205 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1205 may be one, providing the front panel of the device 1200; in other embodiments, the display 1205 may be at least two, respectively disposed on different surfaces of the device 1200 or in a folded design; in still other embodiments, the display 1205 may be a flexible display disposed on a curved surface or on a folded surface of the device 1200. Even further, the display screen 1205 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display panel 1205 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or other materials.

Camera assembly 1206 is used to capture images or video. Optionally, camera assembly 1206 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of the apparatus, and a rear camera is disposed on a rear surface of the apparatus. In some embodiments, the number of the rear cameras is at least two, and each of the rear cameras is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (virtual reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 1206 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1207 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals into the processor 1201 for processing or inputting the electric signals into the radio frequency circuit 1204 to achieve voice communication. The microphones may be multiple and placed at different locations of the device 1200 for stereo sound acquisition or noise reduction purposes. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1201 or the radio frequency circuit 1204 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 1207 may also include a headphone jack.

The positioning component 1208 is operable to locate a current geographic location of the device 1200 to implement navigation or LBS (location based Service). The positioning component 1208 can be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 1209 is used to power the various components in the device 1200. The power source 1209 may be alternating current, direct current, disposable or rechargeable. When the power source 1209 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the device 1200 also includes one or more sensors 1210. The one or more sensors 1210 include, but are not limited to: acceleration sensor 1211, gyro sensor 1212, pressure sensor 1213, fingerprint sensor 1214, optical sensor 1215, and proximity sensor 1216.

The acceleration sensor 1211 can detect magnitudes of accelerations on three coordinate axes of a coordinate system established with the apparatus 1200. For example, the acceleration sensor 1211 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 1201 may control the touch display 1205 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1211. The acceleration sensor 1211 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 1212 may monitor the body orientation and rotation angle of the device 1200, and the gyro sensor 1212 may collect the 3D motion of the user on the device 1200 in cooperation with the acceleration sensor 1211. The processor 1201 can implement the following functions according to the data collected by the gyro sensor 1212: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensors 1213 may be disposed on a side bezel of device 1200 and/or an underlying layer of touch display 1205. When the pressure sensor 1213 is disposed on the side frame of the device 1200, the holding signal of the user to the device 1200 can be detected, and the processor 1201 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 1213. When the pressure sensor 1213 is disposed at a lower layer of the touch display screen 1205, the processor 1201 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 1205. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 1214 is used for collecting a fingerprint of the user, and the processor 1201 identifies the user according to the fingerprint collected by the fingerprint sensor 1214, or the fingerprint sensor 1214 identifies the user according to the collected fingerprint. When the user identity is identified as a trusted identity, the processor 1201 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, changing settings, and the like. The fingerprint sensor 1214 may be provided on the front, back, or side of the device 1200. When a physical key or vendor Logo is provided on the device 1200, the fingerprint sensor 1214 may be integrated with the physical key or vendor Logo.

The optical sensor 1215 is used to collect the ambient light intensity. In one embodiment, the processor 1201 may control the display brightness of the touch display 1205 according to the ambient light intensity collected by the optical sensor 1215. Specifically, when the ambient light intensity is high, the display brightness of the touch display panel 1205 is increased; when the ambient light intensity is low, the display brightness of the touch display panel 1205 is turned down. In another embodiment, processor 1201 may also dynamically adjust the camera head 1206 shooting parameters based on the ambient light intensity collected by optical sensor 1215.

A proximity sensor 1216, also known as a distance sensor, is typically disposed on the front panel of the apparatus 1200. The proximity sensor 1216 is used to capture the distance between the user and the front of the device 1200. In one embodiment, the processor 1201 controls the touch display 1205 to switch from the bright screen state to the dark screen state when the proximity sensor 1216 detects that the distance between the user and the front of the device 1200 is gradually decreased; when the proximity sensor 1216 detects that the distance between the user and the front of the device 1200 is gradually increased, the processor 1201 controls the touch display 1205 to switch from the rest screen state to the bright screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 12 is not intended to be limiting of the apparatus 1200 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

An embodiment of the present invention further provides a computer-readable storage medium for a monitoring device, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the storage medium, and the instruction, the program, the code set, or the set of instructions is loaded and executed by a processor to implement the method for tracking a target object according to the foregoing embodiment.

An embodiment of the present invention further provides another computer-readable storage medium for a tracking device, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the storage medium, and the instruction, the program, the code set, or the set of instructions is loaded and executed by a processor to implement the method for tracking a target object of the foregoing embodiment.

It will be understood by those skilled in the art that all or part of the steps of the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware, and the program implementing the above method for tracking a target object may be stored in a computer-readable storage medium, where the above mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment related to the method, and will not be described in detail here.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A method of tracking a target object, the method comprising:

wherein the first monitoring device and the first tracking device have the same geographic location, and the first tracking device and the second tracking device have different geographic locations.

2. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

3. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

when the first monitoring device determines that the target object is not in the designated area and the target object is only in the monitoring area of the first tracking device based on the first position information, the first monitoring device controls the first tracking device so that the first tracking device tracks the target object.

4. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

when the first monitoring device determines that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information, the first monitoring device controls the second tracking device so that the second tracking device tracks the target object.

5. The method of claim 1, further comprising:

6. The method of claim 3, wherein prior to the first monitoring device controlling the first tracking device, the method further comprises:

7. The method of claim 1, wherein the first monitoring device obtaining first position information of the target object comprises:

the first monitoring equipment acquires coordinate information of the target object in a coordinate system of the first monitoring equipment to obtain first coordinate information;

8. The method of claim 7, wherein after the first monitoring device obtains the first location information of the target object, the method further comprises:

9. The method of claim 7, wherein after the first monitoring device obtains the first location information of the target object, the method further comprises:

10. The method of claim 1, wherein the first monitoring device determines that the target object is in the designated area, and wherein removing control of the second tracking device comprises:

11. The method of claim 3, wherein the first monitoring device controls the first tracking device to cause the first tracking device to track the target object, comprising:

12. The method of claim 4, wherein the first monitoring device controls the second tracking device to cause the second tracking device to track the target object, comprising:

13. A method of tracking a target object, the method comprising:

14. The method of claim 13, wherein the second tracking device tracks the target object based on control of the first monitoring device or the second monitoring device, comprising:

15. The method of claim 13, wherein the second tracking device tracks the target object based on control of the first monitoring device or the second monitoring device, comprising:

16. The method of claim 15, wherein before the second tracking device tracks the target object based on the control of the second monitoring device, the method further comprises:

17. The method of claim 14, wherein the second tracking device tracks the target object based on the control of the first monitoring device, comprising:

18. The method of claim 15, wherein the second tracking device tracks the target object based on control of the second monitoring device, comprising:

19. An apparatus for tracking a target object, the apparatus comprising:

20. An apparatus for tracking a target object, the apparatus comprising:

21. A monitoring device, characterized in that the monitoring device comprises:

a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the instruction, the program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the operations performed in the method of tracking a target object of any one of claims 1-12.

22. A tracking device, characterized in that the tracking device comprises:

a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the instruction, the program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the operations performed in the method of tracking a target object of any one of claims 13-18.

23. A computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the operations performed in the method of tracking a target object according to any one of claims 1 to 12.

24. A computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the operations performed in the method of tracking a target object according to any one of claims 13 to 18.