TWI736008B - Target tracking shooting method, device, computer device and storage medium - Google Patents

Abstract

The present disclosure provides a target tracking shooting method, a target tracking shooting device, a computer device and a computer storage medium. The method includes: receiving a video captured by a first mobile camera, wherein the video includes a plurality of tracking targets; identifying and monitoring the plurality of tracking targets in the video; determining whether the plurality of tracking targets are within a monitoring range of the first mobile device; if at least one tracking target is not within the monitoring range of the first mobile camera, controlling at least one second mobile camera to track and shoot the at least one tracking target, wherein, a tracking target that is not within the monitoring range of the first mobile camera is tracked and shoot by a second mobile camera.

Description

Target tracking and shooting method, device, computer device and storage medium

The invention relates to the field of target tracking and shooting, in particular to a target tracking and shooting method, device, computer device and computer storage medium.

UAVs can achieve high-altitude photography and target tracking, especially in large-scale sports events. UAVs can obtain all-round and multi-angle images of each contestant at high altitude. In the existing UAV tracking methods, the UAVs are pre-set to track in a one-to-one manner. In some competition projects, when a large number of drones are shooting different tracking objects at the same time, it will cause mutual interference or collision problems, and even cause accidents. For example, in a marathon, if every runner is Tracking by a dedicated drone, there will be a large number of drones at the beginning of the game. When the number of drones exceeds a certain range, interference and collisions between different drones will be unavoidable.

In view of the above, it is necessary to propose a target tracking and shooting method and device, a computer device, and a computer storage medium to solve the interference between the multiple mobile camera devices when the multiple mobile camera devices shoot multiple targets at the same time And collision problems.

A first aspect of the present application provides a target tracking and shooting method. The method includes: receiving a video containing multiple tracking targets collected by a first mobile camera; identifying and monitoring multiple tracking targets in the video; judging multiple targets. Whether each of the tracking targets is within the monitoring range of the first mobile camera device; If at least one tracking target is not within the monitoring range of the first mobile camera device, control at least one second mobile camera device to track and photograph the at least one tracking target, one of which is not within the first mobile camera device The tracking target within the monitoring range is tracked and photographed by a second mobile camera device.

Preferably, the step of determining whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device includes: identifying feature information of a plurality of the tracking targets from a video containing the plurality of tracking targets; each At a predetermined time interval, re-acquire the video collected by the first mobile camera device, and search for the image frame of the video whether it contains the characteristic information of a plurality of the tracking targets, so as to determine the plurality of the tracking targets Whether it is within the monitoring range of the first mobile camera device.

Preferably, if at least one tracking target is not within the monitoring range of the first mobile camera device, the step of controlling at least one second mobile camera device to track and photograph the at least one tracking target includes: if the image The feature information of the at least one tracking target is missing in the frame, and the feature information of the at least one tracking target is sent to the at least one second mobile camera device to control the at least one second mobile camera device to The at least one tracking target is tracked and photographed.

Preferably, the step further includes: if the feature information of the at least one tracking target is missing in the image frame, sending the movement direction of the at least one tracking target to the at least one second mobile camera; wherein , The movement direction is centered on the orientation of the first mobile camera device, and the relative orientation of the tracking target and the first mobile camera device.

Preferably, the method further includes: acquiring a video image collected by the second mobile camera device flying according to the movement direction of the tracking target; identifying feature information in the video image, and combining the feature The information is compared with the received characteristic information of the tracking target; If they are consistent, control the second mobile camera device to obtain the video of the tracking target in real time; The characteristic information matches the tracking target.

Preferably, the flying speed of the first mobile camera device is equal to the average speed of a plurality of the tracking targets, and the method further includes: when the second mobile camera device does not receive a tracking target instruction, the first The second mobile camera device maintains a predetermined distance from the first mobile camera device.

A second aspect of the present application provides a target tracking and shooting device. The device includes: a receiving module for receiving a video containing multiple tracking targets collected by a first mobile camera; a monitoring module for viewing the video Identify and monitor a plurality of the tracking targets; a judgment module for judging whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device; an execution module for when at least one tracking target is not When the first mobile camera device is within the monitoring range, at least one second mobile camera device is controlled to track and photograph the at least one tracking target, and one of them is not within the monitoring range of the first mobile camera device. The target is tracked and photographed by a second mobile camera device.

Preferably, the target tracking and shooting device further includes a control module for controlling the flight speed of the first mobile camera device, wherein the flight speed of the first mobile camera device is equal to the average of the plurality of tracking targets The speeds are equal; when the second mobile camera device does not receive a tracking target instruction, the second mobile camera device maintains a preset distance from the first mobile camera device.

The third party of the present application provides a computer device, the computer device includes a processor, and the processor is used to execute the computer program stored in the memory to implement the aforementioned target tracking and shooting method.

A fourth aspect of the present application provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, the target tracking and shooting method as described above is realized.

The target tracking shooting method, target tracking shooting device, computer device and computer-readable storage medium of the present invention use the first mobile camera device and the second mobile camera device to perform segmented shooting, which solves the problem of multiple mobile camera devices simultaneously When tracking the target to shoot, there are interference and collision problems.

1: computer device

2: Mobile camera

10: Target tracking camera

20: memory

30: processor

40: computer program

101: receiving module

102: Monitoring module

103: Judgment Module

104: Execution module

FIG. 1 is a schematic diagram of the application environment architecture of the target tracking and shooting method according to the first embodiment of the present invention.

FIG. 2 is a flowchart of a target tracking and shooting method according to the second embodiment of the present invention.

FIG. 3 is a schematic diagram of the structure of the target tracking and shooting device provided by the third embodiment of the present invention.

FIG. 4 is a schematic diagram of a computer device provided by the fourth embodiment of the present invention.

In order to be able to understand the above objectives, features and advantages of the present invention more clearly, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are explained in order to fully understand the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

Example one

Referring to FIG. 1, it is a schematic diagram of the application environment architecture of the target tracking and shooting method provided by the first embodiment of the present invention.

The target tracking and shooting method of the present invention is applied to a computer device 1, and the computer device 1 and at least one mobile camera device 2 establish a communication connection via a network. The computer device 1 can receive the video collected by the mobile camera device 2, identify the tracking target in the video, and determine whether it is necessary to control multiple mobile camera devices 2 to track the tracking target. The mobile camera device 2 has the function of moving and photographing the target to be tracked. The network is preferably a wireless network, such as radio, wireless fidelity (WIFI), cellular, satellite, broadcast, etc.

In yet another embodiment of the present invention, the target tracking and shooting method of the present invention can also be directly applied to the mobile camera device 2. That is, the mobile camera device 2 can capture video and can perform tracking on the target in the video. Recognize and determine whether it is necessary to control multiple mobile camera devices 2 to track the tracking target. The mobile camera device 2 may be a first mobile camera device and a second mobile camera device installed with target tracking and shooting software. The first mobile camera device and at least one second mobile camera device establish a communication connection via a wireless network. . The first mobile camera device is used to photograph and monitor multiple tracking targets. When any one or more of the tracking targets is not within the monitoring range of the first mobile camera device, the first mobile camera device sends a standby message to at least one second unattended camera. The characteristic information of the tracked target is then tracked and photographed by the second mobile camera device.

The computer device 1 may be an electronic device installed with target tracking and shooting software, such as a personal computer, a server, etc., where the server may be a single server, a server cluster, or a cloud server.

The mobile camera device 2 can be a drone with flying and shooting functions, or electronic equipment such as cameras and monitors with mobile shooting functions.

Example two

Please refer to FIG. 2, which is an example of the target tracking and shooting method provided by the second embodiment of the present invention flow chart. According to different needs, the order of the steps in the flowchart can be changed, and some steps can be omitted.

Step S1: Receive a video containing multiple tracking targets collected by the first mobile camera device.

In one embodiment of the present invention, the computer device 1 receives a video containing multiple tracking targets collected by the first mobile camera device. The video can be transmitted by the fifth-generation mobile communication technology, or can be transmitted by the WIFI network. .

For example, at the starting point of a marathon, the first mobile camera device is located at an empty position above the starting point, and is used to photograph multiple athletes at the starting point of the marathon, and send the captured video with multiple athletes to the computer device 1 .

Step S2: Identify and monitor multiple tracking targets in the video.

The computer device 1 recognizes the tracking target in the video by using an image recognition method. For example, in a racing game, the computer device 1 receives the video at the starting point and recognizes the characteristic information of different cars in the video. The characteristic information includes one or more of the license plate, color, and text of the car. For example, in a marathon, the computer device 1 receives a video at the starting point of the marathon, and recognizes the number plates of the athletes in the video.

Step S3: Determine whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device.

In one embodiment of the present invention, the method for the computer device 1 to determine whether the multiple tracking targets are within the monitoring range of the first mobile camera device may include: identifying multiple tracking targets from a video containing multiple tracking targets. The characteristic information of the tracking target; every preset time, the video collected by the first mobile camera device is re-acquired, and the image frame of the video is searched for whether it contains multiple characteristic information of the tracking target. It is determined whether the multiple tracking targets are within the monitoring range of the first mobile camera device, wherein the flying speed of the first mobile camera device is equal to the average speed of the multiple tracking targets.

For example, the computer device 1 receives the video of the starting position of the marathon obtained by the first mobile camera, and recognizes the number plates of the athletes in the video, and re-acquires the data obtained by the first mobile camera every preset time. Video information, and find out whether the number plates of all athletes are included in the video information. Wherein, in order for the first mobile camera device to include the most tracking targets in the acquired video image, the flying speed of the first mobile camera device is equal to the average speed of the multiple tracking targets.

Step S4: If at least one tracking target is not within the monitoring range of the first mobile camera device, control at least one second mobile camera device to track and photograph the at least one tracking target, and one of them is not in the first mobile camera. The tracking target within the monitoring range of the mobile camera device is tracked and photographed by an unmanned aerial vehicle.

In an embodiment of the present invention, the computer device 1 is used to search for feature information in the acquired video information, and if at least one tracking target is not within the monitoring range of the first mobile camera device, at least one second mobile camera is controlled The mobile camera device tracks and photographs the at least one tracking target, wherein a tracking target that is not within the monitoring range of the first mobile camera device is tracked and photographed by a second mobile camera device.

In another embodiment of the present invention, the computer device 1 may also send the characteristic information of the at least one tracking target to the at least one second mobile camera device to control the at least one second mobile camera device The at least one tracking target is tracked and photographed.

In another embodiment of the present invention, the method further includes that the computer device 1 also sends the movement direction of the at least one tracking target to the at least one second mobile camera device; wherein, the movement direction is preferably the first The position of a mobile camera device is the center, and the relative position of the tracking target and the first mobile camera device. When the second mobile camera device does not acquire the tracking target instruction, the second mobile camera device maintains a preset distance from the first mobile camera device.

In yet another embodiment, the method further includes when the second mobile camera device views the When the tracking target is tracked, the video obtained by the second mobile camera device is sent to the computer device 1, and the computer device 1 determines whether the tracking is consistent with the tracking target that the first camera device requires the second camera device to track according to the video. The specific steps include: the computer device 1 obtains the video image collected by the second mobile camera device flying in the moving direction of the tracking target; The information is compared with the received feature information of the tracking target; if they are consistent, the second mobile camera is controlled to obtain the video of the tracking target in real time; if they are inconsistent, the first mobile camera and other second mobile cameras The video obtained by the camera device searches for a tracking target that matches the feature information in the video image.

For example, the computer device 1 searches for the number plates of the athletes in the marathon video obtained by the first mobile camera device, and finds that athletes No. 5 and 65 are not in the monitoring screen of the first mobile camera device. The characteristic information of the athlete No. 65 and the characteristic information of the athlete No. 65 and the movement directions of the athlete No. 5 and No. 65 are sent to the second mobile camera device numbered 001 and the second mobile camera device numbered 002, respectively. The characteristic information includes at least one of the athlete's number plate and appearance and clothing characteristics. The movement directions are the relative positions of athlete No. 5 and athlete 65 with respect to the first mobile camera device. For example, athlete No. 5 is located at 35° to the right of the first mobile camera device, and athlete No. 65 is located on the left side of the first mobile camera device. 30° to the rear. The second mobile camera device numbered 001 obtains the movement direction of athlete No. 5, flies according to the movement direction, and obtains the tracking target video during the flight, and sends the video to the computer device 1, and the computer device 1 follows The characteristic information of the athlete No. 5 is searched for the characteristic information of the athlete No. 5 in the image frame of the video at a predetermined time interval. If the video image frame contains the characteristic information of the athlete No. 5, the computer device 1 sends an instruction to continuously track the characteristic information of the athlete No. 5 to the second mobile camera device numbered 001. The second mobile camera device numbered 001 continuously tracks and photographs athlete No. 5 according to the instruction. If the second mobile camera device numbered 001 captures the video according to the movement direction of athlete No. 5, the computer device 1 said second mobile camera device numbered 001 within the preset time If the feature information of athlete No. 5 is not found in the captured video information, then retrieve the videos taken by the first mobile camera device and other second mobile camera devices, and search for the feature information of athlete No. 5 in the video; if said If the characteristic information of athlete No. 5 cannot be found in the video, a reminder message will be sent out by means of SMS, instant messaging, telephone, email, etc.

In yet another embodiment of the present invention, the second mobile camera device numbered 002 is based on the characteristic information of the athlete No. 65 sent by the computer device 1, and the processor of the second mobile camera device numbered 002 pairs Search for the feature information of the athlete No. 65 in the video collected by the camera device of the second mobile camera device numbered 002. If the video contains the feature information of the athlete No. 65, perform a search on the feature information Continue to track and shoot; if the search for more than a preset time, the feature information of athlete No. 65 is still not found in the video, the video taken by the first mobile camera device and other second mobile camera devices will be retrieved and displayed in the video Find the characteristic information of the athlete No. 5 in the video; if the characteristic information of the athlete No. 65 cannot be found in the video, a reminder message will be sent by means of SMS, instant messaging, telephone, email, etc.

The above-mentioned Figure 2 describes in detail the target tracking and shooting method of the present invention. The following is a combination of Figures 3-4 to implement the functional modules of the software device for the target tracking and shooting method and the hardware device architecture for the target tracking and shooting method. Make an introduction.

It should be understood that the embodiments are only for illustrative purposes, and are not limited by this structure in the scope of the patent application.

Example three

FIG. 3 is a structural diagram of a preferred embodiment of the target tracking and shooting device of the present invention.

In some embodiments, the target tracking and shooting device 10 runs in a computer device. The computer device is connected to a plurality of mobile camera devices via a network. The target tracking and shooting device 10 may include a plurality of functional modules composed of code segments. The code of each program segment in the target tracking and shooting device 10 can be stored in the memory of the computer device and executed by the at least one processor, In order to achieve the target tracking shooting function.

In this embodiment, the target tracking and shooting device 10 can be divided into multiple functional modules according to the functions it performs. Referring to FIG. 3, the functional modules may include: a receiving module 101, a monitoring module 102, a judgment module 103, and an execution module 104. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in the memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

The receiving module 101 is used for receiving a video including multiple tracking targets collected by the first mobile camera.

In one embodiment of the present invention, the receiving module 101 receives a video containing multiple tracking targets collected by the first mobile camera device. The video can be transmitted by the fifth-generation mobile communication technology, or can be performed by the WIFI network. transmission.

For example, at the starting point of a marathon, the first mobile camera is located at an empty position above the starting point, and is used to photograph multiple athletes at the starting point of the marathon, and send the captured video with multiple athletes to the receiving module 101.

The monitoring module 102 is used to identify and monitor multiple tracking targets in the video.

The monitoring module 102 uses an image recognition method to recognize the tracking target in the video. For example, in a racing game, the monitoring module 102 receives the video at the starting point and recognizes the characteristic information of different cars in the video. The characteristic information includes one or more of the car's license plate, color, and text. For example, in a marathon, the monitoring module 102 receives a video at the starting point of the marathon, and recognizes the athlete's number plate in the video.

The judgment module 103 is used for judging whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device.

In an embodiment of the present invention, the judging module 103 judges whether a plurality of the tracking targets The method within the monitoring range of the first mobile camera device may include: identifying feature information of a plurality of the tracking targets from a video containing a plurality of tracking targets; reacquiring the first The video collected by the mobile camera device is searched for in the image frame of the video whether it contains the characteristic information of a plurality of the tracking targets, so as to determine whether the plurality of the tracking targets are within the monitoring range of the first mobile camera device Inside, wherein the flying speed of the first mobile camera device is equal to the average speed of a plurality of the tracking targets.

For example, the judging module 103 receives the video of the starting position of the marathon obtained by the first mobile camera, and recognizes the athlete's number plate in the video, and re-acquires the first mobile camera at a predetermined time interval. And find out whether it contains the number plates of all athletes from the video information. Wherein, in order for the first mobile camera device to include the most tracking targets in the acquired video image, the flying speed of the first mobile camera device is equal to the average speed of the multiple tracking targets.

The execution module 104 is configured to control at least one second mobile camera device to track and photograph the at least one tracking target when at least one tracking target is not within the monitoring range of the first mobile camera device, wherein, A tracking target that is not within the monitoring range of the first mobile camera device is tracked and photographed by a second mobile camera device.

In one embodiment of the present invention, the execution module 104 is used to search for feature information in the acquired video information, and if at least one tracking target is not within the monitoring range of the first mobile camera device, at least one second camera is controlled A second mobile camera device tracks and photographs the at least one tracking target, wherein a tracking target that is not within the monitoring range of the first mobile camera device is tracked and photographed by a second mobile camera device.

In an embodiment of the present invention, the execution module 104 may also send the characteristic information of the at least one tracking target to the at least one second mobile camera device to control the at least one second mobile camera device to The at least one tracking target is tracked and photographed.

In another embodiment, the execution module 104 also sends the movement direction of the at least one tracking target to the at least one second mobile camera device; wherein, the movement direction is preferably based on the orientation of the first mobile camera device In the center, the relative position of the tracking target and the first mobile camera device. When the second mobile camera device does not acquire the tracking target instruction, the second mobile camera device maintains a preset distance from the first mobile camera device.

In another embodiment, the method further includes when the second mobile camera device tracks the tracking target, sending the video obtained by the second mobile camera device to the execution module 104, and the execution module 104 according to the The video determines whether the tracking is consistent with the tracking target that the first camera device requires the second camera device to track. The specific steps include: the execution module 104 obtains the video image collected by the second mobile camera device flying in accordance with the movement direction of the tracking target; recognizes the feature information in the video image, and compares the The feature information is compared with the received feature information of the tracking target; if it is consistent, the second mobile camera is controlled to obtain the video of the tracking target in real time; if it is inconsistent, the first mobile camera and the other second Searching for a tracking target matching the feature information in the video image in the video obtained by the mobile camera device.

For example, the execution module 104 searches for the athlete's number plate in the marathon video obtained by the first mobile camera device, and finds that athletes No. 5 and 65 are not in the monitoring screen of the first mobile camera device, and the execution module 104 respectively Send the characteristic information of the No. 5 athlete and the characteristic information of the No. 65 athlete and the movement directions of the No. 5 athlete and the No. 65 athlete to the second mobile camera device numbered 001 and the second mobile camera device numbered 002, respectively, The characteristic information includes at least one of the athlete's number plate and appearance and clothing characteristics. The movement directions are the relative positions of athlete No. 5 and athlete 65 with respect to the first mobile camera device. For example, athlete No. 5 is located at 35° to the right of the first mobile camera device, and athlete No. 65 is located on the left side of the first mobile camera device. 30° to the rear. The second mobile camera device numbered 001 obtains the movement direction of athlete No. 5, flies according to the movement direction, and obtains the tracking target video during the flight, and sends the video to the execution module 104, which is the execution module 104, according to the characteristic information of the athlete No. 5, search for the characteristic information of the athlete No. 5 in the image frame of the video at predetermined intervals. If the video image frame contains the characteristic information of the athlete No. 5, the computer device 1 sends an instruction to continuously track the characteristic information of the athlete No. 5 to the second mobile camera device numbered 001. The second mobile camera device numbered 001 continuously tracks and photographs athlete No. 5 according to the instruction. If the second mobile camera device numbered 001 shoots a video according to the movement direction of athlete No. 5, the computer device 1 does not find number 5 in the video information captured by the second mobile camera device numbered 001 within the preset time. For the feature information of the athlete, retrieve the videos taken by the first mobile camera device and other second mobile camera devices, and search for the feature information of the No. 5 athlete in the video; if the No. 5 athlete is still not found in the video Feature information is sent out prompt messages through short messages, instant messaging messages, phone calls, emails, etc.

In yet another embodiment of the present invention, the second mobile camera device numbered 002 is based on the characteristic information of the athlete No. 65 sent by the computer device 1, and the processor of the second mobile camera device numbered 002 pairs Search for the feature information of the athlete No. 65 in the video collected by the camera device of the second mobile camera device numbered 002. If the video contains the feature information of the athlete No. 65, perform a search on the feature information Continue to track and shoot; if the search for more than a preset time, the feature information of athlete No. 65 is still not found in the video, the video taken by the first mobile camera device and other second mobile camera devices will be retrieved and displayed in the video Find the characteristic information of the athlete No. 5 in the video; if the characteristic information of the athlete No. 65 cannot be found in the video, a reminder message will be sent by means of SMS, instant messaging, telephone, email, etc.

Example four

Fig. 4 is a schematic diagram of a preferred embodiment of the computer device of the present invention.

The computer device 1 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and running on the processor 30, such as a target tracking and shooting program. When the processor 30 executes the computer program 40, the steps in the above embodiment of the target tracking and shooting method are realized, for example, As shown in Figure 2 steps S1 ~ S4. Alternatively, when the processor 30 executes the computer program 40, the functions of the modules/units in the above-mentioned embodiment of the target tracking and shooting device are realized, such as the units 101-104 in FIG. 3.

Exemplarily, the computer program 40 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 20 and executed by the processor 30 , To complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program 40 in the computer device 1. For example, the computer program 40 can be divided into the receiving module 101, the monitoring module 102, the judgment module 103, and the execution module 104 in FIG. 3.

The computer device 1 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. Those skilled in the art can understand that the schematic diagram is only an example of the computer device 1, and does not constitute a limitation on the computer device 1. Components, for example, the computer device 1 may also include input and output devices, network access devices, bus bars, and the like.

The so-called processor 30 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and dedicated integrated circuits (Application Specific Integrated Circuit, ASIC). , Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor 30 can also be any conventional processor, etc. The processor 30 is the control center of the computer device 1 and connects the entire computer device 1 with various interfaces and lines. Various parts.

The memory 20 can be used to store the computer programs 40 and/or modules/units, and the processor 30 runs or executes the computer programs and/or modules/units stored in the memory 20, And call the data stored in the memory 20 to realize various functions of the computer device 1. The memory 20 may mainly include a storage program area and a storage data area, wherein the storage program area can store the operating system, to One less application program (such as sound playback function, image playback function, etc.) required for one function; the storage data area can store data created based on the use of the computer device 1 (such as audio data), etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), and a secure digital device. (Secure Digital, SD) card, flash memory card (Flash Card), at least one magnetic disk memory device, flash memory device, or other non-volatile solid state memory device.

If the integrated module/unit of the computer device 1 is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by computer programs instructing related hardware, and the computer programs can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of original program code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only) Only Memory), Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media.

In the several embodiments provided by the present invention, it should be understood that the disclosed computer device and method can be implemented in other ways. For example, the embodiments of the computer device described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation.

In addition, the functional units in the various embodiments of the present invention may be integrated in the same processing unit, or each unit may exist alone physically, or two or more units may be integrated in the same unit. The above-mentioned integrated unit can be realized in the form of hardware or hardware plus Realization in the form of software function modules.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the scope of the attached patent application rather than the above description, so it is intended to fall within the application The meaning of the equivalent elements of the patent scope and all changes within the scope are included in the present invention. Any reference signs in the scope of the patent application should not be regarded as limiting the scope of the patent application involved. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or computer devices stated in the scope of the computer device patent application can also be implemented by the same unit or computer device by software or hardware. Words such as first and second are used to denote names, but do not denote any specific order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements are made without departing from the spirit and scope of the technical solutions of the present invention.

Claims (8)

A target tracking and shooting method, the method comprising: receiving a video including a plurality of tracking targets collected by a first mobile camera device, wherein the flying speed of the first mobile camera device is equal to the average speed of the plurality of tracking targets Identify and monitor multiple tracking targets in the video; determine whether multiple tracking targets are within the monitoring range of the first mobile camera device; if at least one tracking target is not in the first mobile camera device Within the monitoring range of the first mobile camera device, control at least one second mobile camera device to track and shoot the at least one tracking target, wherein a tracking target that is not within the monitoring range of the first mobile camera device is moved by a second The camera device performs tracking shooting, wherein when the second mobile camera device does not receive a tracking target instruction, the second mobile camera device maintains a preset distance from the first mobile camera device. The target tracking and shooting method according to claim 1, wherein the step of determining whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device comprises: identifying from a video containing a plurality of tracking targets Feature information of a plurality of the tracking targets; re-acquire the video collected by the first mobile camera device at a predetermined time interval, and search for the image frame of the video whether it contains multiple tracking targets Feature information to determine whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device. The target tracking and shooting method according to claim 2, wherein if at least one tracking target is not within the monitoring range of the first mobile camera device, at least one second mobile camera device is controlled to perform on the at least one tracking target The step of tracking and shooting includes: if the feature information of the at least one tracking target is missing in the image frame, sending the feature information of the at least one tracking target to the at least one second mobile camera device to control all The at least one second mobile camera device tracks and photographs the at least one tracking target. The target tracking and shooting method according to claim 3, wherein the method further includes: If the feature information of the at least one tracking target is missing in the image frame, the movement direction of the at least one tracking target is sent to the at least one second mobile camera; wherein, the movement direction is based on the first The position of the mobile camera is the center, and the relative position of the tracking target and the first mobile camera. The target tracking and shooting method according to claim 4, wherein the method further comprises: acquiring a video image collected by the second mobile camera device flying according to the movement direction of the tracking target; and identifying the video For the feature information in the image, compare the feature information with the received feature information of the tracking target; if it is consistent, control the second mobile camera device to obtain the video of the tracking target in real time; Searching for a tracking target matching the feature information in the video image from the video acquired by the first mobile camera device and other second mobile camera devices. A target tracking and shooting device, the device comprising: a receiving module for receiving a video containing multiple tracking targets collected by a first mobile camera device; a control module for controlling the flight speed of the first mobile camera device , Wherein the flying speed of the first mobile camera device is equal to the average speed of a plurality of the tracking targets; a monitoring module for identifying and monitoring a plurality of the tracking targets in the video; a judgment module, Used to determine whether a plurality of the tracking targets are within the monitoring range of the first mobile camera device; an execution module is used to control at least A second mobile camera device tracks and photographs the at least one tracking target, wherein a tracking target that is not within the monitoring range of the first mobile camera device is tracked and photographed by a second mobile camera device, wherein, When the second mobile camera device does not receive the tracking target instruction, the second mobile camera device maintains a preset distance from the first mobile camera device Leave. A computer device, the computer device includes a processor, and the processor is used to implement the target tracking and shooting method according to any one of claim items 1 to 5 when executing a computer program stored in a memory. A computer storage medium has a computer program stored thereon, wherein when the computer program is executed by a processor, the target tracking and shooting method according to any one of claim items 1 to 5 is realized.

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