TWM459641U - Automatic target tracking system - Google Patents

Description

Target automatic tracking system

This creation is about an automatic tracking system, especially a system that automatically tracks targets.

With the rapid development of photography technology, cameras have been widely used in various occasions for photography. When the user wants to take a surveillance shot for a specific area or target, the camera's lens angle and focus will be adjusted manually to allow the camera to focus on a specific area or target. However, the adjustment of the photographic lens by manpower control not only consumes a lot of manpower, but if the user does not pay attention to the shooting scene and does not adjust the lens in real time, the result of the photography will be greatly reduced.

Furthermore, the camera is further used for monitoring purposes, and it is generally fixed above a certain point for photography monitoring. However, fixing the camera above a fixed point has limited field of view. If the camera is used to monitor a specific target of a move, the specific target of the move is easily detached from the surveillance range of the camera, and the camera cannot continue to follow.

One of the aims of the present invention is to provide an automatic target tracking system, the system comprising at least one single device and one main control device, the main control device is disposed on a movable carrier, and the main control device is based on the single device The relative spatial motion data between the master and the control device adjusts the spatial position or rotation angle of the carrier so that the master device can automatically move relative to the single device and always track the single device.

Another object of the present invention is to provide an automatic target tracking system, the system comprising at least one single device and a main control device having a photographic module, wherein the main control device is based on a relative between the single device and the main control device. The spatial motion data adjusts the lens rotation angle and focal length of the photographic module, so that the main control device can always track and monitor the single device by the photographic module.

A further object of the present invention is to provide an automatic target tracking system, the system comprising at least one single device and one main control device, the single device being disposed on a movable carrier, the main control device being based on the single device The relative spatial motion data between the device and the main control device sends an indication signal to the single device, and the single device adjusts the position and/or the rotation angle of the space of the carrier according to the indication of the indication signal, so that the single device can be accessed. Tracking for a specific area/target for a specific area/target.

Another object of the present invention is to provide an automatic target tracking system, the system comprising at least one single device having a photographic module and a main control device, wherein the main control device is based on a relative between the single device and the main control device. The spatial motion data and the image data captured by the camera module of the single device send an indication signal to the single device, and the single device adjusts the lens rotation angle and the focal length of the camera module according to the indication of the indication signal to make the single device The photographic module can correctly focus on a specific area/target and perform photographic tracking for a specific area/target.

In order to achieve the above objective, the present invention provides an automatic target tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of a single device to generate a first spatial motion amount data; And a first communication module connected to the first motion sensor for transmitting the first spatial motion quantity data; and a main control device comprising: a second motion sensor for sensing the spatial motion change of the main control device Generating a second spatial motion amount data; a second communication module for receiving the first spatial motion amount data transmitted by the single device; a photography module; and an operation module connecting the second motion sensor and the second The communication module and the photography module calculate a relative spatial motion quantity data between the single device and the main control device according to the first spatial motion quantity data and the second spatial motion quantity data, and adjust the lens rotation of the photography module according to the relative spatial motion quantity data. Angle and focus to focus the camera module onto the unit.

In an embodiment of the present invention, the main control device is disposed on a movable carrier, and the carrier is electrically connected to the computing module, and the computing module adjusts the position of the space of the carrier according to the relative spatial motion data and/or The angle of rotation is such that the master device is close to the unitary device.

In an embodiment of the present invention, the single device further includes a sound receiving module, and the sound receiving module is connected to the first communication module for collecting sound generated in the vicinity of the single device to generate an audio data, and the single device transmits the first The communication module transmits the audio data to the main control device, and the main control device receives the audio data through the second communication module.

In an embodiment of the present invention, the camera module integrates an image data and audio data generated by the camera into a video material.

The present invention further provides an object automatic tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of the single device to generate a first spatial motion amount data; and a first a communication module, connected to the first motion sensor for transmitting the first spatial motion data; and a main control device disposed on the movable vehicle, comprising: a second motion sensor for sensing the main The spatial motion of the control device changes to generate a second spatial motion data; a second communication module is configured to receive the first spatial motion data transmitted by the single device; and a computing module is coupled to the second motion sensor and The second communication module calculates a relative spatial motion quantity data between the single device and the main control device according to the first spatial motion quantity data and the second spatial motion quantity data, and adjusts the position of the space of the vehicle according to the relative spatial motion quantity data and/or Or rotate the angle to bring the master device close to the single unit.

The present invention further provides an automatic target tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of the single device to generate a first spatial motion amount data; Photographing a specific area or target to generate an image data; a first communication module for transmitting the first spatial motion amount data and/or image data; and a control module for connecting the first motion sensor, a first communication module and a camera module; and a master control device, comprising: a second motion sensor for sensing a spatial motion change of the master device to generate a second space motion amount data; and a second communication module And receiving a first spatial motion data and/or image data transmitted by the single device; and an operation module, connecting the second motion sensor and the second communication module, according to the first spatial motion data and the second space The amount of exercise data is used to calculate the relative spatial motion data between the single device and the master device, and is generated based on the relative spatial motion data and/or image data. The indication signal transmits the indication signal to the single device via the second communication module, wherein the single device receives the indication signal via the first communication module, and the control module of the single device adjusts the lens of the photographic module according to the indication of the indication signal Turn the angle and focus to focus the camera module on a specific area or target.

In an embodiment of the present invention, the single device is disposed on a movable carrier, the carrier is electrically connected to the control module, and the control module adjusts the position of the space of the carrier according to the indication of the indication signal and/or The angle of rotation is such that the unitary device is close to a particular area or target.

In an embodiment of the present invention, the main control device further includes a sound collection module, and the sound collection module is connected to the second communication module, and the main control device generates an audio data by using the sound collection module, and uses the second communication module to transmit the audio information. The data is transmitted to the single device, and the single device receives the audio data through the first communication module.

The present invention further provides an automatic target tracking system, comprising: at least one single device disposed on a movable carrier, comprising: a first motion sensor for sensing a spatial motion change of the single device to generate a first spatial motion data; a first communication module coupled to the first motion sensor for transmitting the first spatial motion data; and a control module coupled to the first motion sensor and the first communication module, and Electrically connecting the vehicle; and a main control device, comprising: a second motion sensor for sensing a spatial motion change of the master device to generate a second spatial motion amount data; and a second communication module for receiving a first spatial motion data transmitted by the single device; and a computing module connected to the second motion sensor and the second communication module, and calculating the single device according to the first spatial motion data and the second spatial motion data A relative spatial motion data between the main control devices generates an indication signal according to the relative spatial motion data, and transmits the indication signal to the single via the second communication module The device, wherein the single device receives the indication signal via the first communication module, and the control module of the single device adjusts the position and/or the rotation angle of the space of the carrier according to the indication of the indication signal to make the single device close to a specific Area or target.

In an embodiment of the present invention, the main control device further includes a radio module, and the radio module is connected to the second communication module. The main control device generates an audio data by using the radio module and transmits the audio data through the second communication module. The device transmits to the single device, and the single device receives the audio data through the first communication module.

In an embodiment of the present invention, the first motion sensor and the second motion sensor are a north arrow, a gyroscope, an accelerometer, a pressure gauge, a GPS positioning module, and/or a perceptible spatial motion amount. Device.

In an embodiment of the present invention, the first communication module and the second communication module are a WIFI module, a Bluetooth module, a GSM module, and/or a communication module capable of transmitting data.

100‧‧‧Tracking system
10‧‧‧Single device
11‧‧‧First motion sensor
110‧‧‧First space movement data
12‧‧‧First Communication Module
16‧‧‧ Radio Module
160‧‧‧Audio data
20‧‧‧Master control unit
21‧‧‧Second motion sensor
210‧‧‧Second space movement data
22‧‧‧Second communication module
23‧‧‧Photography module
230‧‧‧Image data
231‧‧‧ audio and video materials
24‧‧‧ Computing Module
240‧‧‧ Relative spatial movement data
300‧‧‧Tracking system
30‧‧‧Single device
31‧‧‧First motion sensor
310‧‧‧First space movement data
32‧‧‧First Communication Module
33‧‧‧Photography module
330‧‧‧Image data
34‧‧‧Control Module
35‧‧‧ Vehicles
40‧‧‧Master control unit
41‧‧‧Second motion sensor
410‧‧‧Second space movement data
42‧‧‧Second communication module
44‧‧‧ Computing Module
440‧‧‧ Relative spatial motion data
441‧‧‧Indication signal
46‧‧‧Audio data
460‧‧‧ Radio Module

Fig. 1 is a schematic view showing the structure of a preferred embodiment of the automatic target tracking system.
Figure 2 is a circuit diagram of a preferred embodiment of the present invention.
Figure 3: Schematic diagram of another embodiment of the automatic target tracking system of the present invention.
Fig. 4 is a circuit diagram showing still another embodiment of the automatic target tracking system of the present invention.

Please refer to FIG. 1 and FIG. 2 , which are schematic structural diagrams and circuit diagrams of a preferred embodiment of the automatic target tracking system. The creation tracking system 100 includes at least one single device 10 and one main control device 20. The single device 10 of this embodiment may also be disposed on a moving target to be tracked by the main control device 20, and the target may be any moving person or thing, such as a child, an elderly person, a pet, a vehicle, or the like.

The single device 10 includes a first motion sensor 11 and a first communication module 12, and the first communication module 12 is connected to the first motion sensor 11. The main control device 20 includes a second motion sensor 21, a second communication module 22, and a computing module 24. The computing module 24 is connected to the second motion sensor 21 and the second communication module 22, respectively. The first motion sensor 11 and the second motion sensor 21 may also be selected as a north arrow, a gyroscope, an accelerometer, a pressure gauge, a GPS positioning module, and/or a device capable of sensing spatial motion. The first communication module 12 and the second communication module 22 can also be selected as a WIFI module, a Bluetooth module, a GSM module, and/or a communication module capable of transmitting data.

The first motion sensor 11 is configured to sense a spatial motion change of the single device 10 to generate a first spatial motion data 110. The first spatial motion data 110 is transmitted to the main control device 20 via the first communication module 12. The second motion sensor 21 is configured to sense a spatial motion change of the master device 20 to generate a second spatial motion amount data 210. The main control device 20 receives the first spatial motion amount data 110 transmitted by the single device 10 via the second communication module 22. The computing module 24 calculates a relative spatial motion amount data 240 between the single device 10 and the main control device 20 based on the first spatial motion amount data 110 and the second spatial motion amount data 210.

In an embodiment of the present invention, the main control device 20 may be selectively disposed on a movable carrier 25, such as a vehicle body carrier, a hull carrier, a flying vehicle or a track carrier, and the carrier 25 will The computing module 24 of the main control device 20 is electrically connected. The computing module 24 of the main control device 20 can adjust the position and/or the rotation angle of the space of the carrier 25 according to the relative spatial motion amount data 240, so that the main control device 20 can automatically move relative to the single device 10. The single unit 10 is always tracked.

Alternatively, in another embodiment of the present invention, the main control device 20 further includes a camera module 23, and the camera module 23 is connected to the computing module 24. The computing module 24 of the main control device 20 can adjust the lens rotation angle and the focal length of the camera module 23 according to the relative spatial motion amount data 240, so that the camera module 23 can always focus on the single device 10 for the single device. 10 for monitoring and tracking.

According to the embodiment, the main control device 20 can also select to adjust the spatial position/rotation angle of the carrier 25 to track the single device 10 or select the lens rotation angle/focal length of the camera module 23 for photography. The unitary device 10 is tracked. Or, preferably, the main control device 20 not only adjusts the lens rotation angle/focal length of the camera module 23, but also synchronously adjusts the spatial position/rotation angle of the carrier 25 so that the main control device 20 can automatically move to a comparison. A good proper position tracking monitoring unit 10 is provided.

In addition, in another embodiment of the present invention, the computing module 24 of the master device 20 has a target image recognition algorithm, and the target image recognition algorithm can actively generate the image data 230 captured by the camera module 23 A particular unitary device 10 is identified. The computing module 24 of the master device 20 can adjust the lens rotation angle/focal length of the camera module 23 and/or the spatial position of the carrier 25 according to the results of the relative spatial motion data 240 and/or the identification image data 230. Rotation angle. Here, by the identification of the image data 230, the main control device 20 will be assisted to accurately lock a specific single device 10 for tracking monitoring.

Moreover, the present unit 10 is further provided with a sound module 16 , and the sound module 16 is connected to the first communication module 12 . The sound module 16 of the present embodiment is configured to collect the sound generated by the tracked object or the sound generated by the area near the single device 10 to generate an audio material 160. The single device 10 transmits the audio data 160 to the main control device 20 via the first communication module 12, and the main control device 20 receives the audio data 160 via the second communication module 22. Thereafter, the camera module 23 integrates the captured image data 230 and the audio data 160 collected by the sound module 16 into a video material 231. Here, when the sound receiving module 16 is disposed on the single device 10, the camera module 23 of the master device 20 can record a clear audio and video material 231 for the single device 10.

Here, the main control device 20 of the present embodiment can automatically track and monitor the single device 10 as a target object without manual control, and adjust the spatial position of the unit device 10 according to the spatial position of the single device 10 and/or Or the angle/focal length of photography to expand the range of tracking targets.

Please refer to FIG. 3 and FIG. 4 , which are schematic structural diagrams and circuit diagrams of still another embodiment of the automatic target tracking system. As shown, the present authoring tracking system 300 includes at least one unitary device 30 and a mastering device 40. The master device 40 of the present embodiment will instruct the unit device 30 to track a particular area and/or target.

The single device 30 includes a first motion sensor 31, a first communication module 32, and a control module 34. The control module 34 is connected to the first motion sensor 31 and the first communication module 32, respectively. The main control device 40 includes a second motion sensor 41, a second communication module 42 and an operation module 44. The operation module 44 is connected to the second motion sensor 41 and the second communication module 42, respectively. The first motion sensor 31 and the second motion sensor 41 may also be selected as a north arrow, a gyroscope, an accelerometer, a pressure gauge, a GPS positioning module, and/or a device capable of sensing spatial motion. The first communication module 32 and the second communication module 42 can also be selected as a WIFI module, a Bluetooth module, a GSM module, and/or a communication module capable of transmitting data.

The first motion sensor 31 is configured to sense a spatial motion change of the single device 30 to generate a first spatial motion data 310. The first spatial motion data 310 is transmitted to the main control device 40 via the first communication module 32. The second motion sensor 41 is configured to sense a spatial motion change of the master device 40 to generate a second spatial motion amount data 410. The main control device 40 receives the first spatial motion amount data 310 transmitted by the single device 30 via the second communication module 42. The computing module 44 calculates a relative spatial motion amount data 440 between the single device 30 and the main control device 40 based on the first spatial motion amount data 310 and the second spatial motion amount data 410.

In an embodiment of the present invention, the single device 30 can be selectively disposed on a movable carrier 35. The carrier 35 is electrically connected to the control module 34 of the single device 30. The computing module 44 of the master device 40 sends an indication signal 441 based on the relative spatial motion amount data 440. The indication signal 441 is transmitted to the single device 30 via the second communication module 42 , and the single device 30 receives the indication signal 441 via the first communication module 32 . Thereafter, the control module 34 of the single device 30 adjusts the position and/or the rotation angle of the space of the carrier 35 according to the indication of the indication signal 441 so that the single device 30 can be close to a specific area and/or target. Track specific areas and/or targets.

Alternatively, in another embodiment of the present invention, the single device 30 further includes a camera module 33, and the camera module 33 is connected to the control module 34. The photography module 33 will take a picture of a particular area/target to produce an image data 330. The unit device 30 transmits the image data 330 to the main control device 40 via the first communication module 32, and the main control device 40 receives the image data 330 via the second communication module 42. Furthermore, in an embodiment of the present invention, the computing module 44 of the main control device 40 has a target image recognition algorithm, and the target image recognition algorithm can actively identify at least one specific moving target from the image data 330. . Then, the computing module 44 of the master device 40 issues an indication signal 441 based on the results of the relative spatial motion data 440 and/or the identification image data 330. Then, after receiving the indication signal 441, the control module 34 of the single device 30 adjusts the lens rotation angle and the focal length of the camera module 33 according to the indication of the indication signal 441, so that the camera module 33 can focus on a specific area and / or on a specific moving target for photographic tracking of specific areas and / or specific moving targets.

Alternatively, in another embodiment of the present invention, the control module 34 of the single device 30 can adjust the lens rotation angle/focal length of the camera module 33 and the spatial position/rotation angle of the carrier 35 according to the indication of the indication signal 441. In order to enable the unit device 30 to move to a position indicated by a master device 40 to track a particular area and/or target.

Furthermore, the main control device 40 of the embodiment further includes a radio module 46, and the radio module 46 is connected to the second communication module 42. The master of the master device 40 can use the sound module 46 to transmit a voice message to generate an audio material 460. The audio data 460 is transmitted to the single device 30 via the second communication module 42 , and the single device 30 receives the audio data 460 via the first communication module 32 . Thereafter, the controller of the single device 30 uses an audio playback component (eg, a headset, a speaker) to play the audio material 460 to know the voice message that the master wants to convey.

As described above, the main control device 40 of the present embodiment instructs at least one of the single devices 30 to perform tracking monitoring for a specific area/target according to the purpose of tracking monitoring, and according to the spatial position of the single device 30 and/or The photographed image content is used to indicate the movement of the spatial position of the unitary device 30 and/or the adjustment of the photographing angle/focal length, so that the single unit 30 can correctly track the monitoring to a specific area/target.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, that is, the equivalent changes and modifications of the shapes, structures, features and spirits described in the scope of the patent application. , should be included in the scope of the patent application of this creation.

100‧‧‧Tracking system

10‧‧‧Single device

11‧‧‧First motion sensor

110‧‧‧First space movement data

12‧‧‧First Communication Module

16‧‧‧ Radio Module

160‧‧‧Audio data

20‧‧‧Master control unit

21‧‧‧Second motion sensor

210‧‧‧Second space movement data

22‧‧‧Second communication module

23‧‧‧Photography module

230‧‧‧Image data

231‧‧‧ audio and video materials

24‧‧‧ Computing Module

240‧‧‧ Relative spatial movement data

Claims (14)

An object automatic tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of a single device to generate a first spatial motion amount data; and a first communication module, Connecting the first motion sensor to transmit the first spatial motion data; and a master device disposed on the movable vehicle, comprising: a second motion sensor for sensing the space of the master device The motion is changed to generate a second spatial motion data; a second communication module is configured to receive the first spatial motion data transmitted by the single device; and an operation module is connected to the second motion sensor and the second communication module And calculating a relative spatial motion quantity data between the single device and the main control device according to the first spatial motion quantity data and the second spatial motion quantity data, and adjusting a position and/or a rotation angle of the space of the vehicle according to the relative spatial motion quantity data. Keep the master device close to the single unit. The tracking system of claim 1, wherein the first motion sensor and the second motion sensor are a north arrow, a gyroscope, an accelerometer, a pressure gauge, and a GPS positioning module. And/or a device capable of sensing the amount of spatial motion, and the first communication module and the second communication module are a WIFI module, a Bluetooth module, a GSM module and/or a communication capable of transmitting data Module. An object automatic tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of a single device to generate a first spatial motion amount data; and a first communication module, a first motion sensor is connected to transmit the first spatial motion data; and a master control device includes: a second motion sensor for sensing a spatial motion change of the master device to generate a second spatial motion amount data; a second communication module is configured to receive the first spatial motion data transmitted by the single device; a photography module; and an operation module, connected to the second motion sensor, the second communication module, and the photography module, Calculating the relative spatial motion data between the single device and the main control device according to the first spatial motion data and the second spatial motion data, and adjusting the lens rotation angle and the focal length of the photographic module according to the relative spatial motion data to adopt the photographic module Focus on the unit. The tracking system of claim 3, wherein the main control device is disposed on a movable carrier, the carrier is electrically connected to the computing module, and the computing module is based on the relative spatial motion amount. The data adjusts the position and/or angle of rotation of the space of the carrier to bring the master device close to the unitary device. The tracking system of claim 3, wherein the single device further includes a sound receiving module, and the sound receiving module is connected to the first communication module for collecting sound generated in the vicinity of the single device to generate a The audio data is transmitted through the first communication module to the main control device, and the main control device receives the audio data through the second communication module. The tracking system of claim 5, wherein the camera module integrates an image data generated by the photography with the audio data into a video material. The tracking system of claim 3, wherein the first motion sensor and the second motion sensor are a north arrow, a gyroscope, an accelerometer, a pressure gauge, and a GPS positioning module. And/or a device capable of sensing the amount of spatial motion, and the first communication module and the second communication module are a WIFI module, a Bluetooth module, a GSM module and/or a communication capable of transmitting data Module. An automatic target tracking system includes: at least one single device disposed on a movable carrier, comprising: a first motion sensor for sensing a spatial motion change of the single device to generate a first space The first communication module is connected to the first motion sensor for transmitting the first spatial motion data; and a control module is connected to the first motion sensor and the first communication module, and the electrical connection And a main control device comprising: a second motion sensor for sensing a spatial motion change of the master device to generate a second spatial motion amount data; and a second communication module for receiving the single device The first spatial motion data transmitted; and a computing module, connected to the second motion sensor and the second communication module, and calculating the space between the single device and the main control device according to the first spatial motion data and the second spatial motion data a relative spatial motion data, generating an indication signal according to the relative spatial motion data, and transmitting the indication signal to the single device via the second communication module, wherein the single device Set via the first communication module receives the indication signal, the control means of the single module according to an instruction of the instruction signal to adjust the position of the carrier space and / or rotation angles of the monomer unit in order to make close to a particular region or target. The tracking system of claim 8, wherein the main control device further comprises a sound collection module, and the sound collection module is connected to the second communication module, wherein the main control device generates an audio data by using the sound collection module. The audio data is transmitted to the single device through the second communication module, and the single device receives the audio data through the first communication module. The tracking system of claim 8, wherein the first motion sensor and the second motion sensor are a north arrow, a gyroscope, an accelerometer, a pressure gauge, and a GPS positioning module. And/or a device capable of sensing the amount of spatial motion, and the first communication module and the second communication module are a WIFI module, a Bluetooth module, a GSM module and/or a communication capable of transmitting data Module. An object automatic tracking system, comprising: at least one single device, comprising: a first motion sensor for sensing a spatial motion change of a single device to generate a first spatial motion amount data; and a photography module for a specific The area or the target performs photography to generate an image data; a first communication module transmits the first spatial motion amount data and/or image data; and a control module connects the first motion sensor and the first communication mode And a main control device, comprising: a second motion sensor for sensing a spatial motion change of the master device to generate a second spatial motion amount data; and a second communication module for receiving a first spatial motion data and/or image data transmitted by the single device; and a computing module connected to the second motion sensor and the second communication module, and calculating according to the first spatial motion data and the second spatial motion data a relative spatial motion data between the single device and the main control device, generating an indication signal according to the relative spatial motion data and/or the image data, via The communication module transmits the indication signal to the single device, wherein the single device receives the indication signal via the first communication module, and the control module of the single device adjusts the lens rotation angle and the focal length of the camera module according to the indication of the indication signal. Focus the camera module on a specific area or target. The tracking system of claim 11, wherein the single device is disposed on a movable carrier, the carrier is electrically connected to the control module, and the control module is instructed according to the indication signal The position and/or angle of rotation of the space of the carrier is adjusted to approximate the unit to the particular area or target. The tracking system of claim 11, wherein the main control device further comprises a sound collection module, and the sound collection module is connected to the second communication module, wherein the main control device generates an audio data by using the sound collection module. And transmitting, by the second communication module, the audio data to the single device, and the single device receives the audio data through the first communication module. The tracking system of claim 11, wherein the first motion sensor and the second motion sensor are a north arrow, a gyroscope, an accelerometer, a pressure gauge, and a GPS positioning module. And/or a device capable of sensing the amount of spatial motion, and the first communication module and the second communication module are a WIFI module, a Bluetooth module, a GSM module and/or a communication capable of transmitting data Module.