WO2017197729A1

WO2017197729A1 - Tracking system and tracking method

Info

Publication number: WO2017197729A1
Application number: PCT/CN2016/087654
Authority: WO
Inventors: 桂小琰; 曾勇
Original assignee: 西安斯凯智能科技有限公司
Priority date: 2016-05-16
Filing date: 2016-06-29
Publication date: 2017-11-23
Also published as: CN106023251A

Abstract

A tracking system (100) and a tracking method, relating to the tracking field. The tracking system (100) for controlling a mobile tracking terminal (11) to track a moving target terminal (12), comprises: a distance determination unit (1), for determining the current relative distance of the tracking terminal (11) with respect to the target terminal (12) (S101); an angle determination unit (2), for determining the current relative angle of the tracking terminal (11) with respect to the target terminal (12) (S102); a target terminal speed acquisition unit (3), for acquiring the current target movement speed of the target terminal (12) (S103); a controller (4), for regulating, according to the current relative distance, the current relative angle and the current target movement speed, the current tracking movement speed and the current tracking movement gesture of the tracking terminal (11), such that the tracking terminal (11) substantially maintains the preset relative distance and the preset relative angle with respect to the target terminal (12) (S104). With speed, the tracking terminal (11) can move in a more timely fashion responding to the target terminal (12), reducing lag time; and the tracking terminal (11) reduces, due to maintaining a speed consistent with the target terminal (12), inertia caused by the sudden increase or decrease in speed, achieving precise tracking.

Description

Tracking system and tracking method

Technical field

The present invention relates to the field of tracking, and in particular to a tracking system and a tracking method.

Background technique

In recent years, target location and tracking technology has been a research hotspot and difficulty of various smart devices or devices. The tracking device can be an aerial robot - a drone, a robot on the ground, or a smart car.

Taking the UAV as an example, the UAVs currently on the market basically use computer vision to achieve tracking, and the tracking angle and tracking distance of the UAV are determined by collecting and tracking the image of the target and processing the image. When tracking is performed in the above manner, since image processing requires a large amount of calculation, there is a problem of time lag to some extent, and image processing is not accurate enough when calculating distance information. In addition, it has been found that when the existing drone is tracking the target, if the tracking target suddenly changes in speed, the unmanned person will generate a larger speed change to ensure tracking according to the predetermined tracking speed and angle.

In addition, when the computer vision is used to track the target, effective tracking cannot be achieved once the tracking target is not within the shooting range of the camera or blocked by other objects.

Summary of the invention

An object of the present invention is to overcome the above problems and to provide a tracking system and a tracking method capable of achieving high-precision target tracking.

In particular, the present invention provides a tracking system for controlling a mobile tracking end to track a moving target end, including:

a distance determining unit, configured to determine a current relative distance of the tracking end relative to the target end;

An angle determining unit, configured to determine a current relative angle of the tracking end with respect to the target end;

a target end speed acquiring unit, configured to acquire a current target moving speed of the target end; and

a controller, configured to adjust a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is opposite to the The target end is basically maintained at a preset relative distance and a preset relative angle degree.

Further, the controller is configured to adjust the current tracking motion speed of the tracking end no later than adjusting the current tracking motion posture of the tracking end.

Further, the controller is configured to adjust the current tracking motion speed of the tracking end before adjusting the current tracking motion posture of the tracking end.

Further, the controller is configured to adjust the current tracking motion speed of the tracking end with the current target motion speed of the target end as a target.

Further, the controller is configured to adjust the current tracking motion speed of the tracking end to the current target motion speed immediately following the target end.

Further, the tracking system further includes:

An image collection device disposed at the tracking end for acquiring a tracking image including the target end;

An image processing unit, configured to process the tracking image to obtain a location of the target end in the tracking image;

The angle determining unit is configured to determine the current relative angle of the tracking end relative to the target end according to a position of the target end in the tracking image.

Further, the tracking image is only used to determine the current relative angle.

Further, the tracking system further includes:

a first radio frequency device disposed at the tracking end; and

A second radio frequency device disposed at the target end.

Further, the distance determining unit is configured to determine the current relative distance according to a radio frequency signal transmitted between the first and second radio frequency devices;

Optionally, the radio frequency signal is an ultra-wideband radio frequency signal.

Further, the first and second radio frequency devices are used for data and instruction transmission of the tracking end and the target end.

Further, the tracking system further includes:

a first positioning device disposed at the tracking end for determining a current tracking position of the tracking end;

a second positioning device disposed at the target end for determining a current target position of the target end;

Wherein the distance determining unit is configured to be based on the current tracking position and the current target Position to determine the current relative distance.

Further, the target end speed acquisition unit includes a speed sensor or an acceleration sensor disposed at the target end.

Further, the tracking end is a drone, a ground robot or a smart car.

In particular, the present invention provides a tracking method for controlling a moving tracking end to track a moving target end, including the following steps:

Determining a current relative distance of the tracking end relative to the target end;

Determining a current relative angle of the tracking end with respect to the target end;

Obtaining a current target moving speed of the target end;

Adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is substantially maintained relative to the target end Preset relative distance and preset relative angle.

Further, adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are performed no later than adjusting the tracking end The current tracking motion speed of the tracking end is adjusted while the motion posture is being tracked.

Further, adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are to adjust the current tracking motion of the tracking end The current tracking motion speed of the tracking end is adjusted before the gesture.

Further, adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, that is, the current target motion speed of the target end The current tracking motion speed of the tracking end is adjusted for the target.

Further, adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, where the current tracking motion speed of the tracking end is Adjusted to the current target speed of motion immediately following the target end.

The scheme of the invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end can follow the speed change of the target end in time when tracking the target end, so that the tracking end and the target end always maintain a substantially consistent speed, avoiding Sudden increase in speed due to the target end Or the tracking end caused by the reduction requires a larger speed change due to inertia to adapt to the speed change of the target end, so that the tracking end can respond to the movement of the target end in a more timely manner, reducing the lag time. Further, according to the aspect of the present invention, even when the target end is outside the shooting range of the camera or is blocked by other objects, the relative distance and/or relative angle of the tracking end with respect to the target end cannot be determined, the present invention The scheme introduces the motion speed of the target end as the control parameter of the controller, and the motion speed of the target end can be obtained by non-image processing, so that the controller can closely follow the speed of the target end by controlling the tracking end, so that the Within acceptable distances. In this way, once the camera is able to reacquire the image of the target, then accurate tracking can continue. Thus, the present invention achieves accurate tracking of the target end by a combination of three parameters of distance, angle and speed.

The above as well as other objects, advantages and features of the present invention will become apparent to those skilled in the <

DRAWINGS

Some specific embodiments of the present invention are described in detail below by way of example, and not limitation. The same reference numbers in the drawings identify the same or similar parts. Those skilled in the art should understand that the drawings are not necessarily drawn to scale. In the figure:

Figure 1 is a block diagram showing the general structure of a tracking system in accordance with the present invention;

2 is a schematic structural diagram of a tracking system according to an embodiment of the present invention;

3 is a schematic structural diagram of a tracking system according to another embodiment of the present invention;

4 is a schematic structural diagram of a tracking system according to another embodiment of the present invention;

FIG. 5 is a flow chart of a tracking method in accordance with another embodiment of the present invention.

detailed description

1 is a block diagram showing the structure of a tracking system 100 in accordance with one embodiment of the present invention. 2 is a logic control diagram of a tracking system in accordance with one embodiment of the present invention. As shown in Figures 1 and 2, the present invention provides a tracking system 100 for controlling a moving tracking end 11 to track a moving target end 12. The tracking system 100 may include a distance determining unit 1, an angle determining unit 2, a target end speed acquiring unit 3, and a controller 4. The distance determining unit 1 is configured to determine a current relative distance of the tracking end 11 relative to the target end 12, and the angle determining unit 2 is configured to determine a current relative angle of the tracking end 11 with respect to the target end 12, a target end The speed acquisition unit 3 is configured to acquire the current target motion speed of the target end 12. The controller 4 is configured to, according to the current relative distance, the Adjusting a current tracking motion speed and a current tracking motion posture of the tracking end 11 with a current relative angle and the current target motion speed such that the tracking end 11 remains substantially at a preset relative distance with respect to the target end 12 Preset relative angle.

Compared with the prior art, the position and the attitude of the tracking end are adjusted based on the relative distance and the relative angle of the tracking end with respect to the target end. The solution of the present invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end 11 can track the speed change of the target end in time when tracking the target end 12, so that the tracking end 11 and the target end 12 always maintain a substantially uniform speed, thus avoiding the sudden increase or decrease of the speed of the target end 12 The tracking end 11 requires a larger speed change due to inertia to accommodate the speed change at the target end. Thus, according to the solution of the present invention, the tracking end 11 can respond to the movement of the target end 12 in a more timely manner, reducing the lag time. Furthermore, according to the solution of the present invention, even in some cases, such as when the target end is outside the shooting range of the camera or blocked by other objects, the relative distance and/or relative position of the tracking end with respect to the target end cannot be determined. At an angle, the solution of the present invention additionally introduces the motion speed of the target end 12 as the control parameter of the controller 4, and the motion speed of the target end 12 can be obtained by non-image processing, so that the controller 4 can control the tracking end. 11 closely follows the speed of the target end 12 such that they are within an acceptable distance range. Thus, once the camera is able to reacquire the image of the target 12, accurate tracking can continue. Thus, the present invention achieves accurate tracking of the target end by a combination of three parameters of distance, angle and speed.

In an embodiment, the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 no later than adjusting the current tracking motion attitude of the tracking end 11 such that the tracking end The response to the target 12 is moved more timely, thereby reducing the lag time.

In an embodiment, the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 before adjusting the current tracking motion posture of the tracking end 11, so that the tracking end 11 responds to the target end 12 moves more timely, thereby reducing lag time.

In one embodiment, the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 with the current target motion speed of the target end 12 as a target.

In one embodiment, the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 to the current target motion speed immediately following the target end 12.

Referring to FIG. 2, in order to determine the current relative angle of the tracking end 11 relative to the target end 12, the tracking system 100 may further include an image acquisition device 5 and an image processing unit 6 disposed at the tracking end 11. The image capture device 5 is configured to acquire a tracking image including the target end 12, The image processing unit 6 is configured to process the tracking image to acquire the position of the target end 12 in the tracking image. The angle determining unit 2 is configured to determine the current relative angle of the tracking end 11 relative to the target end 12 based on the position of the target end 12 in the tracking image. The image acquisition device 5 can be, for example, a camera.

In a specific implementation, the image capturing device 5 such as a camera can be installed at a single-axis pan/tilt, and the single-axis pan/tilt is installed at the tracking end 11, and the three-dimensional angle between the camera and the target end 12 is set in advance, so that the target end 12 is Always at the center of the camera's shooting. When the target end 12 moves, the tracking picture is taken by the camera, and the position of the target end 12 in the tracking image is determined, and then compared with the previous frame image to obtain the pixel displacement of the x and y directions generated by the target end 12 in the tracking image. The change is such that the offset angle of the target end 12 due to the movement is derived from the pixel change. Adjusting the attitude of the tracking end 11 according to the offset angle (for example, left and right, up and down) such that the target end 12 is again at the center point of the tracking image captured by the camera, that is, by adjusting the posture of the tracking end 11 to ensure that the tracking end 11 is opposite to the The current relative angle of the target end 12 is maintained at the preset relative angle.

Further, the tracking image may only be used to determine the current relative angle. That is, the distance determining unit 1 may not determine the current relative distance of the tracking end 11 with respect to the target end 12 based on the tracking image. Since the present invention does not need to determine the distance by the tracking image, the amount of calculation is greatly reduced, thereby solving the problem in the prior art that a large amount of calculation is required due to image processing, and there is a time lag to some extent.

In other embodiments, other non-image processing methods may also be used to obtain the current relative angles required, such as a radar detection method, a GPS positioning method, or a radio frequency detection method.

As shown in FIG. 2, in order to determine the current relative distance of the tracking end 11 relative to the target end 12, the tracking system 100 may further include a first radio frequency device 7 disposed at the tracking end 11; A second radio frequency device 8 is provided at the target end 12. The distance determining unit 1 may be configured to determine the current relative distance according to a radio frequency signal transmitted between the first radio frequency device 7 and the second radio frequency device 8. In one embodiment, the radio frequency signal is an ultra wideband (UWB) radio frequency (UWB) radio frequency signal. In implementation, the first radio frequency device 7 and the second radio frequency device 8 can transmit radio frequency signals and record the transmission and reception time of the radio frequency signals, and the distance determining unit 1 can pass the radio frequency signals on the first radio frequency device 7 The transfer time between the second RF device 8 and the second RF device 8 is used to calculate the distance between the two.

3 shows a tracking system according to another embodiment of the present invention, which differs from FIG. 2 in that the first radio frequency device 7 and the second radio frequency device 8 can also be used only for the tracking end 11 and the The data and instruction transmission of the target end 12 is described. The first radio frequency device 7 and the second radio frequency device 8 implement transmission of data and instructions by radio frequency signals transmitted between them. In implementation, the radio frequency signal is a UWB (Ultra Wideband) radio frequency signal.

The target end speed acquisition unit 3 in FIG. 1 can be implemented by the speed sensor 15 provided at the target end 12 in FIG. 2 to obtain the current target movement speed of the target end 12. The current target speed of motion measured by the speed sensor 15 may be communicated to the controller 4 via radio frequency communication between the first radio frequency device 7 and the second radio frequency device 8. In a specific implementation, in an embodiment, the current target moving speed of the target end 12 can also be obtained by an acceleration sensor.

4 illustrates a tracking system that differs from FIG. 2 in that positioning is used to obtain the current relative distance of the tracking end 11 relative to the target end 12, in accordance with another embodiment of the present invention. As shown in FIG. 4, the tracking system 100 can further include a first positioning device 9 disposed at the tracking end 11 and a second positioning device 10 disposed at the target end 12. The first positioning device 9 is used to determine the current tracking position of the tracking end 11, and the second positioning device 10 is used to determine the current target position of the target end 12. The distance determining unit 1 may determine the current relative distance according to the current tracking position and the current target position. The positioning device may be a GPS or a Beidou positioning module.

In the embodiment of FIG. 4, the current target moving speed of the target end 12 can also be calculated based on the change in the current target position of the target end 12 measured by the second positioning device 10. Of course, in other embodiments, the speed can also be detected by setting a speed sensor at the target end 12, similar to the embodiment of FIG. Although not shown, in the embodiment shown in FIG. 4, a wireless communication device (such as the radio frequency device shown in FIG. 2) may be provided at the target end 12 and the tracking end 11, respectively, to allow the target terminal 12 to be The positioning information or speed information of the target end 12 is transmitted to the tracking end 11.

In each of the above embodiments, the tracking end 11 may be a drone, a ground robot or a smart car.

In an embodiment, referring to FIG. 2, the control system may further include a control terminal 13, which may have Bluetooth, WIFI, and terminal App 14. The Bluetooth is used to communicate with the target terminal 12. The Bluetooth receives an instruction from the terminal App 14 and transmits the command to the second radio frequency device 8 of the target terminal 12. The WIFI is used to communicate with the tracking end 11, and the WIFI receives the video sent by the tracking end 11 and sends an instruction of the terminal App 14 to the controller 4 of the tracking end 11. The terminal App14 is configured to display video, instruction information, and the like, where the instruction information includes a preset tracking end. The tracking range of 11, the shooting angle of the image capture device 5, hovering, takeoff, landing, and the like.

FIG. 5 is a flow chart of a tracking method in accordance with another embodiment of the present invention. As shown in FIG. 5, the present invention provides a tracking method for controlling a moving tracking end to track a moving target end, including the following steps:

S101. Determine a current relative distance of the tracking end with respect to the target end.

S102. Determine a current relative angle of the tracking end with respect to the target end.

S103. Acquire a current target motion speed of the target end.

S104. Adjust a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is basically opposite to the target end. Keep the preset relative distance and the preset relative angle.

Compared with the prior art, the position and the attitude of the tracking end are adjusted based on the relative distance and the relative angle of the tracking end with respect to the target end. The solution of the present invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end When tracking the target end, it can follow the speed change of the target end in time, so that the tracking end and the target end always maintain a substantially consistent speed, thus avoiding the tracking end due to the inertia of the target end due to the sudden increase or decrease of the speed of the target end. A large speed change to accommodate the speed change at the target end. Thus, according to the solution of the present invention, the tracking end can respond to the movement of the target end in a more timely manner, reducing the lag time. Furthermore, according to the solution of the present invention, even in some cases, such as when the target end is outside the shooting range of the camera or blocked by other objects, the relative distance and/or relative position of the tracking end with respect to the target end cannot be determined. At the angle, the solution of the present invention additionally introduces the motion speed of the target end as the control parameter of the controller, and the motion speed of the target end can be obtained by non-image processing, so that the controller can closely follow the speed of the target end by controlling the tracking end. Thereby making them within an acceptable distance range. In this way, once the camera is able to reacquire the image of the target, then accurate tracking can continue. Thus, the present invention achieves accurate tracking of the target end by a combination of three parameters of distance, angle and speed.

Further, in S104, adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are not later than adjusting the tracking end. Adjusting the current tracking motion speed of the tracking end when the current motion posture is currently tracked.

Further, in S104, the current tracking motion speed and the current tracking motion of the tracking end are adjusted according to the current relative distance, the current relative angle, and the current target motion speed. The attitude is to adjust the current tracking motion speed of the tracking end before adjusting the current tracking motion posture of the tracking end.

Further, in S104, adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, that is, the current target of the target end The speed of motion is a target to adjust the current tracking motion speed of the tracking end.

Further, in S104, adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, where the current tracking of the tracking end is performed The speed of movement is adjusted to follow the current target speed of motion of the target end.

In this regard, it will be appreciated by those skilled in the <RTIgt;the</RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; The content directly determines or derives many other variations or modifications consistent with the principles of the invention. Therefore, the scope of the invention should be understood and construed as covering all such other modifications or modifications.

Claims

A tracking system for controlling a moving tracking end to track a moving target end, including:

a distance determining unit, configured to determine a current relative distance of the tracking end relative to the target end;

An angle determining unit, configured to determine a current relative angle of the tracking end with respect to the target end;

a target end speed acquiring unit, configured to acquire a current target moving speed of the target end; and

a controller, configured to adjust a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is opposite to the The target end is basically maintained at a preset relative distance and a preset relative angle.
The tracking system of claim 1, wherein the controller is configured to adjust the current tracking motion speed of the tracking end no later than adjusting the current tracking motion pose of the tracking end.
The tracking system of claim 1 wherein said controller is configured to adjust said current tracking motion speed of said tracking end prior to adjusting said current tracking motion pose of said tracking end.
The tracking system of claim 2 or 3, wherein the controller is configured to adjust the current tracking motion speed of the tracking end with the current target motion speed of the target end as a target.
A tracking system according to any of claims 2-4, wherein the controller is configured to adjust the current tracking motion speed of the tracking end to the current target motion speed immediately following the target end.
The tracking system according to any one of claims 1 to 5, further comprising:

An image collection device disposed at the tracking end for acquiring a tracking image including the target end;

An image processing unit, configured to process the tracking image to obtain a location of the target end in the tracking image;

The angle determining unit is configured to determine the current relative angle of the tracking end relative to the target end according to a position of the target end in the tracking image.
The tracking system of claim 6 wherein said tracking image is only used to determine said current relative angle.
The tracking system according to any one of claims 1 to 7, further comprising:

a first radio frequency device disposed at the tracking end; and

A second radio frequency device disposed at the target end.
The tracking system according to claim 8, wherein the distance determining unit is configured to determine the current relative distance according to a radio frequency signal transmitted between the first and second radio frequency devices;

Optionally, the radio frequency signal is an ultra-wideband radio frequency signal.
A tracking system according to claim 8 or claim 9, wherein said first and second radio frequency devices are used for data and instruction transmissions of said tracking end and said target end.
The tracking system according to any one of claims 1 to 7, further comprising:

a first positioning device disposed at the tracking end for determining a current tracking position of the tracking end;

a second positioning device disposed at the target end for determining a current target position of the target end;

Wherein the distance determining unit is configured to determine the current relative distance according to the current tracking position and the current target position.
The tracking system according to any one of claims 1 to 11, wherein the target end speed acquisition unit includes a speed sensor or an acceleration sensor disposed at the target end.
The tracking system according to any one of claims 1 to 12, wherein the tracking end is a drone, a ground robot or a smart car.
A tracking method for controlling a moving tracking end to track a moving target end includes the following steps:

Determining a current relative distance of the tracking end relative to the target end;

Determining a current relative angle of the tracking end with respect to the target end;

Obtaining a current target moving speed of the target end;

Adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is substantially maintained relative to the target end Preset relative distance and preset relative angle.
The tracking method according to claim 14, wherein the current tracking of the tracking end is adjusted according to the current relative distance, the current relative angle, and the current target moving speed The motion speed and the current tracking motion attitude are such that the current tracking motion speed of the tracking end is adjusted no later than adjusting the current tracking motion posture of the tracking end.
The tracking method according to claim 14, wherein the current tracking motion speed and the current tracking motion posture of the tracking end are adjusted according to the current relative distance, the current relative angle, and the current target motion speed, which are adjusted Adjusting the current tracking motion speed of the tracking end before the current tracking motion posture of the tracking end.
The tracking method according to claim 15 or 16, wherein the current tracking motion speed and the current tracking motion posture of the tracking end are adjusted according to the current relative distance, the current relative angle, and the current target motion speed, Adjusting the current tracking motion speed of the tracking end with the current target motion speed of the target end as a target.
The tracking method according to any one of claims 15-17, wherein the current tracking motion speed and current tracking of the tracking end are adjusted according to the current relative distance, the current relative angle, and the current target motion speed The motion posture is to adjust the current tracking motion speed of the tracking end to the current target motion speed immediately following the target end.