WO2017219529A1

WO2017219529A1 - Target tracking method, device, and system, remote monitoring system, and electronic apparatus

Info

Publication number: WO2017219529A1
Application number: PCT/CN2016/100273
Authority: WO
Inventors: 唐熊
Original assignee: 乐视控股（北京）有限公司; 乐视移动智能信息技术（北京）有限公司
Priority date: 2016-06-23
Filing date: 2016-09-27
Publication date: 2017-12-28
Also published as: CN106096573A

Abstract

The present application relates to the technical field of intelligent home monitoring, and provides a target tracking method, device, and system, a remote monitoring system, and an electronic apparatus. The target tracking method comprises: identifying, when a target moves into the monitoring range of a target tracking apparatus, the target within the current monitoring range; planning, if the target is consistent with a pre-stored target to be monitored, a motion path for the target tracking apparatus according to position information and the environment of the target; and controlling the target tracking apparatus to track the target along the motion path. By means of the method, the position of the target tracking apparatus can be adjusted in real time according to motion characteristics of a monitored target, and thus real-time and dynamic monitoring on the monitored target is realized and a monitoring blind area is effectively avoided.

Description

Target tracking method, device, system, remote monitoring system and electronic device

cross reference

This application claims priority to Chinese Patent Application No. 201610465110.4, entitled "Target Tracking Method, Device, System and Remote Monitoring System", filed on June 23, 2016, the entire contents of which are incorporated by reference. In this application.

Technical field

The present application relates to the field of monitoring technologies, and in particular, to a target tracking method, device, system, remote monitoring system, and electronic device.

Background technique

At present, many families have the need to install a monitoring system. On the one hand, the home security protection can be carried out through the monitoring system. For example, images of illegal intruders can be collected through the camera equipment in the monitoring system; on the other hand, the family can be obtained through the monitoring system. For example, the video information of the elderly and children at home helps to take timely rescue measures in case of family accidents.

Traditional home monitoring systems are generally deployed on a wired basis. In recent years, with the gradual maturity and popularity of wireless networking technologies, especially the development of low-power, self-organizing zigbee wireless sensor network technology, wireless networking has gradually become The mainstream deployment of home monitoring systems. In the process of implementing the present application, the inventor has found that at least the following problems exist in the prior art: the monitoring system based on the above two deployment modes is still a waiting location monitoring at a fixed location, and there is a monitoring blind zone.

Summary of the invention

Therefore, the technical problem to be solved by the present application is to overcome the defects of the monitoring system in the prior art monitoring system, thereby providing a target tracking method, device, system, remote monitoring system and electronic device capable of effectively avoiding the monitoring blind zone.

To this end, the embodiment of the present application provides the following technical solutions:

In a first aspect, an embodiment of the present application provides a target tracking method, including:

Identify targets within the current monitoring range;

If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;

Controlling the target tracking device to track the target based on the motion path.

The target tracking method according to the embodiment of the present application, further, the moving path of the target tracking device according to the location information of the target and the environment planning includes:

Obtaining location information of the target and a panoramic picture of the environment;

Performing image analysis on the panoramic picture to divide the barrier-free motion area of the environment;

Determining a motion path of the target tracking device in the barrier-free motion region according to a change in location information of the target, where the motion path keeps a distance between the target tracking device and the target within a preset interval .

The target tracking method described in the embodiment of the present application, further, the current monitoring range Identification within the target includes:

Obtaining feature information of a target within a current monitoring range, the feature information including at least one of a face image, height information, and clothing color information;

Comparing the feature information of the target with the feature information of the monitoring target stored in advance;

If they are consistent, it is determined that the target is consistent with the pre-stored monitoring target.

The target tracking method described in the embodiment of the present application further includes:

Receiving a video image of the target acquired by the target tracking device while tracking the target;

Send the video image.

The target tracking method described in the embodiment of the present application preferably further includes:

Obtain the amount of rechargeable battery in the target tracking device;

If the rechargeable battery power is lower than the preset power, send a charging control signal to the target tracking device to move the target tracking device to the nearest charging stand for charging.

In a second aspect, the embodiment of the present application further provides a target tracking device, including:

a recognition unit for identifying a target within a current monitoring range;

a motion path planning unit, configured to: when the target is consistent with a pre-stored monitoring target, plan a motion path of the target tracking device according to the location information of the target and the environment;

And a control unit, configured to control the target tracking device to track the target according to the motion path.

In a third aspect, the embodiment of the present application further provides a target tracking system, including the foregoing target tracking device and a target tracking device, where the target tracking device includes a camera device and a motion executing device;

The image capturing device is configured to perform image collection and transmit to the target tracking device;

The motion executing device is configured to adjust a motion path of the target tracking device according to the motion path planned by the target tracking device, so that the camera device can track the video of the target along with the motion of the target tracking device image.

The target tracking system according to the embodiment of the present application, further, the camera device includes a camera and a cloud platform;

The target tracking device is further configured to generate an angle adjustment control signal according to the received video image and transmit the signal to the pan/tilt;

The pan/tilt is configured to adjust an angle of the camera according to the angle adjustment control instruction, so that the camera can acquire a complete facial image of the target and a panoramic picture of an environment in which the target is located.

In the target tracking system of the embodiment of the present application, the target tracking device further includes:

And a positioning device, configured to acquire location information of the target and transmit the information to the target tracking device.

The target tracking system of the present application further includes:

The automatic charging actuator is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device.

In a fourth aspect, the embodiment of the present application further provides a remote monitoring system, including the foregoing target tracking system and a monitoring terminal;

The monitoring terminal is configured to receive and display a video image of the target sent by the target tracking system.

In a fifth aspect, the embodiment of the present application further provides an electronic device, including at least one processor; and a memory communicably connected to the at least one processor; wherein the memory is stored and processed by the at least one An instruction executed by the at least one processor to enable the at least one processor to identify a target within a current monitoring range; if the target is consistent with a pre-stored monitoring target, Position information of the target and a motion path of the environment planning target tracking device; controlling the target tracking device to track the target according to the motion path.

In a sixth aspect, the embodiment of the present application further provides a non-volatile computer storage medium, the storage medium storing the computer executable instructions of the computer executable instructions, when executed by the electronic device, enabling the electronic device to Identifying the target within the current monitoring range; if the target is consistent with the pre-stored monitoring target, planning the target moving path of the device according to the location information of the target and the environment; controlling the target tracking device according to the motion The path tracks the target.

In a seventh aspect, the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform any of the methods described above.

The technical solution of the present application has the following advantages:

The application provides a target tracking method, device, electronic device and storage medium. When a target passes the monitoring range of the target tracking device, the target within the current monitoring range is identified, if the target and the pre-stored monitoring target are Consistently, the target path of the device is tracked according to the location information of the target and the environment, and the target tracking device is controlled to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.

DRAWINGS

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the specific embodiments or the description of the prior art will be briefly described below, and obviously, the attached in the following description The drawings are some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

1 is a flowchart of a specific example of a target tracking method in Embodiment 1 of the present application;

2 is a flowchart of another specific example of a target tracking method in Embodiment 1 of the present application;

FIG. 3 is the location information according to the target and the environment plan in the target tracking method shown in FIG. 2 A flow chart of a specific example of a motion path;

4 is a schematic diagram of a specific example of a motion path of a target tracking device in Embodiment 1 of the present application;

5 is a flowchart of a specific example of identifying a target in a current monitoring range in a target tracking method according to Embodiment 1 of the present application;

6 is a flowchart of a third specific example of a target tracking method in Embodiment 1 of the present application;

7 is a schematic block diagram of a specific example of a target tracking device in Embodiment 2 of the present application;

8 is a schematic block diagram of another specific example of a target tracking device in Embodiment 2 of the present application;

9 is a schematic block diagram of a specific example of a target tracking device in Embodiment 3 of the present application;

10 is a schematic block diagram of another specific example of a target tracking device in Embodiment 3 of the present application;

11 is a schematic block diagram of a third specific example of a target tracking device in Embodiment 3 of the present application;

FIG. 12 is a schematic structural diagram of hardware of an electronic device according to Embodiment 5 of the present application.

Reference mark:

1-target tracking device; 11-identification unit; 12-motion path planning unit; 13-control unit; 14-transmission unit; 111-first acquisition subunit; 112-alignment subunit; 113-judgment subunit; - second acquisition subunit; 122 - division subunit; 123 - planning subunit; 2-target Tracking device; 21-camera device; 22-motion performing device; 23-positioning device; 24-automatic charging actuator; 800-memory, 810-processor, 830-input device, 840-output device.

detailed description

The technical solutions of the present application are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The orientation or positional relationship of the indications is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description and the simplified description, and does not indicate or imply that the device or component referred to has a specific orientation, in a specific orientation. Construction and operation are therefore not to be construed as limiting the application. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connection, or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection. The specific meanings of the above terms in the present application can be understood in the specific circumstances for those skilled in the art.

Further, the technical features involved in the different embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.

Example 1

This embodiment provides a target tracking method, as shown in FIG. 1 , including:

S1. Identify the targets within the current monitoring range.

S2. If the target is consistent with the pre-stored monitoring target, the target's motion path is tracked according to the location information of the target and the environment. Specifically, multiple monitoring targets may be stored in advance, and the priority of each monitoring target may be set. If there are more than two targets in the monitoring range, and all of the monitoring targets are successfully matched, the monitoring with the highest priority may be performed. The target is a pre-stored monitoring target, and the target corresponding to the highest priority monitoring target is locked as the target of automatic tracking; of course, the user may select the target that needs to be automatically tracked from each of the stored monitoring targets or each time. The automatic tracking function stores only one monitoring target and updates the stored monitoring target according to the specific situation.

S3. Control the target tracking device to track the target according to the motion path. Specifically, the target tracking device may be a device including a control chip and a motion actuator controlled by the control chip, such as a drone, an automatic control cart, and the like, and an application program capable of executing the target tracking method in the embodiment is input in the control chip. The motion actuator is controlled by the control chip to adjust the moving direction of the target tracking device, so that the target tracking device can move along the motion path to achieve effective tracking of the target.

The target tracking method in this embodiment, when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range, and if the target is consistent with the pre-stored monitoring target, according to the target location information and location The environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, realizing dynamic monitoring of the monitoring target in real time, Effectively avoids monitoring blind spots.

Alternatively, if the user, such as a mother, is also at home, but the mother needs to go to the kitchen to cook, and the child stays in the living room to play, if the mother wants to obtain the child's video image in real time while cooking, the target tracking device can be placed in the In the vicinity of the child, the direct tracking mode is activated, and the target recognition process is omitted in the direct tracking mode, and only the moving target in the current monitoring range is tracked, so that the target tracking device can maintain the preset spacing between the obstacle-free moving area and the moving target. Improved target tracking efficiency. When the user is remote, if it is impossible to accurately identify whether the target is a monitoring target due to light or the like, the image information of the target within the current monitoring range may be sent to the user's mobile phone, and the direct tracking mode is started after receiving the instruction of the user confirming the tracking. The user experience is better.

Preferably, as shown in FIG. 2, the foregoing step S2 may further include:

S21. Determine whether the target is consistent with the pre-stored monitoring target. If they match, the process goes to step S22, and if they do not match, the process returns to step S1. Specifically, only when the target is consistent with the pre-stored monitoring target, can the target appearing in the current monitoring scope be the target to be monitored. If the target is not the target to be monitored, the step is returned. S1, continue to identify the targets that appear in the monitoring scope in the future, and lay the foundation for the later tracking of specific monitoring targets.

S22. Track the motion path of the device according to the location information of the target and the environment. Specifically, according to the location information of the target and the motion path of the target tracking device in the environment, the environment condition of the target tracking device and the motion characteristics of the target to be monitored are fully considered, thereby improving the rationality and accuracy of the motion path planning. Sexuality, making the target tracking device along the rules The tracking of the moving path can achieve tracking of the target.

Preferably, as shown in FIG. 3, the foregoing step S22 may further include:

S221. Obtain the location information of the target and the panoramic picture of the environment.

S222. Perform image analysis on the panoramic picture to divide the barrier-free motion area of the environment.

Specifically, the position information of the target can be detected by the radar device on the target tracking device; the target tracking device (such as a drone, an automatic control car, etc.) can be manually remotely controlled by the remote control to move along the area to be monitored, and each area is collected. Panoramic picture (for the family, including the living room, bedroom, kitchen, bathroom and other areas), and image analysis of the panoramic pictures of each area, to define the barrier-free sports area of the area (that is, there is no obstacles such as furniture, home appliances, etc. The moving area of the object) can improve the processing efficiency.

When the target tracking device tracks the target to a certain area, the analysis result of the panoramic picture of the area corresponding to the current environment of the target tracking device can be retrieved, and the barrier-free motion area in the environment is determined. Of course, it is also possible to take a panoramic picture of the environment during the tracking process, which ensures that the panoramic picture for analysis is up-to-date and more in line with the actual situation of the current environment.

S223. Determine a motion path of the target tracking device in the barrier-free motion region according to the change of the location information of the target, where the motion path keeps the distance between the target tracking device and the target within a preset interval.

Specifically, as shown in FIG. 4, the environment at this time is a kitchen in the home, the circle represents the monitoring target, the square represents the target tracking device, and the cabinet is divided by analyzing the panoramic picture of the kitchen. The kitchen area outside is a barrier-free sports area. As can be seen from FIG. 4, as the position of the target changes, the target tracking device moves along the movement path planned according to the change of the position information of the target in the unobstructed area, and the distance from the target is always within the preset distance d. , to achieve tracking and monitoring of monitoring targets. The preset spacing d can be adaptively adjusted according to specific conditions, such as the height, posture, and home environment layout of the monitoring target, and is generally set to be between 50 and 80 cm.

Of course, in addition to the above-mentioned manner of planning the motion path according to the location information of the target and the environment, the obstacle avoidance device (such as the infrared obstacle avoidance sensor) may be added to the target tracking device to achieve the obstacle avoidance. The planned motion path may be a path that ensures that the monitoring target and the target tracking device maintain a preset spacing. When an obstacle is adjusted to adjust the motion direction of the target tracking device, it is only necessary to track the preset between the devices according to the target and the target. The spacing re-plans the motion path of the new target tracking device.

Preferably, as shown in FIG. 5, the foregoing step S1 may further include:

S11. Acquire feature information of the target within the current monitoring range, where the feature information includes at least one of a face image, a height information, and apparel color information. Specifically, the facial image of the tracking target and the whole body image can be collected by the imaging device on the target tracking device, and the image color information of the target can be obtained by performing image analysis on the whole body image, and the height information of the target can be obtained by proportional conversion. It is.

S12. Compare the feature information of the target with the feature information of the monitoring target stored in advance. If they match, the process goes to step S13, and if they do not match, the process goes to step S14. Specifically, the feature information of the pre-stored monitoring target may also be updated according to a specific situation.

S13. The judgment target is consistent with the pre-stored monitoring target.

S14. The judgment target is inconsistent with the pre-stored monitoring target.

Preferably, as shown in FIG. 6, the embodiment further provides another target tracking method. On the basis of the foregoing steps S1 to S3, after step S3, the following steps S4 to S5 are further included:

S4. receiving a video image of the target captured by the target tracking device while tracking the target;

S5. Send a video image.

Specifically, the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a pad, a computer, etc., and can communicate with the target tracking device through a mobile communication network, WIFI, or the like. The video image of the target captured by the target tracking device when tracking the target may be transmitted to the remote monitoring terminal via the mobile communication network, WIFI, etc. through the communication module on the target tracking device, and the monitoring terminal may pass the installed QQ, WeChat, etc. application programs. To receive and display video images, real-time monitoring of monitoring targets. When an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to be timely and effective. Take appropriate rescue measures.

Preferably, the embodiment further provides another target tracking method, which includes the following steps S6 to S7 in addition to the above steps S1 to S3 or the above steps S1 to S5:

S6. Obtain the rechargeable battery power in the target tracking device. Specifically, the rechargeable battery can be used as the power source of the target tracking device, and the charging battery power estimation method in the prior art can be used, and the charging in the target tracking device can be performed according to the collected voltage and current values of the rechargeable battery. The battery power is estimated.

S7. Control target tracking device charging. Specifically, the step S6 to the step S7 may be performed after the above steps S1 to S3, or any one of the above steps S1 to S5, or may be performed before the above step S1.

Preferably, the step S7 of controlling the charging of the target tracking device may further include:

S71. Determine whether the charged battery is lower than the preset power. If it is lower, the process proceeds to step S72, and if it is not lower, step S71 is repeated. Real-time monitoring of rechargeable battery power is achieved.

S72. Send a charging control signal to the target tracking device, and move the target tracking device to the nearest charging stand for charging. In this way, the battery life of the rechargeable battery in the target tracking device can be further enhanced, and the long-term interruption of the target tracking caused by the power consumption is prevented.

Example 2

The embodiment provides a target tracking device 1, as shown in FIG. 7, comprising:

The identification unit 11 is configured to identify the target within the current monitoring range.

The motion path planning unit 12 is configured to: when the target is consistent with the pre-stored monitoring target, plan the motion path of the target tracking device according to the location information of the target and the environment.

The control unit 13 is configured to control the target tracking device to track the target according to the motion path.

The target tracking device 1 in this embodiment, when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range by the identifying unit 11, if the target and the pre-target The first stored monitoring target is consistent, and the starting motion path planning unit 12 tracks the moving path of the target according to the location information of the target and the environment, and controls the target tracking device to track the target according to the motion path through the control unit 13. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.

Preferably, the motion path planning unit 12 in the target tracking device 1 in this embodiment further includes:

The second obtaining sub-unit 121 is configured to acquire location information of the target and a panoramic picture of the environment.

The sub-unit 122 is configured to perform image analysis on the panoramic picture to divide the unobstructed motion area of the environment.

The planning sub-unit 123 is configured to determine a motion path of the target tracking device in the barrier-free motion region according to the change of the location information of the target, where the motion path keeps the distance between the target tracking device and the target within a preset spacing range.

Preferably, the identification unit 11 in the target tracking device 1 in this embodiment further includes:

The first obtaining sub-unit 111 is configured to acquire feature information of the target in the current monitoring range, where the feature information includes at least one of a face image, a height information, and apparel color information.

The comparison sub-unit 112 is configured to compare the feature information of the target with the feature information stored in advance.

The determining sub-unit 113 is configured to determine that the target is consistent with the pre-stored monitoring target when the comparison is consistent.

Preferably, as shown in FIG. 8, the embodiment further provides another target tracking device 1, which includes: in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13,

The sending unit 14 is configured to receive a video image of the target acquired by the target tracking device when tracking the target, and send the video image. Specifically, the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network. The video image of the target captured by the target tracking device when tracking the target may be sent to the remote monitoring terminal via the mobile communication network by using the communication module on the target tracking device, and the monitoring terminal may receive the application through the installed QQ, WeChat, etc. Display video images to achieve real-time monitoring of monitoring targets. When an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to take appropriate and timely response. Relief measures.

Preferably, the present embodiment further provides another object tracking device 1 in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13, or the identification unit 11, the motion path planning unit 12, the control unit 13, and the transmitting unit. In addition to 14:

a power acquisition unit, configured to acquire a rechargeable battery power in the target tracking device;

The charging control unit is configured to send a charging control signal to the target tracking device when the rechargeable battery power is lower than the preset power, and move the target tracking device to the nearest charging stand for charging. It can further enhance the endurance of the rechargeable battery in the target tracking device to prevent the power from being exhausted. Long-term interruption of the tracking.

Example 3

The present embodiment provides a target tracking system, as shown in FIG. 9, including the target tracking device 1 and the target tracking device 2 in Embodiment 2, and the target tracking device 2 further includes an imaging device 21 and a motion executing device 22.

The imaging device 21 is configured to perform image acquisition and transmit to the target tracking device 1. Specifically, when the target tracking device 2 is an automatic control car, the camera device 21 can be installed on the head of the automatic control car or the top camera; when the target tracking device 2 is a drone, the camera device 21 can be installed on the camera. The bottom of the machine is overshot.

The motion executing device 22 is configured to adjust the motion path of the target tracking device 2 according to the motion path planned by the target tracking device 1, so that the camera device 21 can track the video image of the target with the motion of the target tracking device 2. Specifically, taking the automatic control trolley as an example, the motion executing device 22 may include a chassis, a motor controller fixed to the upper portion of the chassis, a motor, and two driving wheels and two follower wheels disposed under the chassis. Two of the follower wheels are located at the front of the target tracking device, and the two drive wheels are located at the rear of the target tracking device. Each drive wheel is driven by a motor to provide forward or reverse power to the target tracking device and is controlled by the motor. The device adjusts the rotation speed and steering of the two drive wheel motors according to the planned path, and adjusts the movement direction of the target tracking device, so that the target tracking device can move along the planned motion path to track the target.

Preferably, the camera device 21 in the target tracking device 2 further includes a camera and a pan/tilt.

The target tracking device 1 is further configured to generate an angle adjustment control instruction according to the received video image and Transfer to the PTZ.

The pan/tilt is used to adjust the angle of the camera according to the angle adjustment control command, so that the camera can capture the complete facial image of the target and the panoramic picture of the environment in which the target is located. Specifically, when the target tracking device 1 performs image analysis on the video image received from the camera device 21 and finds that it is incomplete, the angle adjustment control command may be generated according to the orientation corresponding to the missing portion of the image and sent to the pan/tilt, and the gimbal receives After the angle adjustment control command is turned, the camera is rotated according to the adjustment control command, and the shooting angle of the camera is adjusted, so that the camera can capture the complete facial image of the target or the panoramic picture of the environment.

Preferably, as shown in FIG. 10, the present embodiment further provides another target tracking device 2, which includes, in addition to the camera device 21 and the motion executing device 22, a positioning device 23 for acquiring a target. The location information is transmitted to the target tracking device 1. Specifically, the positioning device 23 can select a laser radar, can quickly and accurately locate the moving target, and obtain the position information thereof.

Preferably, as shown in FIG. 11, the embodiment further provides another target tracking device 2, which includes the camera device 21 and the motion executing device 22, or the camera device 21, the motion executing device 22, and the positioning device. In addition to 23, it also includes:

The automatic charging actuator 24 is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device 1. Specifically, the automatic charging actuator 24 may include a voltage, a current collecting circuit, a charging stand positioning system, and a charging stand connecting component (for example, may be a DC electrode connecting reed), wherein the voltage and current collecting circuit is configured to collect the voltage of the rechargeable battery, Current signal and transmitted to target tracking device 1, target tracking device 1 The charged battery is estimated according to the collected voltage and current signals, and when the rechargeable battery is lower than the preset power, the charging control signal is sent to the automatic charging actuator 24 of the target tracking device 2. After receiving the charging control signal, the automatic charging actuator 24 activates its charging seat positioning system, locates the charging stand closest to the target tracking device 2, and transmits the position information of the charging stand to the target tracking device 1, and the target tracking device 1 According to the received position information of the nearest charging stand and the current position of the target tracking device, the moving path to the charging stand is planned, and the motion executing device 22 is controlled to adjust the moving path of the target tracking device to The planned motion path moves to the nearest charging stand, and the charging stand connecting part is pushed into the charging stand jack to charge the rechargeable battery in the target tracking device 2.

In the target tracking system in this embodiment, when the target is within the monitoring range, the target tracking device 1 identifies the target in the current monitoring range. If the target is consistent with the pre-stored monitoring target, the target tracking device 1 The target tracking device's motion path is tracked according to the location information of the target and the environment, and the target tracking device 2 is controlled to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.

Example 4

This embodiment provides a remote monitoring system, including the target tracking system and the monitoring terminal in Embodiment 3.

The monitoring terminal is configured to receive and display a video image of a target sent by the target tracking device. Specifically, the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network.

The remote monitoring system in this embodiment identifies the target within the current monitoring range when the target passes the monitoring range of the target tracking device, and if the target is consistent with the pre-stored monitoring target, according to the location information and location of the target. The environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.

Example 5

FIG. 12 is a structural block diagram of an electronic device according to Embodiment 5 of the present application. As shown in FIG. 12, the electronic device includes:

One or more processors 810 and memory 800 are illustrated by one processor 810 in FIG.

The apparatus that performs the target tracking method may further include: an input device 830 and an output device 840.

The processor 810, the memory 800, the input device 830, and the output device 840 may be connected by a bus or other means, as exemplified by a bus connection in FIG.

The memory 800 is used as a non-transitory computer readable storage medium, and can be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a program instruction corresponding to the target tracking method in the embodiment of the present application. Module. The processor 810 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 800, that is, implementing the target tracking method of the above method embodiments.

The memory 800 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the target tracking device, and the like. Moreover, memory 800 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 800 can optionally include memory remotely located relative to processor 810, which can be connected to the target tracking device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Input device 830 can receive input digital or character information and generate key signal inputs related to user settings and function control of the target tracking device. The output device 840 can include a display device such as a display screen.

The one or more modules are stored in the memory 800 and, when executed by the one or more processors 810, perform a target tracking method in any of the method embodiments described above.

The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application.

The electronic device of the embodiment of the invention exists in various forms, including but not limited to:

(1) Mobile communication devices: These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication. Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.

(2) Ultra-mobile personal computer equipment: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access. Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.

(3) Portable entertainment devices: These devices can display and play multimedia content. Such devices include: audio, preview players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.

(4) Server: A device that provides computing services. The server consists of a processor, a hard disk, a memory, a system bus, etc. The server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.

(5) Other electronic devices with data interaction functions.

Example 6

Embodiments of the present application also provide a non-volatile computer storage medium storing the computer-executable instructions of computer-executable instructions that, when executed by an electronic device, enable the electronic device to perform any of the methods described above The target tracking method in the example.

Example 7

The embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer Let the computer execute any party The target tracking method in the embodiment of the method.

Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on the computer or other programmable device to produce the computer The implemented processing, such as instructions executed on a computer or other programmable device, provides steps for implementing the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.

It is apparent that the above-described embodiments are merely illustrative of the examples, and are not intended to limit the embodiments. Other variations or modifications of the various forms may be made by those skilled in the art in light of the above description. There is no need and no way to exhaust all of the implementations. Obvious changes or variations resulting therefrom are still within the scope of the invention.

Claims

A target tracking method, comprising:

Identify targets within the current monitoring range;

If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;

Controlling the target tracking device to track the target based on the motion path.
The target tracking method according to claim 1, wherein the moving path of the target tracking device according to the location information of the target and the environment is:

Obtaining location information of the target and a panoramic picture of the environment;

Performing image analysis on the panoramic picture to divide the barrier-free motion area of the environment;

Determining a motion path of the target tracking device in the barrier-free motion region according to a change in location information of the target, where the motion path keeps a distance between the target tracking device and the target within a preset interval .
The target tracking method according to claim 1, wherein the identifying the target within the current monitoring range comprises:

Obtaining feature information of a target within a current monitoring range, the feature information including at least one of a face image, height information, and clothing color information;

Comparing the feature information of the target with the feature information of the monitoring target stored in advance;

If they are consistent, it is determined that the target is consistent with the pre-stored monitoring target.
The object tracking method according to any one of claims 1 to 3, wherein the method further comprises:

Obtaining a video image of the target acquired by the target tracking device while tracking the target;

Send the video image.
The object tracking method according to any one of claims 1 to 3, wherein the method further comprises:

Obtain the amount of rechargeable battery in the target tracking device;

If the rechargeable battery power is lower than the preset power, send a charging control signal to the target tracking device to move the target tracking device to the nearest charging stand for charging.
A target tracking device, comprising:

a recognition unit for identifying a target within a current monitoring range;

a motion path planning unit, configured to: when the target is consistent with a pre-stored monitoring target, plan a motion path of the target tracking device according to the location information of the target and the environment;

And a control unit, configured to control the target tracking device to track the target according to the motion path.
A target tracking system, comprising the target tracking device and the target tracking device of claim 6, the target tracking device comprising an imaging device and a motion executing device;

The image capturing device is configured to perform image collection and transmit to the target tracking device;

The motion executing device is configured to adjust a motion path of the target tracking device according to the motion path planned by the target tracking device, so that the camera device can track the video of the target along with the motion of the target tracking device image.
The target tracking system according to claim 7, wherein the camera device comprises a camera and a pan/tilt;

The target tracking device is further configured to generate an angle adjustment control signal according to the received video image and transmit the signal to the pan/tilt;

The pan/tilt is configured to adjust an angle of the camera according to the angle adjustment control instruction, so that the camera can acquire a complete facial image of the target and a panoramic picture of an environment in which the target is located.
The target tracking system according to claim 7 or 8, wherein the target tracking device further comprises:

And a positioning device, configured to acquire location information of the target and transmit the information to the target tracking device.
The target tracking system according to claim 7 or 8, wherein the target tracking device further comprises:

Automatic charging actuator for receiving and charging control signals transmitted according to the target tracking device The number control target tracking device moves to the nearest charging stand for charging.
A remote monitoring system, comprising the target tracking system and monitoring terminal according to any one of claims 7-10;

The monitoring terminal is configured to receive and display a video image of the target sent by the target tracking system.
An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, The instructions are executed by the at least one processor to enable the at least one processor to:

Identify targets within the current monitoring range;

If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;

Controlling the target tracking device to track the target based on the motion path.
A non-volatile computer storage medium characterized by: said storage medium storing said computer executable instructions of computer executable instructions, when executed by an electronic device, enabling the electronic device to:

Identify targets within the current monitoring range;

If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;

Controlling the target tracking device to track the target based on the motion path.
A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, The computer performs the method of any of the preceding claims.