WO2020135084A1 - Procédé, appareil et dispositif permettant de suivre un objet cible, et support d'informations - Google Patents

Procédé, appareil et dispositif permettant de suivre un objet cible, et support d'informations Download PDF

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Publication number
WO2020135084A1
WO2020135084A1 PCT/CN2019/124926 CN2019124926W WO2020135084A1 WO 2020135084 A1 WO2020135084 A1 WO 2020135084A1 CN 2019124926 W CN2019124926 W CN 2019124926W WO 2020135084 A1 WO2020135084 A1 WO 2020135084A1
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WIPO (PCT)
Prior art keywords
target object
tracking
monitoring device
tracking device
monitoring
Prior art date
Application number
PCT/CN2019/124926
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English (en)
Chinese (zh)
Inventor
程亚峰
郑阳
Original Assignee
杭州海康威视数字技术股份有限公司
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Publication of WO2020135084A1 publication Critical patent/WO2020135084A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • Embodiments of the present application relate to the field of communications, and in particular, to a method, device, device, and storage medium for tracking a target object.
  • the gun-ball linkage tracking technology is an advanced intelligent tracking technology, which uses the gun machine as the starting point to intelligently analyze the target objects in the monitoring area, send the position information of the target objects to be monitored to the ball machine, and command The dome camera tracks and monitors the target object.
  • the gun machine monitors the target object in the monitoring area
  • the first coordinate information of the target object in the gun machine is obtained, and the first coordinate information is converted into the target object in
  • the second coordinate information in the dome camera sends a tracking instruction to the dome camera, and the tracking instruction carries the second coordinate information of the target object.
  • the dome camera receives the tracking instruction and tracks the target object according to the second coordinate information of the target object.
  • the ball machine is always controlled by the gun machine to track the target object.
  • the second coordinate information of the target object obtained by the gun machine conversion may be distorted.
  • the two-coordinate information cannot track the target object, resulting in low tracking accuracy.
  • the present application provides a method, device, equipment and storage medium for tracking a target object, which can improve the accuracy of tracking.
  • a method for tracking a target object including:
  • the first monitoring device When detecting the target object, acquires the first position information of the target object;
  • the control of the second tracking device is cancelled, and the second tracking device The device automatically tracks the target object;
  • the first monitoring device determines that the target object is not in the designated area based on the first position information, it controls at least one of the second tracking device and the first tracking device to perform on the target object track;
  • the geographic location of the first monitoring device and the first tracking device are the same, and the geographic location of the first monitoring device and the second tracking device are different.
  • At least one of tracking the target object includes:
  • the first monitoring device determines that the target object is not in the designated area, and the target object is located in the monitoring area of the first tracking device and the second tracking device When within the monitoring area, the second tracking device and the first tracking device are controlled to track the target object.
  • the second tracking device is controlled by the Tracking the target object with at least one of the first tracking devices, including:
  • the first monitoring device determines that the target object is not in the specified area based on the first position information, and the target object is only in the monitoring area of the first tracking device;
  • the first monitoring device controls the first tracking device to track the target object.
  • the second tracking device and the first At least one of the tracking devices tracking the target object includes:
  • the first monitoring device determines that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information
  • the first monitoring device controls the second tracking device to track the target object.
  • the method further includes:
  • the first monitoring device determines that the target object is within the monitoring area of the second monitoring device based on the first location information
  • the first monitoring device hands over the control authority of the second tracking device to the The second monitoring device
  • the second monitoring device controls the second tracking device to track the target object
  • the second monitoring device and the second tracking device have the same geographic location.
  • the method before the first monitoring device controls the first tracking device to track the target object, the method further includes:
  • the first monitoring device sends a first control request to the first tracking device, where the first control request carries the device identification of the first monitoring device;
  • the first monitoring device When the first monitoring device receives the first confirmation response corresponding to the first control request returned by the first tracking device according to the device identification, the first monitoring device determines according to the first confirmation response Obtain the authority to control the first tracking device.
  • acquiring the first position information of the target object includes:
  • the first monitoring device When detecting the target object, the first monitoring device obtains coordinate information of the target object in the coordinate system of the first monitoring device to obtain first coordinate information;
  • the first monitoring device uses the first coordinate information as the first position information.
  • the method further includes:
  • the first monitoring device determines the coordinate value of the target object in the horizontal direction in the coordinate system of the first monitoring device from the first coordinate information to obtain a first coordinate value
  • the first monitoring device determines that the target object is in the designated area, and the first coordinate threshold is the second The minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the second coordinate threshold is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;
  • the first monitoring device determines that the target object is not in the designated area.
  • the method further includes:
  • the first monitoring device determines the coordinate value of the target object in the horizontal direction in the coordinate system of the first monitoring device from the first coordinate information to obtain a first coordinate value
  • the first monitoring device determines that the target object is in the designated area, and the third coordinate threshold is the second The minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the fourth coordinate threshold is the minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;
  • the first monitoring device determines that the target object is not in the designated area.
  • the first monitoring device determines that the target object is in the designated area, and canceling the control of the second tracking device includes:
  • the first monitoring device determines the movement trajectory of the target object
  • the first monitoring device determines that the target object is in the designated area In the case of, cancel the control of the second tracking device.
  • the first monitoring device controls the first tracking device to track the target object, including:
  • the first monitoring device converts the first position information into second position information, the first position information is the position information of the target object in the first monitoring device, and the second position information is Position information of the target object in the first tracking device;
  • the first monitoring device sends a first tracking instruction to the first tracking device, the first tracking instruction carries the second location information, and the first tracking device The target object is tracked.
  • controlling at least one of the second tracking device and the first tracking device to track the target object includes:
  • the first monitoring device converts the first position information into third position information, the first position information is the position information of the target object in the first monitoring device, and the third position information is Position information of the target object in the second tracking device;
  • the first monitoring device sends a second tracking instruction to the second tracking device, the second tracking instruction carries the third location information, and the second tracking device sends a second tracking instruction to the second tracking device based on the third location information
  • the target object is tracked.
  • another method for tracking a target object including:
  • the second tracking device automatically tracks the target object
  • the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device;
  • first monitoring device and the second tracking device have different geographic locations, and the second monitoring device and the second tracking device have the same geographic location.
  • the second tracking device tracking the target object based on the control of the first monitoring device or the second monitoring device includes:
  • the second tracking device tracks the target object based on the control of the first monitoring device.
  • the second tracking device tracking the target object based on the control of the first monitoring device or the second monitoring device includes:
  • the second tracking device tracks the target object based on the control of the second monitoring device.
  • the method before the second tracking device tracks the target object based on the control of the second monitoring device, the method further includes:
  • the second tracking device receives a second control request sent by the second monitoring device, where the second control request carries the device identification of the second monitoring device;
  • the second tracking device When the second monitoring device has priority to control the second tracking device compared to the first monitoring device, the second tracking device returns to the second monitoring device according to the device identification A second confirmation response corresponding to the second control request, where the second confirmation response is used to instruct the second monitoring device to control the second tracking device.
  • the second tracking device tracking the target object based on the control of the first monitoring device includes:
  • the second tracking device receives a second tracking instruction sent by the first monitoring device, the second tracking instruction carries third location information, and the third location information is the target object in the second tracking device Location information in
  • the second tracking device tracks the target object based on the third position information.
  • the second tracking device tracking the target object based on the control of the second monitoring device includes:
  • the second tracking device receives a third tracking instruction sent by the second monitoring device, the third tracking instruction carries third location information, and the third location information is the target object in the second tracking device Location information in
  • the second tracking device tracks the target object based on the third position information.
  • an apparatus for tracking a target object includes:
  • An acquisition module configured to acquire the first position information of the target object when the target object is detected
  • the first determining module is configured to cancel the control of the second tracking device when it is determined that the target object is in the designated area of the controlled second tracking device based on the first position information 2.
  • the tracking device automatically tracks the target object;
  • a second determination module configured to control at least one of the second tracking device and the first tracking device to control the target when it is determined that the target object is not in the designated area based on the first position information Object tracking
  • the geographic location of the local end and the first tracking device are the same, and the geographic location of the local end and the second tracking device are different.
  • the second determining module is further configured to determine that the target object is not in the designated area based on the first position information, and the target object is located in the first When the monitoring area of a tracking device and the monitoring area of the second tracking device are controlled, the second tracking device and the first tracking device are controlled to track the target object.
  • the second determination module is further configured to determine that the target object is not in the designated area based on the first position information, and the target object is only in the When the monitoring area of the first tracking device is described; controlling the first tracking device to track the target object.
  • the second determination module is further configured to determine that the target object is not in the designated area based on the first position information, and the target object is only in the When monitoring the monitoring area of the second tracking device; controlling the second tracking device to track the target object.
  • the device further includes:
  • the third determining module is configured to hand over the control authority of the second tracking device to the second monitoring device when it is determined that the target object is within the monitoring area of the second monitoring device based on the first position information Device, the second monitoring device controls the second tracking device to track the target object;
  • the second monitoring device and the second tracking device have the same geographic location.
  • the device further includes:
  • a sending module configured to send a first control request to the first tracking device, where the first control request carries a local device identifier
  • the first receiving module is configured to, when receiving a first confirmation response corresponding to the first control request returned by the first tracking device according to the device identification, determine to obtain control according to the first confirmation response The first tracking device permissions.
  • the acquiring module is further configured to acquire coordinate information of the target object in the local coordinate system when the target object is detected, to obtain first coordinate information;
  • the first coordinate information is used as the first position information.
  • the device further includes:
  • a fourth determining module configured to determine the coordinate value of the target object in the horizontal direction in the local coordinate system from the first coordinate information to obtain a first coordinate value
  • the fifth determining module is configured to determine that the target object is in the designated area when the first coordinate value is greater than the first coordinate threshold and less than the second coordinate threshold, and the first coordinate threshold is the The minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the second coordinate threshold is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;
  • the sixth determining module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the first coordinate threshold or not less than the second coordinate threshold.
  • the device further includes:
  • the seventh determining module is configured to determine the coordinate value of the target object in the horizontal direction in the local coordinate system from the first coordinate information to obtain the first coordinate value;
  • An eighth determining module is configured to determine that the target object is in the designated area when the first coordinate value is greater than a third coordinate threshold and less than a fourth coordinate threshold, and the third coordinate threshold is the The minimum coordinate value of the distortion area of the second tracking device in the horizontal direction, and the fourth coordinate threshold is the minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;
  • the ninth determination module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold.
  • the first determination module is further configured to determine a movement trajectory of the target object; when the movement trajectory represents the target object from the monitoring area of the second monitoring device When moving to the local monitoring area, when it is determined that the target object is in the designated area, the control of the second tracking device is cancelled.
  • the second determination module is further configured to convert the first position information into second position information, where the first position information is the target object in the local end Location information, the second location information is the location information of the target object in the first tracking device; sending a first tracking instruction to the first tracking device, the first tracking instruction carrying the first Two position information, the first tracking device tracks the target object based on the second position information.
  • the second determining module is further configured to convert the first position information into third position information, and the first position information is that the target object is in the local end Location information, the third location information is the location information of the target object in the second tracking device; a second tracking instruction is sent to the second tracking device, and the second tracking instruction carries the first Three position information, the second tracking device tracks the target object based on the third position information.
  • another device for tracking a target object including:
  • the first tracking module is configured to automatically track the target object when the target object being tracked is in the designated area at the local end;
  • the second tracking module is configured to track the target object based on the control of the first monitoring device or the second monitoring device when the target object is not in the designated area;
  • the geographic location of the first monitoring device and the local end are different, and the geographic location of the second monitoring device and the local end are the same.
  • the second tracking module is further configured to control the first monitoring device based on the control of the first monitoring device when the target object is in the monitoring area of the first monitoring device. The target object is tracked.
  • the second tracking module is further configured to control the second monitoring device based on the control of the second monitoring device when the target object is within the monitoring area of the second monitoring device. The target object is tracked.
  • the device further includes:
  • a second receiving module configured to receive a second control request sent by the second monitoring device, where the second control request carries the device identification of the second monitoring device;
  • the return module is configured to, when the second monitoring device has control authority to preferentially control the second tracking device compared to the first monitoring device, the local end to the second monitoring device according to the device identification A second confirmation response corresponding to the second control request is returned, and the second confirmation response is used to instruct the second monitoring device to control the local end.
  • the second tracking module is further configured to receive a second tracking instruction sent by the first monitoring device, where the second tracking instruction carries third location information, and the first Three position information is the position information of the target object in the local end;
  • the target object is tracked.
  • the second tracking module is further configured to receive a third tracking instruction sent by the second monitoring device, where the third tracking instruction carries third location information, and the third Three position information is the position information of the target object in the local end;
  • the target object is tracked.
  • a monitoring device includes:
  • a processor and a memory where at least one piece of program code is stored in the memory, and the at least one piece of program code is loaded and executed by the processor to implement the operation performed in the method for tracking a target object described above.
  • a tracking device includes:
  • a processor and a memory where at least one piece of program code is stored in the memory, and the at least one piece of program code is loaded and executed by the processor to implement the operation performed in the method for tracking a target object described above.
  • a computer-readable storage medium is provided. At least one piece of program code is stored in the computer-readable storage medium, and the at least one piece of program code is loaded and executed by a processor to implement the tracking target object. Operations performed in the method.
  • a computer-readable storage medium is provided. At least one piece of program code is stored in the computer-readable storage medium, and the at least one piece of program code is loaded and executed by a processor to implement the tracking target object. Operations performed in the method.
  • the first monitoring device When detecting the target object, acquires the first position information of the target object; when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, the The control of the second tracking device, the second tracking device automatically tracks the target object; when the first monitoring device determines that the target object is not in the designated area based on the first position information, the second tracking device and the first tracking device are controlled At least one tracks the target object.
  • the problem that the second tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of another application scenario according to an embodiment of the present application.
  • FIG. 3 is a flowchart of a method for tracking a target object according to some exemplary embodiments of the present application
  • FIG. 4 is a schematic diagram of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 5 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 6 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 7 is a schematic diagram of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 8 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 9 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 10 is a block diagram of an apparatus for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 11 is a block diagram of another apparatus for tracking a target object according to some exemplary embodiments of the present application.
  • FIG. 12 is a structural block diagram of a device according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present application.
  • the implementation environment includes a first monitoring device 101, a second monitoring device 102, a first tracking device 201, and a second tracking device 202.
  • the first monitoring device 101 is connected to the first tracking device 201 and the second tracking device 202 in a wired or wireless manner, so that the first monitoring device 101 can control the pair of the first tracking device 201 and/or the second tracking device 202
  • the target object in the first monitoring area is monitored.
  • the second monitoring device 102 and the second tracking device 202 can be connected in a wired or wireless manner, so that the second monitoring device 102 can control the second tracking device 202 to monitor the target object in the second monitoring area.
  • the first monitoring device 101 may be disposed on the first bracket
  • the first tracking device 201 may also be disposed on the first bracket
  • the second monitoring device 102 and the second tracking device 202 may be disposed on the second bracket.
  • the height of the first bracket and the height of the second bracket may be the same or different.
  • both the height of the first bracket and the height of the second bracket can be set and changed as needed. In the embodiments of the present application, this is not specifically limited.
  • the height of the first bracket and the second bracket are the same, both are 6 meters or 7 meters.
  • the distance between the first bracket and the second bracket can also be set and changed as needed. In the embodiment of the present application, this is not specifically limited.
  • the distance between the first bracket and the second bracket is 300 meters or 350 meters.
  • the first monitoring device 101 and the second monitoring device 102 may be any devices with a detection function.
  • the first monitoring device 101 and the second monitoring device 102 may be high-definition cameras or shooting machines.
  • the first tracking device 201 and the second tracking device 202 may be any devices with a tracking function.
  • the first tracking device 201 and the second tracking device 202 may be dome cameras.
  • the target object may be a person, a vehicle, an animal, or the like. In the embodiment of the present application, the first monitoring device 101, the second monitoring device 102, the first tracking device 201, the second tracking device 202, and the target object are not specifically limited.
  • the monitoring area of the first monitoring device 101 is the first monitoring area
  • the monitoring area of the second monitoring device 102 is the second monitoring area.
  • the first monitoring area and the second monitoring area may be two areas that do not overlap.
  • the first monitoring area and the second monitoring area may also have two areas with overlapping portions.
  • the first monitoring area and the second monitoring area The location relationship of the second monitoring area is not specifically limited.
  • the first monitoring device 101 controls the first tracking device 201 to track the target object in the first monitoring area
  • the second monitoring device 102 controls the second tracking device 202 to track the target object in the second monitoring area.
  • the first monitoring device 101 may also control the second tracking device 202 to track the target object in the first monitoring area.
  • the position information of the target object is sent to the second tracking device 202, and the second tracking device 202 performs tracking according to the position information.
  • the monitoring area of the first tracking device and the monitoring area of the second tracking device may be two independent monitoring areas that do not cross each other, or two monitoring areas with overlapping portions. In the embodiment of the present application, the first tracking The positional relationship between the monitoring area of the device and the monitoring area of the second tracking device is not specifically limited.
  • the first monitoring device converts the first position information of the target object into the second position information in the second tracking device.
  • the target object moves a short distance.
  • the second tracking device needs Turn at a larger angle. Due to the sensitivity limitation of the second tracking device, the coordinate of the second position information obtained by the second tracking device 202 is distorted, that is, the target object is not actually in the coordinate position of the second position information, so that the second tracking device 202 cannot accurately track the target object
  • the specified area is the distortion area of the second tracking device 202.
  • the second tracking device 202 when the target object is in the specified area, automatically tracks the target object; when the target object is not in the specified area, the first monitoring device 101 controls the first tracking device 201 The standby and/or second tracking device 202 tracks the target object, or the second monitoring device 102 controls the second tracking device 202 to track the target object.
  • the application scenario includes two monitoring devices and two tracking devices as an example for description. In the embodiment of the present application, it is not limited to two monitoring devices and two tracking devices.
  • the application scenario may also include multiple monitoring devices and multiple tracking devices.
  • FIG. 2 is a schematic diagram of another application scenario of an example of the present application.
  • the implementation environment includes multiple monitoring devices 10 and multiple tracking devices 20. For each monitoring device 10, the monitoring device 10 is connected to the controlled at least one tracking device 20 in a wired or wireless manner, so that the monitoring device 10 controls the at least one tracking device 20 to monitor the target object in the monitoring area.
  • one tracking device 20 may be controlled by one monitoring device 10, or may be controlled by multiple monitoring devices 10 at the same time. Wherein, when one tracking device 20 is controlled by multiple monitoring devices 10 at the same time, the tracking device 20 can set the control authority. When the tracking device 20 is in an idle state, any of the multiple monitoring devices 10 is The tracking device 20 can be controlled; when the tracking device 20 is in the tracking state, the tracking device 20 is preferentially controlled by the monitoring device 10 with control authority.
  • Fig. 3 is a flowchart of a method for tracking a target object according to some exemplary embodiments of the present application. This method is applied to monitoring equipment and is used to solve the problem that the tracking equipment cannot accurately track the target object in the specified area. The method includes the following steps:
  • Step 301 when detecting a target object, the first monitoring device acquires the first position information of the target object.
  • the target object 205 is a person
  • the first monitoring device 101 is a first gun machine
  • the second tracking device 202 is a second ball machine.
  • the person is in the first monitoring area of the first monitoring device
  • the first gun machine acquires the first position information of the person.
  • the first position information is the coordinate information of the person in the first gun machine.
  • the first gun machine divides the first monitoring area into a plane rectangular coordinate system, using x to represent the horizontal coordinate, that is, the coordinate in the horizontal direction, the direction from the first gun machine direction to the second ball machine direction, y represents the ordinate
  • the monitoring start position of the first gun machine is the origin coordinate.
  • Step 302 When the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, the control of the second tracking device is canceled, and the second tracking device automatically controls The above target objects are tracked.
  • the first gun machine can determine the position of the above person based on the first position information of the person.
  • the first gun machine can cancel the control of the second ball machine Right, the second ball machine uses ATK (AutoTrack, automatic detection and tracking) mode to track personnel.
  • ATK AutoTrack, automatic detection and tracking
  • Step 303 When the first monitoring device determines that the target object is not in the specified area based on the first position information, controls at least one of the second tracking device and the first tracking device to track the target object.
  • the first gun machine can determine the area where the person is based on the first position information of the person. When the person is not in the designated area of the second ball machine, the first gun machine can control the first ball machine and the second ball machine. At least one tracked the above personnel. That is, the first dome camera can be individually controlled to track the above personnel, the second dome camera can be separately controlled to track the above personnel, and the first and second dome cameras can be simultaneously controlled to track the above personnel.
  • first monitoring device and the first tracking device have the same geographic location, and the first monitoring device and the second tracking device have different geographic locations.
  • the first monitoring device and the first tracking device are installed on a first bracket, and the second monitoring device and the second tracking device are installed on a second bracket.
  • the first monitoring device When detecting the target object, acquires the first position information of the target object; when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, the The control of the second tracking device, the second tracking device automatically tracks the target object; when the first monitoring device determines that the target object is not in the designated area based on the first position information, the second tracking device and the first tracking device are controlled At least one tracks the target object.
  • the problem that the second tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • Fig. 5 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application.
  • the method is applied to a tracking device to solve the problem that the tracking device cannot accurately track the target object in a specified area.
  • the method includes the following steps:
  • Step 501 When the tracked target object is in the designated area of the second tracking device, the second tracking device automatically tracks the target object.
  • the target object 205 is a person
  • the first monitoring device 101 is a first gun machine
  • the second tracking device 202 is a second ball machine.
  • the second dome uses ATK mode to track the person
  • Step 502 When the target object is not in the specified area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device.
  • the second dome camera tracks the person under the control of the first gun machine or the second gun machine.
  • first monitoring device and the first tracking device have the same geographic location, and the monitoring device and the second tracking device have different geographic locations.
  • the first monitoring device and the first tracking device are installed on a first bracket, and the second monitoring device and the second tracking device are installed on a second bracket.
  • the second tracking device When the target object is in the specified area, the second tracking device automatically tracks the target object; when the target object is not in the specified area, the second tracking device controls the target object based on the control of the first monitoring device or the second monitoring device Keep track.
  • the problem that the second tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • Fig. 6 is a flowchart of another method for tracking a target object according to some exemplary embodiments of the present application. The method includes the following steps:
  • Step 601 When detecting the target object, the first monitoring device acquires the first position information of the target object.
  • the first monitoring device may be a high-definition camera, a gun machine, or other monitoring devices that can monitor target objects, which is not limited in this embodiment.
  • the first monitoring device has a first monitoring area, and the first monitoring area is an effective monitoring area of the first monitoring device.
  • the above target objects may be people, vehicles, animals and other objects that need to be monitored, which is not limited in this embodiment.
  • the first monitoring device When the first monitoring device detects the target object, it can obtain the first position information of the target object according to the geographic location of the target object. In a possible implementation manner, the first monitoring device may determine the distance between the target object and the first monitoring device, and use the distance as the first position information.
  • the first monitoring device obtains coordinate information of the target object in the coordinate system of the first monitoring device to obtain first coordinate information, and uses the first coordinate information as the first position information.
  • the first monitoring device contains coordinate system information.
  • the first monitoring area is divided into a plane rectangular coordinate system, and x represents the abscissa and y represents the ordinate.
  • the monitoring starting position of the first monitoring device is the origin
  • the target object in the first monitoring area corresponds to the first coordinate information
  • the first monitoring device stores the first coordinate information as the first position information in the first monitoring device.
  • the target object 205 is a person
  • the first monitoring device 101 is a first gun machine
  • the second tracking device 202 is a second ball machine.
  • (Xa, Ya) indicates the first position information of the person in the first shot.
  • step 602 the first monitoring device determines whether the target object is in the designated area based on the first position information.
  • the specified area is a specified area of the second tracking device.
  • the specified area may be a distortion area of the second tracking device.
  • this step may be implemented by the following first implementation method achieve.
  • the specified area may be a distortion area of the second tracking device and an area between the distortion area and the second monitoring area.
  • this step may be implemented by the following second implementation manner .
  • the above-mentioned second monitoring area is an effective monitoring area of the second monitoring device.
  • this step can be:
  • the first monitoring device determines the first coordinate value of the target object based on the first position information.
  • the first coordinate value may be the coordinate value of the target object in the horizontal direction of the first monitoring device.
  • the first coordinate threshold is the smallest horizontal distortion area of the second tracking device Coordinate value
  • the second coordinate threshold value is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction; when the first coordinate value is not greater than the first coordinate threshold value or is not less than the second coordinate threshold value, it is determined The target object is not in the specified area.
  • the first monitoring device 101 is a first gun machine
  • the second monitoring device 102 is a second gun machine
  • the first tracking device 201 is a first dome camera
  • the second tracking device 202 is In the second dome camera
  • the target object 205 is a person.
  • the first gun machine divides the first monitoring area into a plane rectangular coordinate system, using x to represent the abscissa, that is, the coordinate in the horizontal direction, the direction from the first gun machine direction to the ball machine direction, y represents the ordinate Coordinates perpendicular to the horizontal direction, the monitoring starting position of the first monitoring device is the origin coordinate.
  • the first shot machine determines the first coordinate value of the person based on the first position information (Xa, Ya) of the person, and the first coordinate value is the coordinate value of the person in the horizontal direction of the first shot machine.
  • the horizontal coordinate value of the monitoring start position of the first gun machine is 0, and the horizontal coordinate value of the person is Xa, then the first coordinate value is Xa.
  • the above second dome camera has a coordinate distortion in a specified area where the horizontal coordinate value is greater than the first coordinate threshold Xp and the horizontal coordinate value is less than the second coordinate threshold Xq, and it is impossible to accurately track the target by adjusting the monitoring angle of the second dome camera.
  • the specified area is the distortion area of the second dome camera
  • the first coordinate threshold Xp is the minimum coordinate value of the distortion area of the second tracking device in the horizontal direction
  • the second coordinate threshold Xq is the The maximum coordinate value of the distortion area in the horizontal direction.
  • this step can be:
  • the first monitoring device may determine the first coordinate value of the target object based on the first position information, and the first coordinate value may be the coordinate value of the target object in the horizontal direction of the first monitoring device.
  • the first coordinate value is greater than the third coordinate threshold and less than the fourth coordinate threshold, it is determined that the target object is in the specified area, and the third coordinate threshold is the smallest horizontal distortion area of the second tracking device Coordinate value
  • the fourth coordinate threshold is the minimum coordinate value of the second monitoring area in the horizontal direction
  • the second monitoring area is the monitoring area of the second monitoring device; when the first coordinate value is not greater than the third coordinate threshold, Or not less than the fourth coordinate threshold, it is determined that the target object is not in the specified area.
  • the first monitoring device 101 is a first gun machine
  • the second monitoring device 102 is a second gun machine
  • the first tracking device 201 is a first ball machine
  • the second tracking device 202 is For the second dome camera
  • the target object 205 is a person.
  • the first gun machine divides the first monitoring area into a plane rectangular coordinate system, using x to represent the horizontal coordinate, that is, the coordinate in the horizontal direction, the direction from the first gun machine direction to the second ball machine direction, y represents the vertical
  • the coordinate is the coordinate perpendicular to the horizontal direction
  • the monitoring start position of the first gun machine is the origin coordinate.
  • the first shot machine determines the first coordinate value of the person based on the first position information (Xa, Ya) of the person, and the first coordinate value is the coordinate value of the person in the horizontal direction of the first shot machine.
  • the horizontal coordinate value of the monitoring start position of the first gun machine is 0, and the horizontal coordinate value of the person is Xa, then the first coordinate value is Xa.
  • the third coordinate threshold Xr is the minimum coordinate value of the distortion area of the dome camera in the horizontal direction
  • the fourth coordinate threshold is the minimum coordinate value of the second monitoring area in the coordinate system of the second gun machine in the horizontal direction
  • the coordinate value of the position in the horizontal direction of the first monitoring area is Xs.
  • the first gun machine determines that the person is in the designated area; when the first coordinate value Xa is not greater than the third coordinate When the threshold Xr, or not less than the fourth coordinate threshold Xs, the first shot machine determines that the person is not in the specified area.
  • step 603 is performed; when based on the first position information, the first monitoring device determines that the target object is not in the controlled area
  • step 604 is executed.
  • Step 603 when it is determined that the target object is in the designated area of the controlled second tracking device based on the first position information, the first monitoring device cancels the control of the second tracking device, and the second tracking device automatically tracks the target object ,End.
  • the first monitoring device cancels control of the second tracking device.
  • the first monitoring device sends cancellation control information to the second tracking device.
  • the second tracking device After receiving the cancellation control information, the second tracking device enters ATK Tracking mode, automatically detect and track the target object; in another possible implementation, the first monitoring device sends an automatic tracking instruction to the second tracking device, and the second tracking device enters ATK after receiving the automatic tracking instruction Tracking mode, automatically detect and track the target object.
  • the first monitoring device stops sending tracking instructions to the second tracking device, and when the second tracking device does not receive the tracking instruction from the first monitoring device, it enters the ATK tracking mode to automatically perform the target object Detection and tracking.
  • the first shot machine determines that the person is not in the designated area of the second ball machine
  • the first shot machine cancels the control of the second ball machine
  • the second ball machine enters the ATK mode to track and monitor the person.
  • the ATK mode is an automatic tracking mode of the second dome camera. In this automatic tracking mode, the second dome camera automatically detects and tracks the target object.
  • the target object before acquiring the first position information of the target object, the target object is in the monitoring area of the first monitoring device, and the first monitoring device controls the second tracking device to track the target object.
  • the first monitoring device may determine whether the target object is within the monitoring area of the first monitoring device. When the target object is within the monitoring area of the first monitoring device, the first monitoring device determines whether the target object is within the designated area of the second tracking device based on the first position information.
  • the first monitoring device determines that the target object is within the monitoring area of the second monitoring device based on the first location information
  • the first monitoring device hands over the control authority of the second tracking device to the second monitoring device
  • the second monitoring device The device controls the second tracking device to track the target object.
  • the second tracking device tracks the target object based on the control of the above-mentioned second monitoring device.
  • the second monitoring device and the second tracking device have the same geographic location.
  • the process that the second monitoring device controls the second tracking device to track the above target object may be:
  • the second monitoring device sends a third tracking instruction to the second tracking device.
  • the third tracking instruction carries the first location information
  • the second tracking device receives the third tracking instruction, and converts the first location information carried in the third tracking instruction into a third Three position information
  • the third position information is the coordinate information of the target object in the coordinate system of the second tracking device
  • the second tracking device tracks the target object based on the third position information.
  • the second monitoring device converts the first position information into third position information, where the third position information is the coordinate information of the target object in the second tracking device coordinate system.
  • the second monitoring device sends a third tracking instruction to the second tracking device, where the third tracking instruction carries third location information.
  • the second tracking device receives the third tracking instruction, and tracks the target object based on the third position information carried in the third tracking instruction.
  • the second monitoring device needs to obtain the control authority of the second tracking device; wherein, the second monitoring device obtains the second tracking
  • the process of controlling the authority of the device can be:
  • the second monitoring device sends a second control request to the second tracking device, where the second control request carries the device identification of the second monitoring device.
  • the second tracking device receives the second control request sent by the second monitoring device, and determines whether the second monitoring device has control authority to control the second tracking device according to the device identification of the second monitoring device.
  • the second tracking device determines that the second monitoring device has control authority to control the second tracking device, it returns a second confirmation response corresponding to the second control request to the second monitoring device, and the second confirmation response is used to instruct the second monitoring device Control the second tracking device, and after receiving the second confirmation response, the second monitoring device may control the second tracking device based on the second confirmation response; when the second tracking device determines that the second monitoring device does not have the control
  • a second rejection response corresponding to the second control request is returned to the second monitoring device.
  • the second rejection response is used to indicate that the second monitoring device cannot control the second tracking device. After receiving the second rejection response, the device does not control the second tracking device.
  • the step of determining whether the second monitoring device has the control authority to control the second tracking device according to the device identification of the second monitoring device may be:
  • the second tracking device After receiving the second control request from the second monitoring device, the second tracking device determines the current working state. When the working state of the tracking device is an idle state, or, based on the device identification, it is determined that the second monitoring device has priority control authority, the second tracking device sends a second control request corresponding to the second control request to the second monitoring device. 2. Confirm the response. When the working state of the second tracking device is busy and it is determined that the second monitoring device does not have priority control authority according to the device identification, the second tracking device sends a second rejection response to the second monitoring device.
  • the second tracking device may be bound to the MAC address of the second monitoring device.
  • the second monitoring device has the priority control right of the second tracking device.
  • the device identifier may be a MAC (Media Access Control Address) or IP address of the second monitoring device.
  • the first monitoring device may determine the movement trajectory of the target object.
  • the second monitoring device can cancel the control of the second tracking device at this time, and the second tracking device automatically tracks the target object.
  • the first monitoring device does not move to the second
  • the tracking device sends a control request, that is, the first monitoring device does not request control of the second tracking device.
  • the first gun when a person enters the first monitoring area from the second monitoring area, the first gun does not send a control request to the second dome before the person passes through the distortion area of the second dome.
  • the second dome Keep the ATK mode to track and monitor personnel. If when the person leaves the second monitoring area and has not entered the distortion area of the second dome camera, the first gun machine requests control of the second dome machine. Under the control of the first gun machine, the second ball machine tracks and monitors the personnel. When the personnel enters the distortion area of the second dome camera, the first gun machine gives up the control right of the second dome camera, and the second dome camera enters ATK mode to track and monitor the personnel.
  • the first gun machine sends a control request to the second dome camera again.
  • the second dome machine is idle, and the first gun machine gains control of the second dome machine.
  • the machine tracks and monitors the personnel under the control of the first gun. It can be seen that the above process is cumbersome, and each time the first gun machine obtains control right, it must send control instructions to the second ball machine again, which occupies the calculation capabilities of the gun machine and the ball machine, especially in the second ball machine.
  • the first shot machine needs to acquire control power and give up control power in a short time, so the second tracking device automatically tracks the target object in the above process It will be more convenient and accurate.
  • Step 604 When it is determined that the target object is not in the designated area of the controlled second tracking device based on the first position information, the first monitoring device controls at least one of the second tracking device and the first tracking device to track the target object .
  • the area that the first tracking device can monitor is the monitoring area of the first tracking device.
  • the monitoring area of the first tracking device may cover the first monitoring area of the first monitoring device, or may only cover the first monitoring device.
  • the area that can be monitored by the second tracking device is the monitoring area of the second tracking device.
  • the monitoring area of the second tracking device may cover the second monitoring area of the second monitoring device, or may only cover the second monitoring device.
  • a part of the monitoring area, the monitoring area of the second tracking device may also cover the first monitoring area of the first monitoring device, or may only cover a part of the first monitoring area of the first monitoring device.
  • the monitoring area of the first tracking device and the monitoring area of the second tracking device may have overlapping parts and mutually independent parts, or may be independent of each other and have no overlapping parts.
  • the first monitoring device may control the first tracking device to track the target object .
  • the process that the first monitoring device controls the first tracking device to track the target object may be:
  • the first monitoring device sends a first tracking instruction to the first tracking device.
  • the first tracking instruction carries the first location information
  • the first tracking device receives the first tracking instruction to convert the first location information carried by the first tracking instruction to a second Position information
  • the second position information is coordinate information of the target object in the coordinate system of the first tracking device
  • the first tracking device tracks the target object based on the second position information.
  • the first monitoring device converts the first position information into second position information, where the first position information is coordinate information of the target object in the coordinate system of the first monitoring device.
  • the first monitoring device sends a first tracking instruction to the first tracking device, where the first tracking instruction carries second location information.
  • the first tracking device receives the first tracking instruction, and tracks the target object based on the second position information carried in the first tracking instruction.
  • the process of the first monitoring device acquiring the control authority of the first tracking device may be:
  • the first monitoring device sends a first control request to the first tracking device, where the first control request carries the device identification of the first monitoring device.
  • the first tracking device receives the first control request of the first monitoring device, and determines whether the first monitoring device has control authority to control the first tracking device according to the device identification of the first monitoring device.
  • the first tracking device determines that the first monitoring device has control authority to control the first tracking device, it returns a first confirmation response corresponding to the first control request to the first monitoring device, and the first confirmation response is used to instruct the first monitoring device
  • the first tracking device is controlled. After receiving the first confirmation response, the first monitoring device controls the first tracking device based on the first confirmation response.
  • the first tracking device determines that the first monitoring device does not have the control authority to control the first tracking device, it returns a first rejection response corresponding to the first control request to the first monitoring device, the first rejection response is used to indicate the first monitoring The device cannot control the first tracking device. After receiving the first rejection response, the first monitoring device does not control the first tracking device.
  • the step of the first tracking device determining whether the first monitoring device has the control authority to control the first tracking device according to the device identification of the first monitoring device may be:
  • the first tracking device After receiving the first control request of the first monitoring device, the first tracking device determines the current working state. When the working state of the first tracking device is an idle state, or, according to the device identification, it is determined that the first monitoring device has priority control authority, the first tracking device sends a first control request corresponding to the first monitoring device. First confirmation response. When the working state of the first tracking device is busy and it is determined that the first monitoring device does not have priority control authority according to the device identification, the first tracking device sends a first rejection response to the first monitoring device.
  • the first tracking device may be bound to the MAC address of the first monitoring device.
  • the first monitoring device has priority control over the first tracking device.
  • the device identifier may be a MAC (Media Access Control Address) or IP address of the first monitoring device.
  • the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is only in the monitoring area of the second tracking device, the first monitoring device controls the second tracking device to track the target object.
  • the process that the first monitoring device controls the second tracking device to track the target object may be:
  • the first monitoring device sends a second tracking instruction to the second tracking device.
  • the second tracking instruction carries the first location information
  • the second tracking device receives the second tracking instruction, and converts the first location information carried in the second tracking instruction to the first Three position information
  • the third position information is the coordinate information of the target object in the coordinate system of the second tracking device
  • the second tracking device tracks the target object based on the third position information.
  • the first monitoring device converts the first position information into third position information, where the third position information is the coordinate information of the target object in the coordinate system of the second tracking device; the first monitoring device Send a second tracking instruction to the second tracking device, where the first tracking instruction carries third location information; the second tracking device receives the first tracking instruction, and based on the third location information carried in the first tracking instruction Object tracking.
  • the process of the first monitoring device acquiring the control authority of the second tracking device may be:
  • the first monitoring device sends a third control request to the second tracking device, where the third control request carries the device identification of the first monitoring device.
  • the second tracking device receives the third control request of the first monitoring device, and determines whether the first monitoring device has control authority to control the second tracking device according to the device identification of the first monitoring device.
  • a third confirmation response corresponding to the third control request is returned to the first monitoring device, and the third confirmation response is used to instruct the first monitoring
  • the device controls the second tracking device. After receiving the third confirmation response, the first monitoring device controls the second tracking device based on the third confirmation response.
  • a third rejection response corresponding to the third control request is returned to the first monitoring device, and the third rejection response is used to instruct the first monitoring The device cannot control the second tracking device. After receiving the third rejection response, the first monitoring device does not control the second tracking device.
  • the step of determining whether the first monitoring device has the control authority to control the second tracking device according to the device identification of the first monitoring device may be:
  • the second tracking device After receiving the third control request from the first monitoring device, the second tracking device determines the current working state. When the working state of the second tracking device is an idle state, or, based on the device identifier, it is determined that the first monitoring device has priority control authority, the second tracking device sends a first control request corresponding to the first monitoring device. First confirmation response. When the working state of the second tracking device is busy and it is determined that the first monitoring device does not have priority control authority according to the device identification, the second tracking device sends a third rejection response to the first monitoring device.
  • the device identifier may be a MAC (Media Access Control Address) or IP address of the first monitoring device.
  • the first monitoring device may control the first The tracking device and the second tracking device track the target object. That is, when the above target object is in a portion where the monitoring area of the first tracking device and the monitoring area of the second tracking device overlap, the first monitoring device can control the second tracking device and the first tracking device to track the target object together.
  • the process that the first monitoring device controls the second tracking device and the first tracking device to track the target object may be:
  • the first monitoring device sends a fourth tracking instruction to the first tracking device and the second tracking device, and the fourth tracking instruction carries the first location information.
  • the first tracking device and the second tracking device respectively receive the fourth tracking instruction, and the first tracking device converts the first position information carried in the fourth tracking instruction into second position information, where the second position information is the target object Coordinate information in the coordinate system of the first tracking device, and the first tracking device tracks the target object based on the second position information.
  • the second tracking device converts the first position information carried in the fourth tracking instruction into third position information, where the third position information is the coordinate information of the target object in the coordinate system of the second tracking device.
  • the second tracking device is based on The third position information tracks the target object.
  • the first monitoring device converts the first position information into second position information and third position information, where the second position information is the coordinates of the target object in the coordinate system of the first tracking device Information, the third position information is the coordinate information of the target object in the coordinate system of the second tracking device.
  • the first monitoring device sends a fifth tracking instruction to the first tracking device, the fifth tracking instruction carries second location information, and the first tracking device receives the first tracking instruction based on the second location information carried in the first tracking instruction Track the above target objects.
  • the first monitoring device sends a sixth tracking instruction to the second tracking device, where the first tracking instruction carries third location information, and the second tracking device receives the sixth tracking instruction, based on the third location carried in the first tracking instruction
  • the information tracks the above target objects.
  • the first monitoring device 101 is a first gun machine
  • the second monitoring device 102 is a first gun machine
  • the first tracking device 201 is a first ball machine
  • the second tracking device 202 is a second ball machine
  • the target object 205 is a person.
  • the first shot machine sends a fourth tracking instruction to the first ball machine and the second ball machine, respectively.
  • the fourth tracking instruction carries the first position information
  • the first ball machine and the second ball machine respectively receive the fourth tracking instruction
  • the first ball machine converts the first position information carried in the fourth tracking instruction to the second Position information
  • the second position information is the coordinate information of the target object in the coordinate system of the first ball machine
  • the first ball machine tracks the target object based on the second position information.
  • the second dome camera converts the first position information carried in the fourth tracking instruction into third position information, which is the coordinate information of the target object in the coordinate system of the second dome camera.
  • the second dome camera is based on The third position information tracks the target object.
  • the first gun machine converts the first position information into second position information and third position information.
  • the second position information is the coordinate information of the target object in the coordinate system of the first ball machine.
  • the three position information is the coordinate information of the target object in the coordinate system of the second ball machine.
  • the first shot machine sends a fifth tracking instruction to the first dome camera, the fifth tracking instruction carries second position information, and the first dome camera receives the first tracking instruction based on the second position information carried in the first tracking instruction Track the above target objects.
  • the first shot machine sends a sixth tracking instruction to the second dome camera, the first tracking instruction carries third position information, and the second dome camera receives the sixth tracking instruction based on the third position carried in the first tracking instruction
  • the information tracks the above target objects.
  • the first monitoring device When detecting the target object, acquires the first position information of the target object. When the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, the first The control of the second tracking device. The second tracking device automatically tracks the target object. When the first monitoring device determines that the target object is not in the designated area based on the first position information, it controls the second tracking device and the first tracking device. At least one tracks the target object. The problem that the second tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • Fig. 10 is a block diagram of a device for tracking a target object according to some exemplary embodiments of the present application.
  • the device is used to solve the problem that the tracking device cannot accurately track the target object in the designated area.
  • the device includes an acquisition module 1001, a first determination module 1002, and a second determination module 1003.
  • the acquisition module 1001 is configured to acquire the first position information of the target object when the target object is detected;
  • the first determination module 1002 is configured to cancel the control of the second tracking device when the target object is determined to be in the designated area of the controlled second tracking device based on the first position information, and the second tracking device automatically targets the target Object tracking
  • the second determination module 1003 is configured to control at least one of the second tracking device and the first tracking device to track the target object when it is determined that the target object is not in the designated area based on the first position information;
  • the geographical location of the local end and the first tracking device are the same, and the geographical location of the local end and the second tracking device are different.
  • the second determining module 1003 is further configured to determine that the target object is not in the designated area based on the first position information, and the target object is located in the monitoring area of the first tracking device and the second tracking device Within the monitoring area, control the second tracking device and the first tracking device to track the target object.
  • the second determination module 1003 is further configured to determine that the target object is not in the designated area and the target object is only in the monitoring area of the first tracking device based on the first position information;
  • the second determination module 1003 is further configured to determine that the target object is not in the designated area and the target object is only in the monitoring area of the second tracking device based on the first position information;
  • the device further includes:
  • the third determining module is configured to, when determining that the target object is within the monitoring area of the second monitoring device based on the first position information, hand over control authority of the second tracking device to the second monitoring device and be controlled by the second monitoring device The second tracking device tracks the target object;
  • the geographical position of the second monitoring device and the second tracking device are the same.
  • the device further includes:
  • the sending module is configured to send a first control request to the first tracking device, where the first control request carries the local device identifier;
  • the first receiving module is configured to, when receiving the first confirmation response corresponding to the first control request returned by the first tracking device according to the device identification, determine to obtain the authority to control the first tracking device according to the first confirmation response.
  • the acquisition module is further configured to acquire the coordinate information of the target object in the local coordinate system when the target object is detected, to obtain the first coordinate information; use the first coordinate information as the first One location information.
  • the device further includes:
  • the fourth determining module is configured to determine the coordinate value of the target object in the horizontal direction in the local coordinate system from the first coordinate information to obtain the first coordinate value;
  • the fifth determining module is configured to determine that the target object is in the specified area when the first coordinate value is greater than the first coordinate threshold and less than the second coordinate threshold, and the first coordinate threshold is the distortion area of the second tracking device in the horizontal direction
  • the minimum coordinate value of, the second coordinate threshold is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;
  • the sixth determining module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the first coordinate threshold or not less than the second coordinate threshold.
  • the device further includes:
  • the seventh determining module is configured to determine the coordinate value of the target object in the horizontal direction in the local coordinate system from the first coordinate information to obtain the first coordinate value;
  • the eighth determination module is configured to determine that the target object is in the designated area when the first coordinate value is greater than the third coordinate threshold and less than the fourth coordinate threshold, and the third coordinate threshold is the horizontal area of the distortion area of the tracking device
  • the minimum coordinate value, the fourth coordinate threshold is the minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;
  • the ninth determination module is configured to determine that the target object is not in the designated area when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold.
  • the first determination module 1002 is further configured to determine the movement trajectory of the target object; when the movement trajectory indicates that the target object moves from the monitoring area of the second monitoring device to the local monitoring area, the When it is determined that the target object is in the designated area, the control of the second tracking device is cancelled.
  • the second determination module 1003 is further configured to convert the first position information to the second position information, where the first position information is the position information of the target object at the local end, and the second position The information is the position information of the target object in the first tracking device; a first tracking instruction is sent to the first tracking device, the first tracking instruction carries second position information, and the first tracking device tracks the target object based on the second position information .
  • the second determination module is further configured to convert the first position information into third position information, the first position information is the position information of the target object in the local end, and the third position information The position information of the target object in the second tracking device; sending a second tracking instruction to the second tracking device, the second tracking instruction carrying third position information, and the second tracking device tracking the target object based on the third position information.
  • the first monitoring device When detecting the target object, acquires the first position information of the target object. When the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, the first The control of the second tracking device. The second tracking device automatically tracks the target object. When the first monitoring device determines that the target object is not in the designated area based on the first position information, it controls the second tracking device and the first tracking device. At least one tracks the target object. The problem that the tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • Fig. 11 is a block diagram of an apparatus for tracking a target object according to some exemplary embodiments of the present application.
  • the device is used to solve the problem that the tracking device cannot accurately track the target object in the designated area.
  • the device includes a first tracking module 1101 and a second tracking module 1102. ,
  • the device includes:
  • the first tracking module 1101 is configured to automatically track the target object when the tracked target object is in the designated area at the local end;
  • the second tracking module 1102 is configured to track the target object based on the control of the first monitoring device or the second monitoring device when the target object is not in the designated area; where the first monitoring device and the local end have different geographic locations, The second monitoring device has the same geographic location as the local end.
  • the second tracking module 1102 is further configured to track the target object based on the control of the first monitoring device when the target object is within the monitoring area of the first monitoring device.
  • the second tracking module 1102 is further configured to track the target object based on the control of the second monitoring device when the target object is within the monitoring area of the second monitoring device.
  • the device further includes:
  • the second receiving module is configured to receive a second control request sent by the second monitoring device, where the second control request carries the device identification of the second monitoring device;
  • the return module is configured to return the second confirmation corresponding to the second control request to the second monitoring device according to the device identification when the second monitoring device has priority to control the second tracking device compared to the first monitoring device
  • the second confirmation response is used to instruct the second monitoring device to control the local end.
  • the second tracking module 1102 is further configured to receive a second tracking instruction sent by the first monitoring device.
  • the second tracking instruction carries third location information, and the third location information is the target object. Location information in the local end; based on the third location information, tracking the target object.
  • the second tracking module 1102 is further configured to receive a third tracking instruction sent by the second monitoring device.
  • the third tracking instruction carries third location information, and the third location information is the target object. Location information in the local end; based on the third location information, tracking the target object.
  • the first monitoring device When the target object is in the specified area, the first monitoring device does not control the second tracking device, and the second tracking device automatically tracks the target object; when the target object is in the specified area, the first monitoring device Control the second tracking device to track the target object.
  • the problem that the second tracking device cannot accurately track the target object in the specified area under the control of the first monitoring device is effectively solved, and the accuracy of tracking is improved.
  • FIG. 12 is a structural block diagram of a device 1200 according to an exemplary embodiment of the present application.
  • the device 1200 may be a monitoring device or a tracking device, such as a gun machine or a dome machine.
  • Device 1200 may also be referred to as user equipment, portable device, laptop device, desktop device, and other names.
  • the device 1200 includes a processor 1201 and a memory 1202.
  • the processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on.
  • the processor 1201 may adopt at least one hardware form of DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). achieve.
  • the processor 1201 may also include a main processor and a coprocessor.
  • the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit, central processor); the coprocessor is A low-power processor for processing data in the standby state.
  • the processor 1201 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used to render and draw content that needs to be displayed on the display screen.
  • the processor 1201 may also include an AI (Artificial Intelligence, Artificial Intelligence) processor, which is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, Artificial Intelligence
  • the memory 1202 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 1202 may also include high-speed random access memory, and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 1202 is used to store at least one instruction for execution by the processor 1201 to achieve the tracking target provided by the method embodiment in the present application Object methods.
  • the device 1200 may optionally include a peripheral device interface 1203 and at least one peripheral device.
  • the processor 1201, the memory 1202, and the peripheral device interface 1203 may be connected by a bus or a signal line.
  • Each peripheral device may be connected to the peripheral device interface 1203 through a bus, a signal line, or a circuit board.
  • the peripheral device includes at least one of a radio frequency circuit 1204, a touch display 1205, a camera 1206, an audio circuit 1207, a positioning component 1208, and a power supply 1209.
  • the peripheral device interface 1203 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 1201 and the memory 1202.
  • the processor 1201, the memory 1202, and the peripheral device interface 1203 are integrated on the same chip or circuit board; in some other embodiments, any one of the processor 1201, the memory 1202, and the peripheral device interface 1203 or Both can be implemented on a separate chip or circuit board, which is not limited in this embodiment.
  • the radio frequency circuit 1204 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals.
  • the radio frequency circuit 1204 communicates with the communication network and other communication devices through electromagnetic signals.
  • the radio frequency circuit 1204 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal.
  • the radio frequency circuit 1204 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and so on.
  • the radio frequency circuit 1204 can communicate with other devices through at least one wireless communication protocol.
  • the wireless communication protocol includes but is not limited to: World Wide Web, Metropolitan Area Network, Intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), wireless local area networks and/or WiFi (Wireless Fidelity) networks.
  • the radio frequency circuit 1204 may further include a circuit related to NFC (Near Field Communication), which is not limited in this application.
  • the display screen 1205 is used to display a UI (User Interface, user interface).
  • the UI may include graphics, text, icons, video, and any combination thereof.
  • the display screen 1205 also has the ability to collect touch signals on or above the surface of the display screen 1205.
  • the touch signal may be input to the processor 1201 as a control signal for processing.
  • the display screen 1205 can also be used to provide virtual buttons and/or virtual keyboards, also called soft buttons and/or soft keyboards.
  • the display screen 1205 may be one display screen 1205, which is provided with the front panel of the device 1200; in other embodiments, there may be at least two display screens 1205, which are respectively provided on different surfaces of the device 1200 or have a folded design; In still other embodiments, the display screen 1205 may be a flexible display screen, which is disposed on the curved surface or the folding surface of the device 1200. Even, the display screen 1205 can also be set as a non-rectangular irregular figure, that is, a special-shaped screen.
  • the display screen 1205 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light emitting diode) and other materials.
  • the camera assembly 1206 is used to collect images or videos.
  • the camera assembly 1206 includes a front camera and a rear camera.
  • the front camera is set on the front panel of the device, and the rear camera is set on the back of the device.
  • there are at least two rear cameras which are respectively one of the main camera, the depth-of-field camera, the wide-angle camera, and the telephoto camera, so as to realize the fusion of the main camera and the depth-of-field camera to realize the background blur function, the main camera Integrate with wide-angle camera to achieve panoramic shooting and VR (VirtualReality, virtual reality) shooting function or other fusion shooting functions.
  • the camera assembly 1206 may also include a flash.
  • the flash can be a single-color flash or a dual-color flash. Dual color temperature flash refers to the combination of warm light flash and cold light flash, which can be used for light compensation at different color temperatures.
  • the audio circuit 1207 may include a microphone and a speaker.
  • the microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals and input them to the processor 1201 for processing, or input them to the radio frequency circuit 1204 to implement voice communication.
  • the microphone can also be an array microphone or an omnidirectional acquisition microphone.
  • the speaker is used to convert the electrical signal from the processor 1201 or the radio frequency circuit 1204 into sound waves.
  • the speaker can be a traditional thin film speaker or a piezoelectric ceramic speaker.
  • the speaker When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible by humans, but also convert electrical signals into sound waves inaudible to humans for ranging purposes.
  • the audio circuit 1207 may further include a headphone jack.
  • the positioning component 1208 is used to locate the current geographic location of the device 1200 to implement navigation or LBS (Location Based Service, location-based service).
  • the positioning component 1208 may be a positioning component based on the GPS (Global Positioning System) of the United States, the Beidou system of China, or the Galileo system of Russia.
  • the power supply 1209 is used to supply power to various components in the device 1200.
  • the power source 1209 may be alternating current, direct current, disposable batteries, or rechargeable batteries.
  • the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery.
  • the wired rechargeable battery is a battery charged through a wired line
  • the wireless rechargeable battery is a battery charged through a wireless coil.
  • the rechargeable battery can also be used to support fast charging technology.
  • the device 1200 further includes one or more sensors 1210.
  • the one or more sensors 1210 include, but are not limited to: an acceleration sensor 1211, a gyro sensor 1212, a pressure sensor 1213, a fingerprint sensor 1214, an optical sensor 1215, and a proximity sensor 1216.
  • the acceleration sensor 1211 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the device 1200.
  • the acceleration sensor 1211 may be used to detect components of gravity acceleration on three coordinate axes.
  • the processor 1201 may control the touch display 1205 to display the user interface in a landscape view or a portrait view according to the gravity acceleration signal collected by the acceleration sensor 1211.
  • the acceleration sensor 1211 can also be used for game or user movement data collection.
  • the gyro sensor 1212 can monitor the body direction and rotation angle of the device 1200, and the gyro sensor 1212 can cooperate with the acceleration sensor 1211 to collect 3D actions of the user on the device 1200.
  • the processor 1201 can realize the following functions according to the data collected by the gyro sensor 1212: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.
  • the pressure sensor 1213 may be disposed on the side frame of the device 1200 and/or the lower layer of the touch display 1205. When the pressure sensor 1213 is disposed on the side frame of the device 1200, it can detect the user's grip signal on the device 1200, and the processor 1201 can perform left-right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 1213. When the pressure sensor 1213 is disposed below the touch display screen 1205, the processor 1201 controls the operability control on the UI interface according to the user's pressure operation on the touch display screen 1205.
  • the operability control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.
  • the fingerprint sensor 1214 is used to collect the user's fingerprint, and the processor 1201 identifies the user's identity according to the fingerprint collected by the fingerprint sensor 1214, or the fingerprint sensor 1214 identifies the user's identity based on the collected fingerprint. When the user's identity is recognized as a trusted identity, the processor 1201 authorizes the user to perform related sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings.
  • the fingerprint sensor 1214 may be provided on the front, back, or side of the device 1200. When a physical button or manufacturer logo is provided on the device 1200, the fingerprint sensor 1214 may be integrated with the physical button or manufacturer logo.
  • the optical sensor 1215 is used to collect the ambient light intensity.
  • the processor 1201 may control the display brightness of the touch display 1205 according to the ambient light intensity collected by the optical sensor 1215. Specifically, when the ambient light intensity is high, the display brightness of the touch display 1205 is increased; when the ambient light intensity is low, the display brightness of the touch display 1205 is decreased.
  • the processor 1201 may also dynamically adjust the shooting parameters of the camera assembly 1206 according to the ambient light intensity collected by the optical sensor 1215.
  • the proximity sensor 1216 also called a distance sensor, is usually provided on the front panel of the device 1200.
  • the proximity sensor 1216 is used to collect the distance between the user and the front of the device 1200.
  • the processor 1201 controls the touch display 1205 to switch from the bright screen state to the breathing state; when the proximity sensor 1216 detects When the distance from the user to the front of the device 1200 gradually becomes larger, the processor 1201 controls the touch display 1205 to switch from the screen-on state to the screen-on state.
  • FIG. 12 does not constitute a limitation on the device 1200, and may include more or fewer components than shown, or combine certain components, or adopt different component arrangements.
  • An embodiment of the present application also provides a computer-readable storage medium for monitoring devices, and the storage medium stores at least one piece of program code, and the at least one piece of program code is loaded and executed by a processor to achieve the tracking target of the foregoing embodiment Object methods.
  • An embodiment of the present application further provides another computer-readable storage medium for a tracking device.
  • the storage medium stores at least one piece of program code, and the at least one piece of program code is loaded and executed by a processor to implement tracking in the foregoing embodiment The target's method.
  • the program for implementing the above method of tracking a target object may be stored in a computer-readable In the storage medium, the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Alarm Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé, un appareil et un dispositif permettant de suivre un objet cible, ainsi qu'un support d'informations, qui se rapportent au domaine des communications. Le procédé comprend les étapes suivantes : lorsqu'un premier dispositif de surveillance détecte un objet cible, acquérir des premières informations de position de l'objet cible (étape 301) ; lorsque le premier dispositif de surveillance détermine, sur la base des premières informations de position, que l'objet cible est situé dans une zone spécifiée pour un second dispositif de suivi commandé, annuler la commande sur le second dispositif de suivi, et le second dispositif de suivi suit automatiquement l'objet cible (étape 302) ; et lorsque le premier dispositif de surveillance détermine, sur la base des premières informations de position, que l'objet cible n'est pas situé dans la zone spécifiée, commander au moins un second dispositif parmi les seconds dispositifs de suivi et un premier dispositif de suivi pour suivre l'objet cible (étape 303). Le procédé résout efficacement le problème selon lequel le second dispositif de suivi ne peut pas suivre avec précision l'objet cible dans la zone spécifiée sous la commande du premier dispositif de surveillance, et améliore la précision de suivi.
PCT/CN2019/124926 2018-12-28 2019-12-12 Procédé, appareil et dispositif permettant de suivre un objet cible, et support d'informations WO2020135084A1 (fr)

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CN201811623119.9A CN111383243B (zh) 2018-12-28 2018-12-28 一种跟踪目标对象的方法、装置、设备和存储介质
CN201811623119.9 2018-12-28

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