WO2021179125A1

WO2021179125A1 - Monitoring system, monitoring method, mobile platform and remote device

Info

Publication number: WO2021179125A1
Application number: PCT/CN2020/078437
Authority: WO
Inventors: 郭晓东
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2021-09-16
Also published as: CN112514374A

Abstract

A monitoring system (1000), comprising a remote device (100) and a mobile platform (200) in wireless communication with the remote device (100). The remote device (100) comprises a first processor (101). The mobile platform (200) comprises a second processor (201). The first processor (101) is configured to acquire a monitoring image, and is configured to recognize a monitored target in the monitoring image according to a preset identifier, and send the monitored target to the mobile platform (200); and the second processor (201) is configured to control the mobile platform (200) to track the monitored target. Further disclosed are a monitoring method, the mobile platform (200) and the remote device (100).

Description

Monitoring system, monitoring method, mobile platform and remote equipment

Technical field

This application relates to the field of monitoring technology, in particular to a monitoring system, a monitoring method, a mobile platform and a remote device.

Background technique

At present, the intelligent follower of UAVs is mainly used in the field of aerial photography. When in use, the drone recognizes the person in the image and controls its own flight according to the person's activity. However, the drone's smart follow function can detect people in the image, but it cannot identify specific people. Moreover, the tracking target in the image must be manually selected manually, and the tracking can be automatically started after the specific target cannot be identified. This cannot meet the needs of monitoring.

Summary of the invention

The embodiments of the present application provide a monitoring system, a monitoring method, a mobile platform, and a remote device.

The monitoring system of the embodiment of this application includes:

A remote device, the remote device including a first processor;

A mobile platform for wireless communication with the remote device, the mobile platform including a second processor;

The first processor is used for acquiring a monitoring image, and for identifying a monitoring target in the monitoring image according to a preset identifier, and sending the monitoring target to the mobile platform;

The second processor is used to control the mobile platform to track the monitoring target.

The monitoring method of the embodiment of the present application is used on a mobile platform. Monitoring methods include:

Acquiring a monitoring target sent by a remote device, the remote device performs wireless communication with the mobile platform, and the monitoring target is recognized by the remote device from a monitoring image according to a preset identifier;

Controlling the mobile platform to track the monitoring target.

The mobile platform of the embodiment of the present application includes a processor, the processor is used to obtain a monitoring target sent by a remote device, and the remote device performs wireless communication with the mobile platform; and is used to control the mobile platform to track the monitoring target , The monitoring target is recognized by the remote device from the monitoring image according to a preset identifier.

The monitoring method of the embodiment of the present application is used in a remote device. Monitoring methods include:

Obtain surveillance images;

Identifying the monitoring target in the monitoring image according to the preset identifier;

The monitoring target is sent to the mobile platform, so that the mobile platform tracks the monitoring target.

The remote device of the embodiment of the present application includes a processor, the processor is used to obtain a monitoring image; and used to identify the monitoring target in the monitoring image according to a preset identifier; and used to send the monitoring target to the A mobile platform to enable the mobile platform to track the monitoring target.

The monitoring system, monitoring method, mobile platform, and remote equipment of the embodiments of the present application can identify monitoring targets through preset identifiers, and then control the mobile platform to track the monitoring targets, thereby realizing the monitoring and tracking of specific targets. At the same time, the monitoring target is identified by the remote device, which can improve the identification efficiency and save the resources of the mobile platform.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the embodiments of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic diagram of modules of a monitoring system according to an embodiment of the present application;

2 is a schematic flowchart of a monitoring method for a mobile platform according to an embodiment of the present application;

3 is a schematic flowchart of a monitoring method for remote devices according to an embodiment of the present application;

FIG. 4 is a schematic diagram of another module of the monitoring system of the embodiment of the present application;

FIG. 5 is a schematic flowchart of a monitoring method for remote devices according to another embodiment of the present application;

FIG. 6 is a schematic flowchart of a monitoring method for remote devices according to another embodiment of the present application;

FIG. 7 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 8 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 9 is a schematic flowchart of a monitoring method for remote devices according to still another embodiment of the present application;

FIG. 10 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 11 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 12 is a schematic flowchart of a monitoring method for remote devices according to another embodiment of the present application;

FIG. 13 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 14 is a schematic flowchart of a monitoring method for remote devices according to another embodiment of the present application;

15 is a schematic flowchart of a monitoring method for a mobile platform according to another embodiment of the present application;

FIG. 16 is a schematic flowchart of a monitoring method for remote devices according to still another embodiment of the present application;

FIG. 17 is a schematic flowchart of a monitoring method for remote devices according to another embodiment of the present application.

Symbol description of main components:

The monitoring system 1000, the remote device 100, the first processor 101, the mobile platform 200, and the second processor 201.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

In the description of this application, it should be understood that the terms “first” and “second” are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present application, "multiple" means two or more than two, unless otherwise specifically defined.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relation. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

The following disclosure provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples, and are not intended to limit the application. In addition, the present application may repeat reference numerals and/or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

Please refer to FIG. 1 to FIG. 3, the embodiments of the present application provide a monitoring system 1000, a monitoring method, a remote device 100, and a mobile platform 200.

The monitoring system 1000 of the embodiment of the present application includes a remote device 100 and a mobile platform 200 that communicates with the remote device 100 wirelessly. The remote device 100 includes a first processor 101. The mobile platform 200 includes a second processor 201. The first processor 101 is used to obtain the monitoring image, and is used to identify the monitoring target in the monitoring image according to the preset identifier, and send the monitoring target to the mobile platform 200; the second processor 201 is used to control the mobile platform 200 to track and monitor Target.

Please refer to FIG. 2, the monitoring method of the embodiment of the present application is used on the mobile platform 200. The monitoring method used for the mobile platform 200 includes:

Step S23: Obtain the monitoring target sent by the remote device 100, the remote device 100 performs wireless communication with the mobile platform 200, and the monitoring target is recognized by the remote device 100 from the monitoring image according to the preset identifier;

Step S25: Control the mobile platform 200 to track the monitoring target.

The mobile platform 200 of the embodiment of the present application includes a second processor 201. The second processor 201 is used to obtain the monitoring target sent by the remote device 100, and the remote device 100 performs wireless communication with the mobile platform 200; and is used to control the tracking of the mobile platform 200. The monitoring target, the monitoring target is recognized by the remote device 100 from the monitoring image according to the preset identifier.

Please refer to FIG. 3, the monitoring method of the embodiment of the present application is applied to the remote device 100. The monitoring method used for the remote device 100 includes:

Step S13: Obtain monitoring images;

Step S16: Identify the surveillance target in the surveillance image according to the preset identifier;

Step S19: Send the monitoring target to the mobile platform 200 so that the mobile platform 200 can track the monitoring target.

The remote device 100 of the embodiment of the present application includes a first processor 101, which is used to obtain a monitoring image; and used to identify a monitoring target in the monitoring image according to a preset identifier; and used to send the monitoring target to The mobile platform 200 enables the mobile platform 200 to track the monitoring target.

The monitoring system 1000, the monitoring method, the mobile platform 200, and the remote device 100 of the embodiment of the present application can identify the monitoring target through the preset identifier, and then control the mobile platform 200 to track the monitoring target, thereby realizing the monitoring and tracking of the specific target. At the same time, the monitoring target is recognized by the remote device 100, which can improve the recognition efficiency and save the resources of the mobile platform 200.

Specifically, the monitoring image can be collected by the mobile platform 200 and sent to the remote device 100. For example, the mobile platform 200 includes a camera, and the mobile platform 200 sends the surveillance image captured by the camera to the remote device 100.

The monitoring image can also be obtained by the remote device 100 from other sources. For example, the remote device 100 includes a camera. The camera of the remote device 100 takes a surveillance image, recognizes a surveillance target in the surveillance image according to a preset identifier, and sends the surveillance target to the mobile platform 200 so that the mobile platform 200 can track the surveillance target.

The monitoring image may also be sent to the remote device 100 by devices other than the mobile platform 200 and the remote device 100. For example, cameras of other terminals take surveillance images and send the surveillance images to the remote device 100. Other terminals include but are not limited to mobile phones, tablet computers, wearable smart devices, etc. The specific source of the surveillance image is not limited here.

The preset identifier includes at least one of a human face, a number, and a text. Specifically, the preset identification may include a human face, the preset identification may include a number, the preset identification may include a text, and the preset identification may include a combination of two or three of a human face, a number and a text. The text can include various recognizable characters such as Chinese and English. The specific form of the preset logo is not limited here. In an example, the preset identification may include a license plate composed of numbers and/or words.

In step S19, sending the monitoring target to the mobile platform 200 may include cutting out the image of the monitoring target from the monitoring image according to the monitoring target, and sending the image of the monitoring target to the mobile platform 200; it may also include determining the monitoring based on the monitoring image. The location of the target is sent to the mobile platform 200 to monitor the location of the target. The specific manner of sending the monitoring target to the mobile platform 200 is not limited here.

In this embodiment, the mobile platform 200 includes at least one of a drone, a robot, and a vehicle. The remote device 100 includes at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.

In one example, the mobile platform 200 includes a drone and a robot, and the remote device 100 includes a server; in another example, the mobile platform 200 includes a drone, and the remote device 100 includes a server and a mobile phone; in another example, the mobile The platform 200 includes a drone, a robot, and a vehicle, and the remote device 100 includes a wearable smart device; in another example, the mobile platform 200 includes a drone, and the remote device 100 includes a remote controller.

Further, the number of mobile platforms 200 may be one or more, for example, two, three, four, or five. When the number of mobile platforms 200 is multiple, the types of the multiple mobile platforms 200 may be the same or different.

Similarly, the number of remote devices 100 may be one or more, for example, two, three, four, or five. When the number of remote devices 100 is multiple, the types of the multiple remote devices 100 may be the same or different.

The specific form and specific number of the mobile platform 200 and the remote device 100 are not limited here. For the convenience of explanation and description, the following takes the mobile platform 200 including a drone and the remote device 100 including a server as an example for explanation and description.

In this embodiment, the remote device 100 and the mobile platform 200 establish a cellular network connection. In this way, wireless communication between the remote device 100 and the mobile platform 200 can be realized through the cellular network. Moreover, the cellular network has strong self-configuration, self-organization, and self-healing capabilities, which can improve the reliability of wireless communication between the remote device 100 and the mobile platform 200.

Further, the remote device 100 and the mobile platform 200 establish a cellular network connection through the 5G base station of the 5th generation mobile communication technology. In this way, the delay between the remote device 100 and the mobile platform 200 can be reduced, so that the communication effect is better.

Specifically, compared with 4G communication, the delay of 5G communication is reduced from an average of 40ms to 1-2ms, and the data transmission speed is increased from 0.02-0.03GbPS to 0.1-5.0Gbps, which can realize low-latency high-definition return transmission of surveillance images.

Referring to FIG. 4, in an example, the camera 202 of the mobile platform 200 is used to collect surveillance images. The 5G module 2011 of the second processor 201 sends the monitoring image to the recognition module 1011 of the first processor 101. Among them, the recognition module 1011 includes but is not limited to a face recognition module.

The recognition module 1011 of the first processor 101 performs recognition according to the preset identifier, and when the monitoring target in the monitoring image is recognized, determines that the recognition is successful, and sends the recognition result to the mobile platform 200. Among them, the preset identifier includes, but is not limited to, a preset face identifier. The recognition results include but are not limited to monitoring targets and related information. The relevant information includes, but is not limited to, position information and size information of the frame of the identified surveillance target in the surveillance image. The size information is, for example, the length and width of the frame where the monitoring target is located.

The target estimation module 2012 of the second processor 201 calculates target data of the monitoring target according to the monitoring target, related information and current data of the mobile platform 200, and sends the target data to the planning control module 2013 of the second processor 201. Among them, the current data of the mobile platform 200 includes, but is not limited to, the current position and posture of the mobile platform 200, the posture of the pan-tilt, and the data of the binocular camera. Target data includes, but is not limited to, the location and speed of the monitored target.

The planning control module 2013 of the second processor 201 determines the control instructions of the mobile platform 200 according to the target data and obstacle information, and sends the control instructions to the motion control module 2014 of the second processor 201 for execution, so that the mobile platform 200 follows the monitoring The target moves and avoids obstacles encountered during tracking. Among them, the obstacle information may be based on the map information established by the data of the sensing device of the mobile platform 200, such as a binocular camera, a monocular camera, and the like. The motion control module 2014 includes but is not limited to a flight control module.

In addition, during the tracking process, the mobile platform 200 can send information such as the location of the monitored target, the location of the mobile platform 200, the speed of the monitored target, the speed of the mobile platform 200, and the surrounding map of the mobile platform 200 to the remote device 100 through the 5G module 2011. , Thereby realizing the closed loop of the monitoring system 100. In this way, it is beneficial for the remote device 100 to further determine whether the mobile platform 200 has indeed tracked the monitoring target based on the above-mentioned information.

In the above example, a 5G communication network is used to realize wireless communication between the mobile platform 200 and the remote device 100. The mobile platform 200 returns the monitoring image to the remote device 100, and uses the recognition result of the remote device 100 for planning and control, thereby realizing online tracking of the monitoring target.

In the above example, from the exposure of the camera 202 of the mobile platform 200, the planning control module 2013 of the second processor 201 calculates the control instructions of the mobile platform 200, plus the cost of machine learning image recognition, link delay, etc. The total time is about 100ms. Therefore, the link delay of 5G basically has no effect on the control of the mobile platform 200, thereby facilitating the realization of the follow-up control of the mobile platform 200 using the recognition result of the remote device 100.

In this embodiment, the 5G networking mode is Standalone (SA). In this way, the entire line is specially laid for the 5G network, making the communication delay low.

It can be understood that, in other embodiments, the 5G networking mode is non-standalone (NSA). In this way, part of the services and functions of the 5G network continue to rely on the 4G network, without the need to build a new 5G core network, and the cost is relatively low.

In some embodiments, the first processor 101 is used to obtain the initial image; and used to recognize the logo in the initial image as a preset logo.

Referring to FIG. 5, the monitoring method for the remote device 100 further includes:

Step S11: Obtain an initial image;

Step S12: Identify the logo in the initial image as a preset logo.

In this way, by recognizing the initial image, the acquisition of the preset mark is realized, so that the monitoring target in the surveillance image can be identified subsequently according to the preset mark.

Similarly, in step S11, the initial image may be collected by the mobile platform 200 and sent to the remote device 100. E.g. The user takes a selfie through the mobile platform 200 so that the mobile platform 200 collects the initial image, and sends the initial image to the remote device 100, so that the remote device 100 recognizes the user’s face in the initial image, so that the subsequent mobile platform 200 can tell the user himself Follow.

It can be understood that the initial image can also be obtained by the remote device 100 itself. The initial image may also be sent to the remote device 100 by devices other than the mobile platform 200 and the remote device 100. The specific source of the initial image is not limited here.

In step S12, if the logo is recognized from the initial image, the recognized logo can be used as the preset logo; if the logo is not recognized from the initial image, the remote device 100 or the mobile platform 200 can be controlled to output Prompt information. In this way, the user can be prompted to replace or adjust the initial image in time, so as to avoid the inability to obtain the preset logo due to the inability to recognize the logo in the initial image.

Specifically, the prompt information includes, but is not limited to, text information, voice information, vibration information, and light information. The specific form of the prompt information is not limited here.

In an example, the prompt information includes voice information. In the case that the logo is not recognized from the initial image, the remote device 100 is controlled to broadcast: "The logo is not recognized from the image, please replace or adjust the image."

Please note that in the example of FIG. 5, steps S11 to S12 are executed before step S13. It can be understood that in other examples, step S11 to step S12 may be executed after step S13, and step S11 to step S12 may also be executed simultaneously with step S13. The specific execution sequence is not limited here.

In some embodiments, the first processor 101 is used to identify a target identifier from the surveillance image according to a preset identifier; and used to determine a target corresponding to the target identifier as a monitoring target.

Please refer to Fig. 6, step S16 includes:

Step S161: Identify the target identifier from the surveillance image according to the preset identifier;

Step S162: Determine the target corresponding to the target identifier as the monitoring target.

In this way, the monitoring target in the monitoring image is recognized according to the preset identifier, and the accuracy is high. Specifically, step S161 includes: identifying the identifier in the surveillance image; and matching the preset identifier with the identifier in the surveillance image to determine the target identifier. In this way, through the matching method, the target identifier can be recognized from the monitoring image according to the preset identifier, and the accuracy of identifying the target identifier can be ensured.

Further, matching the preset identifier with the identifier in the surveillance image to determine the target identifier includes: when the number of identifiers in the surveillance image is one, determining the degree of matching between the identifier in the surveillance image and the preset identifier ; In the case that the matching degree is greater than the preset matching degree threshold, the identification in the surveillance image is used as the target identification.

In this way, the preset matching degree threshold is used to determine whether the identification in the surveillance image matches the preset identification, and the standard is clear, so that the efficiency of identifying the target identification is high.

Further, matching the preset identifier with the identifier in the surveillance image to determine the target identifier includes: when the number of identifiers in the surveillance image is more than one, the preset identifier and each identifier in the surveillance image are one by one. Matching is performed to obtain the matching degree between the preset logo and each logo in the monitoring image; the logo with the highest matching degree in the monitoring image is used as the target logo.

In this way, the target identifier is the identifier with the highest degree of matching with the preset identifier in the surveillance image, which can avoid using the identifier with the non-highest degree of matching as the target identifier, thereby improving the accuracy of identifying the target identifier.

In an example, the surveillance image includes 4 logos, the matching degree between the preset logo and the first logo in the surveillance image is 10%, the matching degree between the preset logo and the second logo in the surveillance image is 40%, and the preset The matching degree between the logo and the third logo in the surveillance image is 50%, and the matching degree between the preset logo and the fourth logo in the surveillance image is 70%. Then the identifier with the highest matching degree in the monitoring image is the fourth identifier, and the fourth identifier can be used as the target identifier.

Furthermore, matching the preset identification with the identification in the surveillance image to determine the target identification includes: in the case where the matching degree corresponding to the identification with the highest matching degree in the surveillance image is greater than the preset matching degree threshold, the monitoring image The identifier with the highest matching degree is used as the target identifier.

In this way, it is ensured that the matching degree between the target identification and the preset identification is greater than the preset matching threshold, thereby ensuring the accuracy of identifying the target identification.

In an example, the surveillance image includes 4 marks, and the preset matching degree threshold is 80%. The matching degree between the preset logo and the first logo in the surveillance image is 10%, the matching degree between the preset logo and the second logo in the surveillance image is 40%, and the matching degree between the preset logo and the third logo in the surveillance image is 40%. Is 50%, and the matching degree between the preset logo and the fourth logo in the surveillance image is 90%. Then the identifier with the highest matching degree in the monitoring image is the fourth identifier, and the matching degree corresponding to the fourth identifier is greater than the matching degree threshold, the fourth identifier can be used as the target identifier.

In another example, the surveillance image includes 4 marks, and the preset matching degree threshold is 80%. The matching degree between the preset logo and the first logo in the surveillance image is 10%, the matching degree between the preset logo and the second logo in the surveillance image is 40%, and the matching degree between the preset logo and the third logo in the surveillance image is 40%. Is 50%, and the matching degree between the preset logo and the fourth logo in the surveillance image is 70%. Then the identifier with the highest matching degree in the monitoring image is the fourth identifier, and the matching degree corresponding to the fourth identifier is less than the matching degree threshold, the fourth identifier is not used as the target identifier.

Of course, it can be understood that, in some embodiments, there may be more than one preset identifier. Optionally, when there are multiple preset identifiers, if one of the preset identifiers matches the identifier in the surveillance image, the identifier may be used as the target identifier, and the target corresponding to the target identifier may be used as the monitoring target.

In some embodiments, the second processor 201 is configured to control the mobile platform 200 to approach the monitoring target so that the monitoring target and the mobile platform 200 are closer to the monitoring target when the distance between the monitoring target and the mobile platform 200 is greater than or equal to the preset distance. The distance between is less than the preset distance.

Please refer to Figure 7. Step S25 includes:

Step S250: When the distance between the monitoring target and the mobile platform 200 is greater than or equal to the preset distance, control the mobile platform 200 to approach the monitoring target so that the distance between the monitoring target and the mobile platform 200 is less than the preset distance.

In this way, the distance between the monitoring target and the mobile platform 200 is made smaller than the preset distance, which can avoid losing the monitoring target due to the excessive distance between the monitoring target and the mobile platform 200, which is beneficial to ensure the continuity of following the monitoring target . In addition, it can also avoid the problem that the monitoring target occupies a small area and the monitoring picture is blurred in the monitoring image captured by the mobile platform 200 due to the excessive distance, which is beneficial to improve the monitoring effect.

In addition, step S25 may further include: when the distance between the monitoring target and the mobile platform 200 is less than the preset safe distance, controlling the mobile platform 200 to be far away from the monitoring target so that the distance between the monitoring target and the mobile platform 200 is greater than the safe distance. Distance, the safety distance is less than the preset distance.

In this way, it can be avoided that the mobile platform 200 is too close to the monitoring target to be discovered by the monitoring target. Moreover, when the monitoring target is switched from a fast motion to a sudden stop, the mobile platform 200 can be buffered by a safe distance to prevent the mobile platform 200 from colliding with the monitoring target and causing safety problems.

In some embodiments, the first processor 101 is used to generate obstacle information according to the monitoring image and send the obstacle information to the mobile platform 200; the second processor 201 is used to control the mobile platform 200 to monitor and monitor the obstacle information according to the obstacle information. The location of the target is tracked to monitor the target.

Referring to FIG. 8, the monitoring method for the mobile platform 200 further includes:

Step S241: Obtain obstacle information generated by the remote device 100 according to the monitoring image;

Step S25 includes:

Step S251: Control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

In some embodiments, the second processor 201 is used to obtain obstacle information generated by the remote device 100 according to the monitoring image; and used to control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

Referring to FIG. 9, the monitoring method for the remote device 100 further includes:

Step S171: Obstacle information is generated according to the monitoring image, and the obstacle information is sent to the mobile platform 200, so that the mobile platform 200 tracks the monitoring target according to the obstacle information and the location of the monitoring target.

In some embodiments, the first processor 101 is configured to generate obstacle information according to the monitoring image, and send the obstacle information to the mobile platform 200, so that the mobile platform 200 can track the monitoring target according to the obstacle information and the location of the monitoring target. .

In this way, the mobile platform 200 tracks the monitored target according to the obstacle information generated by the remote device 100 based on the monitoring image, and realizes obstacle avoidance during the tracking process, which can prevent the mobile platform 200 from being damaged or lost due to hitting an obstacle during the tracking process. Tracking the target helps to ensure the smooth progress of the tracking. Moreover, since the obstacle information is generated by the remote device 100, the efficiency of generating obstacle information can be improved and the resources of the mobile platform 200 can be saved.

In step S171, generating obstacle information based on the monitoring image includes: modeling based on the monitoring image to generate a map; and determining the obstacle information based on the map. Among them, the modeling may include 3D modeling, and the map may include a 3D map.

In step S251, controlling the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target includes: determining a monitoring route according to the obstacle information and the location of the monitoring target; controlling the mobile platform 200 to track the monitoring target according to the monitoring route. In this way, the monitoring route of the mobile platform 200 is relatively reliable, which helps to ensure the safety of the mobile platform.

Specifically, the obstacle information includes at least one of the position of the obstacle and the range of the obstacle. In this way, the obstacle information is richer, which is beneficial to improve the obstacle avoidance effect of the mobile platform 200 in the tracking process.

Further, the position of the obstacle may include the direction and distance of the obstacle relative to the mobile platform 200. In this way, it is more accurate to determine the position of the obstacle relative to the mobile platform 200 through the direction and distance.

Further, the range of the obstacle may include the length range, width range, and height range of the obstacle. In this way, the range of the obstacle is based on three dimensions, which is more accurate, which is beneficial to improve the obstacle avoidance effect of the mobile platform 200 in the tracking process.

Please note that in the example of FIG. 8, step S241 is performed after step S23. It can be understood that, in other examples, step S241 is executed before step S23, and step S241 can also be executed simultaneously with step S23. The specific execution sequence is not limited here.

Note that in the example of FIG. 9, step S171 is performed after step S16. It can be understood that in other examples, step S171 may be executed before step S16, and step S171 may also be executed simultaneously with step S16. The specific execution sequence is not limited here.

In some embodiments, the second processor 201 is used to obtain a monitoring image and generate obstacle information based on the monitoring image; and used to control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

Referring to FIG. 10, the monitoring method used for the mobile platform 200 further includes:

Step S242: Obtain a surveillance image and generate obstacle information based on the surveillance image;

Step S25 includes:

Step S252: Control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

In this way, the mobile platform 200 generates obstacle information based on the monitoring image to track the monitoring target and realize obstacle avoidance during the tracking process, which can prevent the mobile platform 200 from damaging or losing the tracking target due to hitting an obstacle during the tracking process. It is helpful to ensure the smooth progress of tracking.

Moreover, because the obstacle information is generated by the mobile platform 200 itself, it does not need to be obtained from the outside through wireless communication, which can improve the security of the obstacle information and avoid the obstacle information being tampered with during transmission and causing obstacle avoidance failure.

Please note that in the example of FIG. 10, step S242 is performed after step S23. It can be understood that in other examples, step S242 may be executed before step S23, and step S242 may also be executed simultaneously with step S23. The specific execution sequence is not limited here.

Please note that the explanation and description of this part can refer to the part of the obstacle information generated by the remote device 100 according to the monitoring image in the preceding text. In order to avoid redundancy, it will not be repeated here.

In some embodiments, the mobile platform 200 includes a binocular camera, and the monitoring image is collected by the binocular camera. In this way, the monitoring image includes depth information, so that the obstacle information generated based on the monitoring image is richer, which is beneficial to improve the obstacle avoidance effect.

In addition, in some other embodiments, the mobile platform 200 may include a structured light-based camera.

In other other embodiments, the mobile platform 200 may include a camera based on time of flight (Time of flight).

In this way, the collection of depth information can also be realized, thereby making the obstacle information generated based on the monitoring image more abundant, which is beneficial to improving the obstacle avoidance effect. The specific manner in which the mobile platform 200 collects depth information is not limited here.

In some embodiments, the first processor 101 is used to obtain the geographic location of the mobile platform 200; and used to obtain a map corresponding to the geographic location based on the geographic location; and used to generate obstacle information based on the map and combine the obstacles The information is sent to the mobile platform 200; the second processor 201 is used to control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

Referring to FIG. 11, the monitoring method for the mobile platform 200 further includes:

Step S243: Collect the geographic location of the mobile platform 200 and send the geographic location to the remote device 100, so that the remote device 100 obtains a map corresponding to the geographic location according to the geographic location and generates obstacle information based on the map;

Step S244: Obtain the obstacle information sent by the remote device 100;

Step S25 includes:

Step S254: Control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

In some embodiments, the second processor 201 is used to collect the geographic location of the mobile platform 200 and send the geographic location to the remote device 100, so that the remote device 100 obtains a map corresponding to the geographic location based on the geographic location and generates the map based on the geographic location. Obstacle information; and used to obtain obstacle information sent by the remote device 100; and used to control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

Referring to FIG. 12, the monitoring method for the remote device 100 further includes:

Step S172: Obtain the geographic location of the mobile platform 200;

Step S173: Obtain a map corresponding to the geographic location according to the geographic location;

Step S174: Generate obstacle information according to the map, and send the obstacle information to the mobile platform 200, so that the mobile platform 200 tracks the monitoring target according to the obstacle information and the location of the monitoring target.

In some embodiments, the first processor 101 is used to obtain the geographic location of the mobile platform 200; and used to obtain a map corresponding to the geographic location based on the geographic location; and used to generate obstacle information based on the map and combine the obstacles The information is sent to the mobile platform 200 so that the mobile platform 200 tracks the monitoring target according to the obstacle information and the location of the monitoring target.

In this way, the mobile platform 200 tracks the monitored target according to the obstacle information generated by the remote device 100 based on the map, and realizes obstacle avoidance during the tracking process, which can prevent the mobile platform 200 from being damaged or lost tracking due to hitting an obstacle during the tracking process. Goals are conducive to ensuring the smooth progress of tracking. Moreover, since the obstacle information is generated by the remote device 100 based on the map, the accuracy is high, and the effect of obstacle avoidance can be improved.

Specifically, in step S172, 5G may be used to locate the mobile platform 200 to obtain the geographic location of the mobile platform 200. Further, a 5G base station can be used to locate the mobile platform 200. In this way, the geographic location of the mobile platform 200 can be obtained more accurately. Moreover, with 5G base station positioning, there is no need to add separate positioning hardware, and the positioning results are difficult to be tampered with or destroyed, which is beneficial to reduce the cost of monitoring and improve the reliability of the positioning results.

It can be understood that in other embodiments, the mobile platform 200 may also include a Global Positioning System (GPS) module or a BeiDou Navigation Satellite System (BDS) module. In step S172, GPS may be used. The module locates the mobile platform 200 to obtain the geographic location of the mobile platform 200. In this way, the geographic location of the mobile platform 200 can also be obtained more accurately.

The specific method for obtaining the geographic location of the mobile platform 200 is not limited here.

In step S173, a map within a circular range with the geographic location of the mobile platform 200 as the center and the first preset length as the radius can be acquired. In this way, the map corresponding to the geographic location of the mobile platform 200 is acquired. Since the geographic location of the mobile platform 200 is at the center of the acquired map, the obstacle information generated according to the acquired map can fully reflect the surrounding area of the mobile platform 200. The actual environment is conducive to improving the effect of obstacle avoidance.

Further, the first preset length may be the distance between the mobile platform 200 and the monitoring target or greater than the distance. In this way, the obstacle information can fully reflect the actual environment around the path where the mobile platform 200 tracks the monitoring target, which is beneficial to improve the obstacle avoidance effect.

In step S173, it is also possible to obtain a map within a rectangular range with the distance between the geographic location and the monitoring target as the length and the second preset length as the width. The specific method for obtaining the map corresponding to the geographic location based on the geographic location is not limited here.

Please note that in the example of FIG. 11, step S243-step S244 are performed after step S23. It can be understood that in other examples, step S243-step S244 may be executed before step S23, and step S243-step S244 may also be executed simultaneously with step S23. The specific execution sequence is not limited here.

Please note that in the example of FIG. 12, step S172-step S174 are performed after step S16. It can be understood that in other examples, step S172-step S174 may be executed before step S16, and step S172-step S174 may also be executed simultaneously with step S16. The specific execution sequence is not limited here.

Referring to FIG. 13, the monitoring method for the mobile platform 200 further includes:

Step S245: Collect the geographic location of the mobile platform 200;

Step S246: Obtain a map corresponding to the geographic location according to the geographic location;

Step S247: generate obstacle information according to the map;

Step S25 includes:

Step S257: Control the mobile platform 200 to track the monitoring target according to the obstacle information and the location of the monitoring target.

Correspondingly, the second processor 201 is used to collect the geographic location of the mobile platform 200; and used to obtain a map corresponding to the geographic location based on the geographic location; and used to generate obstacle information based on the map; and used to control the mobile platform 200 according to Obstacle information and the location of the monitoring target track the monitoring target.

In this way, the mobile platform 200 tracks the monitored target according to the obstacle information generated based on the map, and realizes obstacle avoidance during the tracking process, which can prevent the mobile platform 200 from damaging or losing the tracking target due to hitting an obstacle during the tracking process, which is beneficial to Ensure the smooth progress of tracking. Moreover, because the obstacle information is generated based on the map, the accuracy is high, and the effect of obstacle avoidance can be improved.

In addition, because the obstacle information is generated by the mobile platform 200 itself, it does not need to be obtained from the outside through wireless communication, which can improve the security of the obstacle information, and avoid the obstacle information being tampered with during the transmission process and causing obstacle avoidance failure.

Please note that in the example of FIG. 13, step S245-step S247 are executed after step S23. It can be understood that in other examples, step S245-step S247 may be executed before step S23, and step S245-step S247 may also be executed simultaneously with step S23. The specific execution sequence is not limited here.

Please note that the explanation and description of this part can refer to the part of the obstacle information generated by the remote device 100 according to the map in the foregoing text. In order to avoid redundancy, it will not be repeated here.

In some embodiments, the surveillance image includes a first surveillance image and a second surveillance image;

The first processor 101 is used to identify the characteristics of the monitoring target from the first monitoring image, and the characteristics of the monitoring target are different from the preset identification; and used to form the correlation between the characteristics of the monitoring target and the preset identification; The characteristics and relevance of the monitoring target are identified from the second monitoring image.

Referring to FIG. 14, the monitoring image includes a first monitoring image and a second monitoring image, and the monitoring method for the remote device 100 further includes:

Step S14: Identify the characteristics of the monitoring target from the first monitoring image, and the characteristics of the monitoring target are different from the preset identifier;

Step S15: Form the correlation between the characteristics of the monitoring target and the preset identifier;

Step S16 includes:

Step S161: The monitoring target is identified from the second monitoring image according to the characteristics and relevance of the monitoring target.

In this way, in the case that the monitoring target cannot be identified according to the preset identification, the monitoring target can also be identified through the characteristics and relevance of the monitoring target, so as to avoid the loss of the monitoring target or the wrong monitoring target caused by a single recognition method, which is beneficial to Improve the monitoring effect.

Specifically, the preset identifier includes at least one of a human face, a number, and a text, and the characteristics of the monitored target include at least one of a color, a joint, and a physical position. The specific forms of the features of the preset identification and monitoring target are not limited here.

It can be understood that in the initial stage of monitoring, the monitoring target can be identified from the initial monitoring image based on the preset logo. However, as the monitoring target moves, it may be impossible to identify the monitoring target based on the preset logo in the subsequent monitoring images. The target or follow the wrong monitoring target, which leads to the situation where the monitoring target is lost.

In an example, the surveillance image is captured by the mobile platform 200, and the preset identifier is a preset human face. The surveillance target walks side by side with the entourage, the surveillance target wears red clothes, and the entourage wears black clothes.

In the initial stage of monitoring, the camera of the mobile platform 200 is facing the face of the monitoring target, so that the first monitoring image obtained by shooting includes the face of the monitoring target. In this way, the remote device 100 can identify the surveillance target from the first surveillance image captured by the mobile platform according to the preset human face.

However, the surveillance target and the entourage suddenly turn around. At this time, the camera of the mobile platform 200 is facing the back of the surveillance target, and the captured second surveillance image includes the back of the surveillance target and the entourage, but does not include the face of the surveillance target. In this case, if the remote device 100 still recognizes the second surveillance image captured by the mobile platform according to the preset face identifier, the surveillance target cannot be identified.

In this embodiment, the above-mentioned problems can be solved by forming the correlation between the characteristics of the monitoring target and the preset identifier, and identifying the monitoring target from the second monitoring image according to the characteristics and correlation of the monitoring target.

In the above example, in the initial stage of monitoring, the camera of the mobile platform 200 is facing the face of the monitoring target, so that the first monitoring image obtained by shooting includes the face of the monitoring target. The remote device 100 can recognize the monitoring target from the first monitoring image according to the preset human face, and recognize the characteristics of the monitoring target that are different from the face identifier, that is, red clothes. The remote device 100 may form an association between the red clothes and the preset face identifier.

If the monitoring target and accompanying persons suddenly turn around, the camera of the mobile platform 200 is facing the back of the monitoring target at this time, and the captured second monitoring image includes the back of the monitoring target but not the face of the monitoring target. The remote device 100 can recognize the second surveillance image captured by the mobile platform 200 according to the correlation between the red clothes and the preset face identifier, and use the target of the red clothes as the surveillance target, thereby identifying the surveillance target. In this way, a long-term continuous tracking of the monitored target can be maintained, and the monitoring of the monitored target will not be interrupted because the face of the monitored target moves out of the camera's field of view.

The characteristics of the monitored target may also include physical location. In the above example, the monitored target walks along the road on the right side of the road, and the remote device 100 can form the association between the right side of the road and the preset face identifier. If a passerby wearing red clothes on the left side of the road enters the shooting range, so that red clothes appear on both the left and right sides of the road in another second surveillance image, you can use the preset face identification on the right side of the road. Relevance: Identify another second surveillance image captured by the mobile platform 200, and use the target on the right side of the road as the surveillance target, thereby identifying the surveillance target. In this way, because the physical location of the monitoring target and the passerby are different, the two can be distinguished, so as to realize the identification of the monitoring target.

The case where the features include joints is similar to the above case, and will not be elaborated here.

In some embodiments, the mobile platform 200 includes a zoom camera, and the second processor 201 is configured to control the zoom of the zoom camera when the distance between the monitoring target and the mobile platform 200 is greater than a preset distance, so that the mobile platform 200 collects The size of the monitoring target in the monitoring image is larger than the preset size; and for sending the monitoring image to the remote device 100.

Referring to FIG. 15, the mobile platform 200 includes a zoom camera, and the control method of the mobile platform 200 further includes:

Step S21: When the distance between the monitoring target and the mobile platform 200 is greater than the preset distance, the mobile platform 200 controls the zoom camera to zoom so that the size of the monitoring target in the monitoring image collected by the mobile platform 200 is greater than the preset size;

Step S22: Send the monitoring image to the remote device 100.

In this way, by controlling the zoom of the zoom camera of the mobile platform 200, the size of the monitoring target in the monitoring image collected by the mobile platform 200 can be adjusted, which is simple and convenient, and the adjustment speed is relatively fast.

Specifically, in step S21, the current size of the monitoring target in the current monitoring image can be determined; the zoom parameter of the zoom camera is determined according to the current size and the preset size; and the zoom of the zoom camera is controlled according to the zoom parameter. In this way, the zoom of the zoom camera is controlled by the zoom parameter, so that the size of the monitoring target in the monitoring image collected by the mobile platform 200 is larger than the preset size, and the speed is faster.

In this embodiment, the size of the monitoring target is determined based on the size of the frame where the monitoring target is located in the monitoring image; among them, the relevant information of the frame where the monitoring target is located in the monitoring image is that the first processor 101 compares the monitoring target in the monitoring image After identification, the relevant information includes size information.

In this way, the size of the monitoring target is determined by the size of the frame in which the monitoring target is located, avoiding the difficulty of determining the size of the monitoring target due to the irregular shape of the monitoring target, and the size of the monitoring target can be determined simply and conveniently, and thus according to the size of the monitoring target The mobile platform 200 is controlled to track the monitoring target.

Specifically, the frame where the monitoring target is located includes a rectangular frame, a square frame, a circular frame, an oval frame, and the like. Further, when the frame where the monitoring target is located is a rectangular frame, the size of the frame where the monitoring target is located is the area of the rectangular frame; if the frame where the monitoring target is located is a square frame, the size of the frame where the monitoring target is located is The area of the square frame; if the frame where the monitoring target is located is a circular frame, the size of the frame where the monitoring target is located is the area of the round frame; if the frame where the monitoring target is located is an oval frame, where the monitoring target is The size of the box is the area of the oval box.

The specific form and the specific form of the size of the frame where the monitoring target is located are not limited here.

In addition, the related information may also include location information, and the mobile platform 200 can be controlled to track the monitoring target according to the location information, so that the position of the frame where the monitoring target is located in the monitoring image collected by the mobile platform 200 is at a preset position. In this way, the stability of the position of the frame where the monitoring target is located in the monitoring image can be ensured, which is convenient for monitoring personnel to view.

The specific content of the relevant information is not limited here.

In other embodiments, the preset size includes, but is not limited to, the preset area of the monitoring target in the monitoring image, the preset length of the monitoring target in the monitoring image, the preset width of the monitoring target in the monitoring image, and the location of the monitoring target in the monitoring image. Accounted for the preset ratio. The specific form of the preset size is not limited here.

Referring to FIG. 16, in some embodiments, the monitoring method for the remote device 100 further includes:

Step S181: Identify the monitoring target in the monitoring image through the frame, wherein at least part of the monitoring target is located in the frame;

Step S182: Send relevant information about the frame where the monitoring target is located in the monitoring image to the mobile platform 200, so that the mobile platform 200 controls the zoom camera on the mobile platform 200 to perform zoom shooting and/or controls the mobile platform 200 to monitor the target according to the relevant information. Track the preset composition;

Among them, the relevant information includes size information and/or location information.

In some embodiments, the first processor 101 is used to identify the monitoring target in the monitoring image through a frame, wherein at least part of the monitoring target is located in the frame; The information is sent to the mobile platform 200, so that the mobile platform 200 controls the zoom camera on the mobile platform 200 to perform zoom shooting and/or controls the mobile platform 200 to track the monitoring target in a preset composition according to the relevant information; the relevant information includes size information And/or location information.

In this way, the monitoring target is identified by the frame, while making the monitoring target more eye-catching for monitoring personnel to view, the frame can also continuously mark the monitoring target, even if the monitoring cannot be identified according to the preset identification in the subsequent monitoring images Target, you can also determine the monitoring target according to the frame.

For example, the monitoring target is determined to be target A according to the preset identification, and target A is identified in the surveillance image through the frame, and passerby B appears in the subsequent monitoring image, but because target A is marked by the frame, passerby B does not have it, so the mobile platform 200 The mobile platform 200 will always follow the target A marked by the frame.

Moreover, by controlling the zoom camera on the mobile platform 200 to perform zoom shooting through the size information of the frame where the monitoring target is located, the size of the monitoring target in the monitoring image captured by the zoom camera can be larger than the preset size, making the monitoring target clearer. It is convenient for the identification of the remote device 100, and it is also convenient for monitoring personnel to view.

In addition, through the position information of the frame where the monitoring target is located, the mobile platform 200 is controlled to track the monitoring target with a preset composition, so that the position of the monitoring target in the monitoring image captured by the zoom camera is at the preset position, so that the monitoring image For the preset composition, the stability of the position of the frame where the monitoring target is located in the monitoring image can be ensured, which is convenient for monitoring personnel to view.

In step S181, the monitoring target can be identified in the monitoring image through the dashed frame. In this way, in the form of a dotted line, the frame is distinguished from the actual object in the monitoring image, so that the frame and the monitoring target are more eye-catching, which is convenient for monitoring personnel to view.

In step S181, the monitoring target may also be identified in the monitoring image through a frame of a preset color. In this way, the frame is distinguished from the actual object in the monitoring image through the form of color, making the frame and the monitoring target more eye-catching and convenient for monitoring personnel to view.

Please note that "at least part of the monitoring target is located in the frame" can mean that some monitoring targets are located in the frame, that is, the frame does not completely frame the monitoring target, and some monitoring targets are located outside the frame; it can also mean that all the monitoring targets are located in the frame , That is, the frame completely frames the monitoring target.

It can be understood that step S181 to step S18 can be performed before step S19, can also be performed after step S19, or can be performed simultaneously with step S19, which is not specifically limited here.

In some embodiments, the first processor 101 is configured to select a monitoring target in the monitoring image according to a selection instruction.

Referring to FIG. 17, correspondingly, the monitoring method for the remote device 100 further includes:

Step S163: Select the monitoring target in the monitoring image according to the selection instruction.

In this way, the monitoring target is determined based on the selection instruction, and the user can manually select the monitoring target, which is beneficial to improve the user experience. Specifically, the selection instruction includes, but is not limited to, a click instruction, a touch instruction, a key instruction, and a voice instruction.

In an example, the selection instruction is a click instruction. The user can click on the target to be selected on the remote device 100 displaying the monitoring image, and the remote device 100 uses the clicked target as the monitoring target.

In another example, the selection instruction is a touch instruction. The user can touch a target to be selected on the remote device 100 displaying the monitoring image, and the remote device 100 uses the touched target as the monitoring target.

In another example, the selection instruction is a key instruction. The user can press a key on the remote device 100 displaying the monitoring image to make the selection box jump to the desired target. When the user presses the confirm key, the remote device 100 will Select the target in the box as the monitoring target.

In another example, the selection instruction is a voice instruction, and the user can input a voice to the remote device 100 displaying the monitoring image: "Take the person wearing red clothes as the monitoring target." Target as the monitoring target.

The specific form of the selection instruction and the specific manner of inputting the selection instruction are not limited here.

Further, after the monitoring target is determined according to the selection instruction, the preset identifier and related characteristics corresponding to the monitoring target can be stored to establish the association between the preset identifier and the preset identifier, so that the mobile platform 200 can track the monitoring target more accurately.

It can be understood that the selection instruction may be a preliminary selection instruction or a modification instruction. In other words, when the monitoring target in the monitoring image is not determined, the remote device 100 may determine the monitoring target according to the selection instruction; when the monitoring target in the monitoring image has been determined, the remote device 100 may modify the monitoring target according to the selection instruction. In this way, the primary selection and modification of the monitoring target are realized, so that the monitoring target meets the needs of users.

In summary, the monitoring system 1000, the monitoring method, the mobile platform 200, and the remote device 100 of the embodiment of the present application can use the mobility of the mobile platform 200 to lock the monitoring target and perform online tracking and monitoring. The mobile platform 200 can follow the target movement , Thereby extending the monitoring time, and then realizing continuous long-term monitoring of the monitoring target. Moreover, the remote device 100 recognizes the monitoring target in the monitoring image according to the preset identification, and the mobile platform 200 tracks the monitoring target. While realizing the recognition and tracking of specific targets to meet the monitoring requirements, manual intervention is not required. After the recognition is successful, it will automatically Following, you can improve the efficiency of monitoring task execution.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to combine the description The specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for performing specific logical functions or steps of the process And the scope of the preferred embodiments of the present application includes additional executions, which may not be in the order shown or discussed, including executing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.

The logic and/or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for executing logic functions, and can be specifically executed in any computer-readable medium, For use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment), or combine these instruction execution systems, devices Or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically, and then stored in the computer memory.

It should be understood that each part of this application can be executed by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be executed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is performed by hardware, as in another embodiment, it can be performed by any one or a combination of the following technologies known in the art: a logic gate circuit for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried in the above implementation method can be executed by a program instructing relevant hardware to complete. The program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. When, it includes one of the steps of the method embodiment or a combination thereof.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be executed in the form of hardware or software function modules. If the integrated module is executed in the form of a software function module and sold or used as an independent product, it may also be stored in a computer readable storage medium.

The aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can comment on the above within the scope of the present application. The implementation mode undergoes changes, modifications, replacements and modifications.

Claims

A monitoring system, characterized in that it comprises:

A remote device, the remote device including a first processor;

A mobile platform for wireless communication with the remote device, the mobile platform including a second processor;

The first processor is used for acquiring a monitoring image, and for identifying a monitoring target in the monitoring image according to a preset identifier, and sending the monitoring target to the mobile platform;

The second processor is used to control the mobile platform to track the monitoring target.
The monitoring system according to claim 1, wherein the first processor is used to obtain an initial image; and used to identify an identifier in the initial image as the preset identifier.
The monitoring system according to claim 1, wherein the first processor is used for identifying a target identifier from the monitoring image according to the preset identifier; and used for identifying a target corresponding to the target identifier Determined as the monitoring target.
The monitoring system according to claim 1, wherein the second processor is configured to control the mobile platform when the distance between the monitoring target and the mobile platform is greater than or equal to a preset distance Approaching the monitoring target so that the distance between the monitoring target and the mobile platform is less than the preset distance.
The monitoring system according to claim 1, wherein the first processor is configured to generate obstacle information according to the monitoring image, and send the obstacle information to the mobile platform;

The second processor is configured to control the mobile platform to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring system according to claim 1, wherein the second processor is used to acquire the monitoring image and generate obstacle information based on the monitoring image; and used to control the mobile platform to respond to the obstacle The information and the location of the monitoring target track the monitoring target.
The monitoring system according to claim 6, wherein the mobile platform includes a camera, the camera includes at least one of a binocular camera, a structured light-based camera, and a time-of-flight-based camera, and the monitoring image is The camera captures.
The monitoring system according to claim 1, wherein the first processor is used to obtain the geographic location of the mobile platform; and used to obtain a map corresponding to the geographic location according to the geographic location; and Generating obstacle information according to the map, and sending the obstacle information to the mobile platform;

The second processor is configured to control the mobile platform to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring system according to claim 1, wherein the second processor is used to collect the geographic location of the mobile platform; and used to obtain a map corresponding to the geographic location according to the geographic location; and For generating obstacle information according to the map; and for tracking the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring system according to claim 1, wherein the monitoring image includes a first monitoring image and a second monitoring image;

The first processor is used to identify the characteristics of the monitoring target from the first monitoring image, the characteristics of the monitoring target are different from the preset identifier; and the characteristics used to form the monitoring target are the same as the predetermined Set the relevance of the identifier; and for identifying the monitoring target from the second monitoring image according to the characteristics of the monitoring target and the relevance.
The monitoring system according to claim 10, wherein the preset identifier includes at least one of a face, a number, and a text, and the characteristics of the monitoring target include at least one of a color, a joint, and a physical position .
The monitoring system according to claim 1, wherein the mobile platform includes a zoom camera, and the second processor is used to control the mobile station when the distance between the monitoring target and the mobile platform is greater than a preset distance. The zoom camera zooms so that the size of the monitoring target in the monitoring image collected by the mobile platform is larger than a preset size; and is used to send the monitoring image to the remote device.
The monitoring system according to claim 12, wherein the size of the monitoring target is determined based on the size of the frame in which the monitoring target is located in the monitoring image;

Wherein, the relevant information of the frame where the monitoring target is located in the monitoring image is obtained by the first processor identifying the monitoring target in the monitoring image, and the relevant information includes size information.
The monitoring system according to claim 1, wherein the first processor is configured to select the monitoring target in the monitoring image according to a selection instruction.
The monitoring system according to claim 1, wherein the mobile platform includes at least one of a drone, a robot, and a vehicle.
The monitoring system according to claim 1, wherein the remote device includes at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.
The monitoring system according to claim 1, wherein the remote device establishes a cellular network connection with the mobile platform.
The monitoring system according to claim 17, wherein the remote device and the mobile platform establish a cellular network connection through a 5G base station using a 5th generation mobile communication technology.
A monitoring method for a mobile platform, characterized in that the monitoring method includes:

Acquiring a monitoring target sent by a remote device, the remote device performs wireless communication with the mobile platform, and the monitoring target is recognized by the remote device from a monitoring image according to a preset identifier;

Controlling the mobile platform to track the monitoring target.
The monitoring method according to claim 19, wherein said controlling said mobile platform to track said monitoring target comprises:

In the case that the distance between the monitoring target and the mobile platform is greater than or equal to the preset distance, the mobile platform is controlled to approach the monitoring target so that the distance between the monitoring target and the mobile platform is less than The preset distance.
The monitoring method according to claim 19, wherein the monitoring method further comprises:

Acquiring obstacle information generated by the remote device according to the monitoring image;

The controlling the mobile platform to track the monitoring target includes:

The mobile platform is controlled to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 19, wherein the monitoring method further comprises:

Acquiring the monitoring image and generating obstacle information according to the monitoring image;

The controlling the mobile platform to track the monitoring target includes:

The mobile platform is controlled to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 22, wherein the mobile platform includes a camera, and the camera includes at least one of a binocular camera, a structured light-based camera, and a time-of-flight-based camera, and the monitoring image is The camera captures.
The monitoring method according to claim 19, wherein the monitoring method further comprises:

Collect the geographic location of the mobile platform and send the geographic location to the remote device, so that the remote device obtains a map corresponding to the geographic location according to the geographic location and generates obstacle information based on the map ；

Acquiring the obstacle information sent by the remote device;

The controlling the mobile platform to track the monitoring target includes:

The mobile platform is controlled to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 19, wherein the monitoring method further comprises:

Collecting the geographic location of the mobile platform;

Acquiring a map corresponding to the geographic location according to the geographic location;

Generate obstacle information according to the map;

The controlling the mobile platform to track the monitoring target includes:

The mobile platform is controlled to track the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 19, wherein the mobile platform comprises a zoom camera, and the control method further comprises:

In the case that the distance between the monitoring target and the mobile platform is greater than a preset distance, the mobile platform controls the zoom camera to zoom so that the monitoring target in the monitoring image collected by the mobile platform The size is larger than the preset size;

Sending the monitoring image to the remote device.
The monitoring method according to claim 26, wherein the size of the monitoring target is determined based on the size of the frame in which the monitoring target is located in the monitoring image;

Wherein, the relevant information of the frame where the monitoring target is located in the monitoring image is obtained by the remote device identifying the monitoring target in the monitoring image, and the relevant information includes size information.
The monitoring method according to claim 19, wherein the mobile platform includes at least one of a drone, a robot, and a vehicle.
The monitoring method according to claim 19, wherein the remote device comprises at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.
The monitoring method according to claim 19, wherein the remote device establishes a cellular network connection with the mobile platform.
The monitoring method according to claim 30, wherein the remote device and the mobile platform establish a cellular network connection through a 5G base station using a 5th generation mobile communication technology.
A mobile platform, characterized in that the mobile platform includes a processor for acquiring a monitoring target sent by a remote device, and the remote device performs wireless communication with the mobile platform; and for controlling the mobile The platform tracks the monitoring target, and the monitoring target is recognized by the remote device from the monitoring image according to a preset identifier.
The mobile platform according to claim 32, wherein the processor is configured to control the mobile platform to approach the mobile platform when the distance between the monitoring target and the mobile platform is greater than or equal to a preset distance. The monitoring target is such that the distance between the monitoring target and the mobile platform is less than the preset distance.
The mobile platform according to claim 32, wherein the processor is used to obtain obstacle information generated by the remote device according to the monitoring image; and used to control the mobile platform according to the obstacle information and The location of the monitoring target tracks the monitoring target.
The mobile platform according to claim 32, wherein the processor is used to obtain the monitoring image and generate obstacle information according to the monitoring image; and used to control the mobile platform according to the obstacle information and The location of the monitoring target tracks the monitoring target.
The mobile platform of claim 35, wherein the mobile platform includes a camera, the camera includes at least one of a binocular camera, a structured light-based camera, and a time-of-flight-based camera, and the monitoring image is composed of The camera captures.
The mobile platform according to claim 32, wherein the processor is configured to collect the geographic location of the mobile platform and send the geographic location to the remote device, so that the remote device can be based on the geographic location. The location acquires a map corresponding to the geographic location and generates obstacle information based on the map; and is used to acquire the obstacle information sent by the remote device; and is used to control the mobile platform according to the obstacle information And the location of the monitoring target to track the monitoring target.
The mobile platform according to claim 32, wherein the processor is used to collect the geographic location of the mobile platform; and used to obtain a map corresponding to the geographic location based on the geographic location; The map generates obstacle information; and is used to control the mobile platform to track the monitoring target according to the obstacle information and the location of the monitoring target.
The mobile platform according to claim 32, wherein the mobile platform comprises a zoom camera, and the processor is configured to, when the distance between the monitoring target and the mobile platform is greater than a preset distance, The platform controls the zoom of the zoom camera so that the size of the monitoring target in the monitoring image collected by the mobile platform is larger than a preset size; and is used to send the monitoring image to the remote device.
The mobile platform according to claim 39, wherein the size of the monitoring target is determined based on the size of the frame in which the monitoring target is located in the monitoring image;

Wherein, the relevant information of the frame where the monitoring target is located in the monitoring image is obtained by the remote device identifying the monitoring target in the monitoring image, and the relevant information includes size information.
The mobile platform of claim 32, wherein the mobile platform comprises at least one of a drone, a robot, and a vehicle.
The mobile platform of claim 32, wherein the remote device comprises at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.
The mobile platform of claim 32, wherein the remote device establishes a cellular network connection with the mobile platform.
The mobile platform of claim 43, wherein the remote device and the mobile platform establish a cellular network connection through a 5G base station using a 5th generation mobile communication technology.
A monitoring method for remote equipment, characterized in that the monitoring method includes:

Obtain surveillance images;

Identifying the monitoring target in the monitoring image according to the preset identifier;

The monitoring target is sent to the mobile platform, so that the mobile platform tracks the monitoring target.
The monitoring method according to claim 45, wherein the monitoring method further comprises:

Get the initial image;

Identify the logo in the initial image as the preset logo.
The monitoring method according to claim 45, wherein the identifying the monitoring target in the monitoring image according to a preset identifier comprises:

Identifying a target identifier from the monitoring image according to the preset identifier;

The target corresponding to the target identifier is determined as the monitoring target.
The monitoring method according to claim 45, wherein the monitoring method further comprises:

Obstacle information is generated according to the monitoring image, and the obstacle information is sent to the mobile platform, so that the mobile platform tracks the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 45, wherein the monitoring method further comprises:

Acquiring the geographic location of the mobile platform;

Acquiring a map corresponding to the geographic location according to the geographic location;

Obstacle information is generated according to the map, and the obstacle information is sent to the mobile platform, so that the mobile platform tracks the monitoring target according to the obstacle information and the location of the monitoring target.
The monitoring method according to claim 45, wherein the monitoring image includes a first monitoring image and a second monitoring image, and the monitoring method further comprises:

Identifying the characteristics of the monitoring target from the first monitoring image, where the characteristics of the monitoring target are different from the preset identifier;

Forming the correlation between the characteristics of the monitoring target and the preset identifier;

The identifying the monitoring target in the monitoring image according to the preset identifier includes:

The monitoring target is identified from the second monitoring image according to the characteristics of the monitoring target and the correlation.
The monitoring method according to claim 50, wherein the preset identifier includes at least one of a human face, a number, and a text, and the characteristics of the monitoring target include at least one of a color, a joint, and a physical position .
The monitoring method according to claim 45, wherein the monitoring method further comprises:

The monitoring target is selected in the monitoring image according to the selection instruction.
The monitoring method according to claim 45, wherein the monitoring method further comprises:

Identifying the monitoring target in the monitoring image by using a frame, wherein at least part of the monitoring target is located in the frame;

Send relevant information about the frame where the monitoring target is located in the monitoring image to the mobile platform, so that the mobile platform controls the zoom camera on the mobile platform to perform zoom shooting and/or control according to the relevant information The mobile platform tracks the monitoring target with a preset composition;

Wherein, the related information includes size information and/or location information.
The monitoring method according to claim 45, wherein the mobile platform comprises at least one of a drone, a robot, and a vehicle.
The monitoring method according to claim 45, wherein the remote device comprises at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.
The monitoring method according to claim 45, wherein the remote device establishes a cellular network connection with the mobile platform.
The monitoring method according to claim 56, wherein the remote device and the mobile platform establish a cellular network connection through a 5G base station using a 5th generation mobile communication technology.
A remote device, characterized in that the remote device includes a processor for acquiring a monitoring image; and for identifying a monitoring target in the monitoring image according to a preset identifier; and for converting the The monitoring target is sent to the mobile platform, so that the mobile platform tracks the monitoring target.
The remote device according to claim 58, wherein the processor is used to obtain an initial image; and used to identify an identifier in the initial image as the preset identifier.
The remote device according to claim 58, wherein the processor is configured to recognize a target identifier from the monitoring image according to the preset identifier; and configured to determine the target corresponding to the target identifier as The monitoring target.
The remote device according to claim 58, wherein the processor is configured to generate obstacle information according to the monitoring image, and send the obstacle information to the mobile platform, so that the mobile platform can The obstacle information and the location of the monitoring target track the monitoring target.
The remote device according to claim 58, wherein the processor is used to obtain the geographic location of the mobile platform; and used to obtain a map corresponding to the geographic location based on the geographic location; and used to obtain a map according to the geographic location; The map generates obstacle information, and sends the obstacle information to the mobile platform, so that the mobile platform tracks the monitoring target according to the obstacle information and the location of the monitoring target.
The remote device according to claim 58, wherein the monitoring image comprises a first monitoring image and a second monitoring image, and the processor is configured to identify the characteristics of the monitoring target from the first monitoring image, so The characteristics of the monitoring target are different from the preset identification; and the correlation between the characteristics of the monitoring target and the preset identification; and the correlation between the characteristics of the monitoring target and the correlation The second monitoring image identifies the monitoring target.
The remote device according to claim 63, wherein the preset identifier includes at least one of a face, a number, and a text, and the feature of the monitoring target includes at least one of a color, a joint, and a physical position .
The remote device according to claim 58, wherein the processor is configured to select the monitoring target in the monitoring image according to a selection instruction.
The remote device according to claim 58, wherein the processor is configured to identify the monitoring target in the monitoring image through a frame, wherein at least part of the monitoring target is located in the frame; and Used to send relevant information about the frame in which the monitoring target is located in the monitoring image to the mobile platform, so that the mobile platform controls the zoom camera on the mobile platform to perform zoom shooting and/or according to the relevant information Or control the mobile platform to track the monitoring target with a preset composition; wherein, the related information includes size information and/or position information.
The remote device according to claim 58, wherein the mobile platform includes at least one of a drone, a robot, and a vehicle.
The remote device according to claim 58, wherein the remote device comprises at least one of a server, a mobile phone, a tablet computer, a remote control, and a wearable smart device.
The remote device according to claim 58, wherein the remote device establishes a cellular network connection with the mobile platform.
The remote device according to claim 69, wherein the remote device and the mobile platform establish a cellular network connection through a 5G base station using a 5th generation mobile communication technology.