WO2023046174A1 - 无人机实时目标追踪方法、装置、设备及存储介质 - Google Patents

无人机实时目标追踪方法、装置、设备及存储介质 Download PDF

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Publication number
WO2023046174A1
WO2023046174A1 PCT/CN2022/121358 CN2022121358W WO2023046174A1 WO 2023046174 A1 WO2023046174 A1 WO 2023046174A1 CN 2022121358 W CN2022121358 W CN 2022121358W WO 2023046174 A1 WO2023046174 A1 WO 2023046174A1
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Prior art keywords
target tracking
tracking
user
instruction
target
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PCT/CN2022/121358
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English (en)
French (fr)
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蒙露璐
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023046174A1 publication Critical patent/WO2023046174A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of unmanned aerial vehicle control, in particular to a method, device, equipment and storage medium for real-time target tracking of an unmanned aerial vehicle.
  • the present invention provides a UAV real-time target tracking method, device, equipment and storage medium, so as to switch the control mode in time and lock and track the designated target under remote control when remote control is required.
  • the present invention provides a method for real-time target tracking of an unmanned aerial vehicle, the method comprising:
  • the tracking command performs target tracking.
  • the displaying the remote control interface according to the user's control switching operation includes:
  • the remote control interface After the remote control interface is displayed according to the user's control switching operation, it also includes:
  • the method further includes:
  • tracking guidance information is displayed on the remote control interface.
  • the acquiring the target tracking operation of the user based on the one or more targets to be tracked is used to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to wireless The man-machine, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, including:
  • a gimbal lock command is generated and the UAV tracking option is displayed, and the gimbal lock command is sent to the UAV, so that the UAV according to the The gimbal lock command locks the corresponding target to be tracked for tracking and shooting;
  • a flight following instruction is generated, and the flight following instruction is sent to the UAV, so that the UAV can lock the corresponding target to be tracked according to the flight following instruction to perform tracking flight.
  • the method further includes:
  • a return route instruction or a circling instruction is generated and sent, the return route instruction is used to return the UAV to the original route, and the circling instruction is used to stop the UAV Track shots and track flights.
  • the UAV tracking option after generating the flight following instruction according to the user's operation of selecting the UAV tracking option, it further includes:
  • the stop following option is displayed, and a stop following instruction is generated based on the user's selection of the stop following option, and the stop following instruction is used to stop the UAV from tracking and flying but keep tracking and shooting.
  • the acquiring the target tracking operation of the user based on the one or more targets to be tracked is used to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to wireless Man-machine, so that after the unmanned aerial vehicle performs target tracking according to the target tracking instruction, it also includes:
  • the present invention provides a real-time target tracking device for an unmanned aerial vehicle, comprising:
  • the control switching module is used to display the remote control interface according to the user's control switching operation
  • a target display module configured to obtain the user's pan-tilt locking operation based on the remote control interface, so as to display one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation;
  • the target tracking module is used to obtain the user's target tracking operation based on the one or more targets to be tracked, so as to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the drone, so that no The man-machine performs target tracking according to the target tracking instruction.
  • the present invention provides an electronic device, including a memory and a processor, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, any one of the present invention is implemented.
  • the UAV real-time target tracking method provided by the embodiment.
  • the present invention provides a computer-readable storage medium, the storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed, the program instructions provided in any embodiment of the present invention are implemented.
  • the UAV real-time target tracking method provided by the embodiment of the present invention, when the remote tracking needs to be performed through the server, the remote control screen is displayed according to the user's control switching operation, and the user's information is obtained based on the remote control interface.
  • the PTZ lock operation and then display one or more targets to be tracked on the remote control interface according to the PTZ lock operation, obtain the user's target tracking operation based on one or more targets to be tracked, generate a target tracking command and send it to the drone to Control the UAV to track the target remotely.
  • This method solves the problem that the remote server cannot control the UAV to track suspicious targets in real time.
  • the control right can be switched to the server, and the server will Control the remote tracking of the target to be tracked, realize the switching between remote control and on-site control, and the switching between route tasks and tracking tasks under remote control, which is suitable for more scenarios.
  • Fig. 1 is a flow chart of a real-time target tracking method for an unmanned aerial vehicle provided by Embodiment 1 of the present invention
  • Fig. 2 is a schematic diagram of a remote control interface provided by Embodiment 1 of the present invention.
  • Fig. 3 is a flow chart of a real-time target tracking method for an unmanned aerial vehicle provided by Embodiment 2 of the present invention
  • Embodiment 4 is a flow chart of another UAV real-time target tracking method provided by Embodiment 2 of the present invention.
  • Fig. 5 is a schematic diagram of a remote control interface provided by Embodiment 2 of the present invention.
  • Fig. 6 is a sub-flowchart of the UAV real-time target tracking method provided by Embodiment 2 of the present invention.
  • Fig. 7 is a schematic diagram of another remote control interface provided by Embodiment 2 of the present invention.
  • Fig. 8 is a sub-flow chart of another UAV real-time target tracking method provided by Embodiment 2 of the present invention.
  • Fig. 9 is a schematic diagram of another remote control interface provided by Embodiment 2 of the present invention.
  • Fig. 10 is a schematic structural diagram of a real-time target tracking device for a drone provided by Embodiment 3 of the present invention.
  • FIG. 11 is a schematic structural diagram of an electronic device provided by Embodiment 4 of the present invention.
  • first”, “second”, etc. may be used herein to describe various directions, actions, steps or elements, etc., but these directions, actions, steps or elements are not limited by these terms. These terms are only used to distinguish a first direction, action, step or element from another direction, action, step or element.
  • a first use case could be termed a second use case, and, similarly, a second use case could be termed a first use case, without departing from the scope of the present invention.
  • Both the first use case and the second use case are use cases, but they are not the same use case.
  • the terms “first”, “second”, etc. should not be interpreted as indicating or implying relative importance or implying the number of indicated technical features.
  • features defined as “first” and “second” may explicitly or implicitly include a combination of one or more features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined. It should be noted that when a part is said to be “fixed” to another part, it can be directly on the other part or there can be an intermediate part. When a section is said to be “connected” to another section, it may be directly connected to the other section or there may be intervening sections at the same time.
  • the terms “vertical,” “horizontal,” “left,” “right,” and similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.
  • the present embodiment provides a real-time target tracking method for unmanned aerial vehicles, which can be applied to unmanned aerial vehicle systems, which include unmanned aerial vehicles, control terminals and service ends, wherein: unmanned aerial vehicles are controlled by Terminal or self-contained program control device or server control, unmanned aircraft with mission load; the control terminal maintains communication with the UAV, and is used to control the UAV on the ground; the server maintains communication with the control terminal, and can also communicate with the unmanned aircraft. Human-machine direct communication.
  • the UAV real-time target tracking method provided in this embodiment is applied to the server, as shown in Figure 1, the method includes the following steps:
  • the server is a remote command center terminal, and the command center terminal provides an operation interface for the user to operate.
  • the control switching operation is the switching operation of the control right of the UAV performed by the user through the operation interface, and is used to control the UAV.
  • the control of the remote terminal is switched to the server.
  • the remote control interface is an interactive interface provided by the control terminal for controlling the flight of the UAV and performing tasks.
  • the remote control interface provides multiple remote control options, and different control options correspond to different control commands, which are used to make the UAV execute different tasks.
  • the server in this embodiment is a terminal device with interactive capabilities, such as a computer device, which can display various information and obtain user operations, and send control messages to drones and/or remote terminals according to user operations. instruction.
  • the server obtains the user's control switching operation through the interaction with the user, transfers the control right of the UAV to the server, and displays the information used to control the UAV.
  • Remote control interface When the user needs to remotely control the UAV through the server, the server obtains the user's control switching operation through the interaction with the user, transfers the control right of the UAV to the server, and displays the information used to control the UAV. Remote control interface.
  • the remote control interface at least provides an option for starting remote tracking. After the tracking is started, the gimbal of the drone enters the locked state. This option is called the gimbal lock option, and the gimbal lock operation is the operation that the user clicks on this option. After the user clicks this option, the gimbal is locked, indicating that the user needs to control the UAV for remote tracking, and one or more targets to be tracked will be selected by the user.
  • the target to be tracked is a target that can be remotely tracked by the user in the real-time captured image of the UAV, usually people, vehicles, ships, etc., which are obtained by recognizing the real-time captured image through a preset recognition algorithm (different targets correspond to different algorithms) , one or more recognition algorithms can be used at the same time). It is understandable that long-range tracking cannot be performed when there is no target to be tracked. This situation is not mentioned here. In fact, the target to be tracked can be detected by adjusting the shooting direction of the drone and using different recognition algorithms. get different recognition results.
  • the server provides a pan/tilt lock option for starting remote tracking through the remote control interface, and also provides a first area for displaying real-time images captured by the drone.
  • the server identifies the target to be tracked in the real-time captured image, and displays the identified target to be tracked on the remote control interface.
  • FIG. 2 it is a schematic diagram of the remote control interface provided by the server, which includes a first display area (optional) 21 and a second display area 22, wherein the first display area 21 is used to display The current flight information of the drone (including the flight path, etc.), the second display area 22 is used to display the real-time shooting image of the drone, and the "cloud tilt" option 221 is provided in the second display area 22 in Fig. 2 .
  • the "pan/tilt lock" option can be set at any position in the remote control interface, and the above setting in the second display area is only for example rather than limitation.
  • the target tracking operation is an operation for the user to remotely track the target to be tracked based on the remote control interface. It is also completed through the operation options provided by the remote control interface.
  • the target tracking command is a control command generated by the server based on the target tracking operation. It is used to control the unmanned The computer completes the execution of the corresponding remote tracking task.
  • the server also provides a target tracking option based on the remote control interface.
  • the user selects the target to be tracked from the targets to be tracked through the target tracking option.
  • a target to be tracked is determined as the tracking target, and through The target tracking option determines the specific remote tracking task.
  • the server obtains the user's target tracking operation based on the target tracking option, generates a target tracking command, and finally sends the target tracking command to the drone. After the drone receives the target tracking command, Analyze and determine the target that needs to be tracked, and then perform the target tracking task.
  • This embodiment provides a real-time target tracking method for drones, which is applied to the server as the command center.
  • the remote control screen is displayed according to the user's control switching operation, and based on the remote control interface Obtain the user's PTZ lock operation, and then display one or more targets to be tracked on the remote control interface according to the PTZ lock operation, obtain the user's target tracking operation based on one or more targets to be tracked, generate a target tracking command and send it to the unmanned machine, to control the UAV to track the target remotely.
  • This method solves the problem that the remote server cannot control the UAV to track suspicious targets in real time. It can switch the control right to the server when remote control is required, and The server controls the remote tracking of the target to be tracked, realizes the switching between remote control and on-site control, and the switching between route tasks and tracking tasks under remote control, which is applicable to richer scenarios.
  • Embodiment 2 provides a real-time target tracking method for UAVs, which can be implemented on the basis of Embodiment 1, and provides specific supplements or examples for some of the content in Embodiment 1, such as providing a method based on target tracking operations.
  • the process of target tracking includes:
  • the UAV real-time target tracking method provided in this embodiment includes:
  • S240 Obtain the user's target tracking operation based on the one or more targets to be tracked, so as to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the UAV, so that the UAV performs the operation according to the target tracking operation.
  • the target tracking command is used to track the target.
  • Steps S210-220 are the process of requesting the remote terminal to switch the control right according to the user's switching operation.
  • the control switching instruction is generated by the server according to the user's control switching operation, and is used to notify the remote terminal that the server needs to perform remote control. Accepting the switching information means that the remote terminal agrees to hand over the control of the drone. It is a message generated by the remote terminal and sent to the server. The server will only enter the remote control interface after receiving the switching information. In some alternative embodiments, when the remote terminal does not agree to hand over the control right of the drone, the server will prompt the remote terminal to refuse remote control and cannot enter the remote control interface.
  • Step S250 is the step of returning the control right of the UAV after the server completes the target tracking.
  • the server can provide an option for exiting the remote control on the remote control interface, such as displaying the "exit remote” option for the user to choose, and the control returns to the operation That is, the user triggers the operation of the "exit remote” option.
  • the server sends a control return command to the remote terminal to notify the remote terminal to take over the control of the drone, and the server exits the remote control interface at the same time.
  • steps S260-270 for judging whether operation guidance for the user is required are required:
  • S260 Determine whether the user is performing target tracking for the first time.
  • Steps S260-270 are for the user who may not be familiar with the operation process when performing target tracking for the first time, and needs to remind the user of the specific meaning of each option in the remote control interface and how to use it during the target tracking process through tracking guidance information.
  • FIG. 5 it is a schematic diagram of a remote control interface displaying tracking guidance information.
  • Fig. 5 is a further illustration of the remote control interface shown in Fig. 2, which further provides three selection boxes 222, 223 and 224 for selecting targets to be tracked, each selection box represents a target to be tracked, and
  • the prompt box 225 shows the tracking guide information, which is used to prompt the user how to select the target to be tracked.
  • the tracking guide information can also be set based on the selection box, and the selection box can also Other solutions can be used instead, and examples are not given here.
  • step S240 includes steps S241-242:
  • the terminal interaction interface shows one or more targets to be tracked as shown in Figure 5, and the target selection operation is an operation in which the user selects one of the one or more targets to be tracked as the tracking target for tracking (Click or select one of them);
  • the PTZ lock command is a control command generated by the server, which is used to make the PTZ of the UAV lock the tracking target selected by the user for shooting, that is, tracking shooting;
  • the UAV tracking option is An operation option displayed on the remote terminal is used for the user to select to enable the server to generate a flight follow instruction;
  • the flight follow instruction is a control instruction generated by the server, and is used to control the UAV to track the flight of the tracking target selected by the user (that is, to track flight).
  • the target selection operation is specifically for the user to click on any one of the selection boxes 222, 223 and 224, assuming that the user clicks on the selection box 223, and then the remote control interface shown in Figure 5 is further changed It is the remote control interface shown in Figure 7, as shown in Figure 7, the selection box 221 and the selection box 224 disappear, only the selection box 223 is displayed, and the prompt box 225 also disappears, and then the "aircraft tracking" option 226 is displayed, and the "Pan Tilt" option 226 is displayed.
  • Locking" option 221 is changed to " withdraw from the pan-tilt lock " option 227, and the user clicks on the "exit from the pan-tilt lock” option 227 to return to the remote control interface as shown in Figure 5, and the user clicks on the "aircraft tracking" option 226 to select no Operation of human tracking options.
  • the tracking task needs to be terminated when performing target tracking, so the real-time target tracking method for the unmanned aerial vehicle as shown in Figure 8 is further provided, and after step S240, it also includes the steps S280-290:
  • S290 Generate and send a return route instruction or a circling in situ instruction according to the user's selection operation based on the exit option, the return route instruction is used to return the UAV to the original route, and the circling in situ instruction is used to make the UAV return to the original route.
  • the machine stops tracking shooting and tracking flight.
  • Steps S280-290 are for the user to cancel the process of target tracking.
  • the remote control interface provides an option button for exiting target tracking after step S240. Exiting the tracking operation means that the user selects this option, and in order to clarify the server The user's next instruction for the UAV. After exiting the target tracking, the remote control interface also provides an exit option.
  • the exit option includes multiple selection sub-items. Different selection sub-items are used to generate different control commands to control the UAV. The man-machine performs different actions, for example, three options pop up: return to the original route (the route before the target tracking), circle in place and cancel.
  • the return to the original route option is used to generate a return route command to control the UAV to return to the original route
  • the circling option is used to generate a circling command to control the UAV to stop tracking, shooting and tracking flight, and hover at the current location.
  • the cancel option is used to cancel the exit option to control the UAV to continue to track the target.
  • the remote control interface displayed after the user clicks on the “aircraft tracking” option 226 in FIG. Only the captured tracking target is shown, and the "aircraft tracking” option 226 has disappeared, and a new “stop aircraft tracking” option 228 appears, which is the option button for exiting the target tracking.
  • step S200 (not shown) is also included after step S240:
  • S201 Display the stop following option, and generate a stop following instruction based on the user's operation of selecting the stop following option, and the stop following instruction is used to stop the UAV from tracking and flying but keep tracking and shooting.
  • the stop following option is an option button displayed on the remote control interface by the server, which is used to generate a stop following instruction after the user selects it.
  • the stop following instruction is a control instruction used to control the drone, and the drone receives the stop following instruction Afterwards, the gimbal still keeps locking on the tracking target selected by the user, but the UAV will no longer perform tracking flight.
  • step S240 a step S202 (not shown) for replacing the currently tracked target is further included:
  • the remote control interface is also provided with an option button for switching the tracking target (hereinafter referred to as the target switching option), and the operation of the user changing the tracking target based on the target switching option is called the target switching operation.
  • the operation determines a new tracking target, and the server generates a switching tracking command for controlling the drone to change the tracking target according to the target switching operation.
  • the drone After receiving the switching tracking command, the drone performs target tracking on the new tracking target, including Carry out tracking shooting and tracking flight of new tracking targets.
  • This embodiment further provides the process of remote control under the condition that the remote terminal agrees, so as to avoid accidents caused by the temporary switching of the control right of the drone.
  • Using target tracking will not operate, and it also provides a way to exit target tracking for other flight tasks, which can support more tasks that need to be completed by remote control.
  • FIG. 10 is a schematic structural diagram of a UAV real-time target tracking device 300 provided in Embodiment 3 of the present invention. As shown in FIG. 10 , the device 300 includes:
  • a control switching module 310 configured to display a remote control interface according to the user's control switching operation
  • the target display module 320 is used to obtain the user's pan-tilt locking operation based on the remote control interface, so as to display one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation;
  • the target tracking module 330 is used to obtain the user's target tracking operation based on the one or more targets to be tracked, so as to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to the drone, so that The UAV performs target tracking according to the target tracking instruction.
  • the displaying the remote control interface according to the user's control switching operation includes:
  • the remote control interface After the remote control interface is displayed according to the user's control switching operation, it also includes:
  • the method further includes:
  • tracking guidance information is displayed on the remote control interface.
  • the acquiring the target tracking operation of the user based on the one or more targets to be tracked is used to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to wireless The man-machine, so that the unmanned aerial vehicle performs target tracking according to the target tracking instruction, including:
  • a gimbal lock command is generated and the UAV tracking option is displayed, and the gimbal lock command is sent to the UAV, so that the UAV according to the The gimbal lock command locks the corresponding target to be tracked for tracking and shooting;
  • a flight following instruction is generated, and the flight following instruction is sent to the UAV, so that the UAV can lock the corresponding target to be tracked according to the flight following instruction to perform tracking flight.
  • the method further includes:
  • a return route instruction or a circling instruction is generated and sent, the return route instruction is used to return the UAV to the original route, and the circling instruction is used to stop the UAV Track shots and track flights.
  • the UAV tracking option after generating the flight following instruction according to the user's operation of selecting the UAV tracking option, it further includes:
  • the stop following option is displayed, and a stop following instruction is generated based on the user's selection of the stop following option, and the stop following instruction is used to stop the UAV from tracking and flying but keep tracking and shooting.
  • the acquiring the target tracking operation of the user based on the one or more targets to be tracked is used to generate a target tracking instruction according to the target tracking operation and send the target tracking instruction to wireless Man-machine, so that after the unmanned aerial vehicle performs target tracking according to the target tracking instruction, it also includes:
  • This embodiment provides a UAV real-time target tracking device.
  • the remote control screen is displayed according to the user's control switching operation, and the user's pan-tilt locking operation is obtained based on the remote control interface, and then Display one or more targets to be tracked on the remote control interface according to the pan/tilt locking operation, obtain the user's target tracking operation based on one or more targets to be tracked, generate a target tracking command and send it to the UAV to control the UAV for remote control Target tracking
  • this method solves the problem that the remote server cannot control the drone to track suspicious targets in real time, and can switch the control right to the server when remote control is required, and the server controls the target to be tracked remotely. Tracking, realize the switch between remote control and on-site control, as well as the switch between route tasks and tracking tasks under remote control, which is applicable to richer scenarios.
  • Figure 11 is a schematic structural diagram of an electronic device 400 that can implement a real-time target tracking method for a drone provided by Embodiment 4 of the present invention.
  • the device includes a memory 410, a processor 420, and a processor 420 in the device
  • the number of can be one or more, one processor 420 is taken as an example in FIG. 11 ; the memory 410 and processor 420 in the device can be connected through a bus or in other ways, and a bus connection is taken as an example in FIG. 11 .
  • Memory 410 can be used to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the UAV real-time target tracking method in the embodiment of the present invention (for example, UAV The control switching module 310, the target display module 320, and the target tracking module 330 in the real-time target tracking device).
  • the processor 420 runs the software programs, instructions and modules stored in the memory 410 to execute various functional applications and data processing of the second page guidance module based on the two-dimensional code, that is, to realize the above-mentioned real-time goal of the drone. tracking method.
  • the processor 420 is configured to run the computer executable program stored in the memory 410 to implement the following steps: step S110, displaying the remote control interface according to the user's control switching operation; step S120, obtaining the remote control interface based on the remote control interface The user's pan-tilt locking operation to display one or more targets to be tracked on the remote control interface according to the pan-tilt locking operation; step S130, acquiring the user's target tracking operation based on the one or more targets to be tracked, A target tracking command is generated according to the target tracking operation and the target tracking command is sent to the UAV, so that the UAV performs target tracking according to the target tracking command.
  • the real-time target tracking device for a UAV provided by the embodiment of the present invention is not limited to the above-mentioned method operation, and can also execute the real-time target tracking method for a UAV provided in any embodiment of the present invention Related operations in .
  • the memory 410 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 410 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the memory 410 may further include memory located remotely from the processor 420, and these remote memories may be connected to the device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Embodiment 5 of the present invention also provides a storage medium including computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to implement a real-time target tracking method for a drone.
  • the real-time target of the drone is Tracking methods include:
  • the tracking command performs target tracking.
  • the computer-executable instructions are not limited to the method operations described above, and can also execute the UAV real-time target provided by any embodiment of the present invention. Related operations in the trace method.
  • the present invention can be realized by means of software and necessary general-purpose hardware, and of course can also be realized by hardware, but in many cases the former is a better implementation Way.
  • the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including a number of instructions to make an electronic device (which can be a personal computer) , equipment, or network equipment, etc.) execute the methods described in various embodiments of the present invention.
  • a computer-readable storage medium such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc
  • the units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, each function
  • the specific names of the units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.

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Abstract

一种无人机实时目标追踪方法、装置（300）、设备（400）及存储介质。方法包括：根据用户的控制切换操作显示远程控制界面（110）；基于远程控制界面获取用户的云台锁定操作，以根据云台锁定操作在远程控制界面显示一个或多个待追踪目标（120）；获取用户基于一个或多个待追踪目标的目标追踪操作，以根据目标追踪操作生成目标追踪指令并将目标追踪指令发送至无人机，以使无人机根据目标追踪指令进行目标追踪（130）。解决了在远程服务端无法实时控制无人机对可疑目标进行追踪的问题，能够在需要进行远程控制时将控制权切换至服务端，并由服务端控制对待追踪目标进行远程追踪，实现远程控制和实地控制切换以及远程控制下的航线任务和追踪任务切换。

Description

无人机实时目标追踪方法、装置、设备及存储介质
本申请要求于2021年9月26日提交中国专利局、申请号为2021111284007、申请名称为“无人机实时目标追踪方法、装置、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及无人机控制技术领域，尤其涉及一种无人机实时目标追踪方法、装置、设备及存储介质。
背景技术
随着无人机技术的发展，其应用场景越来越广泛，在电力巡线、交通救援以及海关边防等场景中发挥了巨大作用，而应用场景的扩展对无人机的性能提出了更高的要求，目前的无人机在执行任务时，大多只能执行预先设计好的任务，或者由飞手实时控制无人机飞行执行任务，而对于某些特殊场景飞手并不能清楚了解具体的任务内容或执行方式，此时需要交由远程控制中心远程控制无人机执行任务，而远程控制中心由于数据传输延迟难以实时控制无人机进行目标追踪。
发明内容
有鉴于此，本发明提供了一种无人机实时目标追踪方法、装置、设备及存储介质，以在需要远程控制的情况下及时切换控制方式并在远程控制下对指定目标进行锁定追踪。
为解决上述技术问题，本发明采用以下技术方案：
第一方面，本发明提供了一种无人机实时目标追踪方法，该方法包括：
根据用户的控制切换操作显示远程控制界面；
基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
可选的，在一些实施例中，所述根据用户的控制切换操作显示远程控制界面包括：
根据用户的控制切换操作向控制无人机的远程终端发送控制切换指令；
获取所述远程终端根据所述控制切换指令返回的接受切换信息，以根据所述接受切换信息显示所述远程控制界面并获取无人机控制权；
所述根据用户的控制切换操作显示远程控制界面之后，还包括：
根据用户的控制返还操作退出所述远程控制界面，并向所述远程终端发送控制返还指令，以使远程终端收回无人机控制权。
可选的，在一些实施例中，所述以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标之后，还包括：
判断用户是否为初次进行目标追踪；
当用户为初次进行目标追踪，则在所述远程控制界面显示追踪引导信息。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追 踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪，包括：
根据用户基于所述一个或多个待追踪目标的目标选择操作生成云台锁定指令并显示无人机追踪选项，将所述云台锁定指令发送至无人机，以使无人机根据所述云台锁定指令锁定对应的待追踪目标进行追踪拍摄；
根据用户选择所述无人机追踪选项的操作生成飞行跟随指令，将所述飞行跟随指令发送至无人机，以使无人机根据所述飞行跟随指令锁定对应的待追踪目标进行追踪飞行。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作之后，还包括：
获取用户基于所述远程控制界面的退出追踪操作，基于所述退出追踪操作显示退出选项；
根据用户基于所述退出选项的选择操作生成并发送返回航线指令或原地盘旋指令，所述返回航线指令用于使无人机返回原航线，所述原地盘旋指令用于使无人机停止追踪拍摄和跟踪飞行。
可选的，在一些实施例中，所述根据用户选择所述无人机追踪选项的操作生成飞行跟随指令之后，还包括：
显示停止跟随选项，并基于用户选择停止跟随选项的操作生成停止跟随指令，所述停止跟随指令用于使无人机停止跟踪飞行但保持跟踪拍摄。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪之后，还包括：
获取用户基于所述一个或多个待追踪目标的目标切换操作，根据所述目标切换操作生成并发送切换追踪指令，以使无人机根据所述切换追踪指令切换目标进行目标追踪。
第二方面，本发明提供了一种无人机实时目标追踪装置，包括：
控制切换模块，用于根据用户的控制切换操作显示远程控制界面；
目标显示模块，用于基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
目标追踪模块，用于获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
第三方面，本发明提供了一种电子设备，包括存储器和处理器，所述存储器上存储有可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如本发明任一实施例提供的的无人机实时目标追踪方法。
第四方面，本发明提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被执行时实现如本发明任一实施例提供的的无人机实时目标追踪方法。
同现有技术相比，本发明实施例提供的无人机实时目标追踪方法，在需要通过服务端进行远程追踪时，根据用户的控制切换操作显示远程控制画面，并基于远程控制界面获取用户的云台锁定操作，进而根据云台锁定操作在远程控制界面显示一个或多个待追踪目标，获取用户基于一个或多个待追踪目标的目标追踪操作，生成目标追踪指令发送至无人机，以控制无人机远程进行目标追踪，该方法解决了在远程服务端无法实时控制无人机对可疑目标进行追踪的问 题，能够在需要进行远程控制时将控制权切换至服务端，并由服务端控制对待追踪目标进行远程追踪，实现远程控制和实地控制切换以及远程控制下的航线任务和追踪任务切换，适用于更丰富的场景。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍，显而易见的，下面描述中的附图仅仅是本申请的部分实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1是本发明实施例一提供的一种无人机实时目标追踪方法的流程图；
图2是本发明实施例一提供的一种远程控制界面的示意图；
图3是本发明实施例二提供的一种无人机实时目标追踪方法的流程图；
图4是本发明实施例二提供的另一种无人机实时目标追踪方法的流程图；
图5是本发明实施例二提供的一种远程控制界面的示意图；
图6是本发明实施例二提供的无人机实时目标追踪方法的子流程图；
图7是本发明实施例二提供的另一种远程控制界面的示意图；
图8是本发明实施例二提供的又一种无人机实时目标追踪方法的子流程图；
图9是本发明实施例二提供的又一种远程控制界面的示意图；
图10是本发明实施例三提供的一种无人机实时目标追踪装置的结构示意图；
图11是本发明实施例四提供的一种电子设备的结构示意图。
具体实施方式
下面结合本申请实施例中的附图，对本申请实施中的技术方案进行清楚、完整的描述。可以理解的是，此处所描述的具体实施例仅仅是本申请一部分实施例，而不是全部的实施例，仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，术语“第一”、“第二”等可在本文中用于描述各种方向、动作、步骤或元件等，但这些方向、动作、步骤或元件不受这些术语限制。这些术语仅用于将第一个方向、动作、步骤或元件与另一个方向、动作、步骤或元件区分。举例来说，在不脱离本发明的范围的情况下，可以将第一用例称为第二用例，且类似地，可将第二用例称为第一用例。第一用例和第二用例两者都是用例，但其不是同一用例。术语“第一”、“第二”等而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者多个特征的组合。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。需要说明的是，当一个部被称为“固定于”另一个部，它可以直接在另一个部上也可以存在居中的部。当一个部被认为是“连接”到另一个部，它可以是直接连接到另一个部或者可能同时存在居中部。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述，只是为了说明的目的，并不表示是唯一 的实施方式。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时处理可以被终止，但是还可以具有未包括在附图中的附加步骤。处理可以对应于方法、函数、规程、子例程、子程序等等。
实施例一
参见图1，本实施例提供了一种无人机实时目标追踪方法，该方法可以应用于无人机系统，该系统包括无人机、控制终端和服务端，其中：无人机为由控制终端或自备程序控制装置或服务端操纵，带任务载荷的不载人航空器；控制终端与无人机保持通信，用于实地控制无人机；服务端与控制终端保持通信，也能够与无人机直接通信。本实施例提供的无人机实时目标追踪方法应用于服务端，如图1所示，该方法包括以下步骤：
S110、根据用户的控制切换操作显示远程控制界面。
本实施例中服务端为远程的指挥中心端，指挥中心端提供有用于供用户操作的操作界面，控制切换操作为用户通过操作界面进行的无人机控制权切换操作，用于将无人机的控制权从远程终端切换至服务端。远程控制界面为控制端提供的用于控制无人机飞行以及执行任务的一个交互界面，远程控制界面提供有多个远程控制选项，不同控制选项对应不同的控制指令，用于使无人机执行不同的任务。
具体的，本实施例中服务端为具备交互能力的终端设备，例如计算机设备， 其能够显示各种信息还能够获取用户的操作，并根据用户的操作向无人机和/或远程终端发送控制指令。在用户需要通过服务端对无人机进行远程控制时，服务端通过与用户的交互获取用户的控制切换操作，将无人机的控制权转移至服务端，并显示用于控制无人机的远程控制界面。
S120、基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标。
本实施例中远程控制界面至少提供有用于开始远程追踪的选项，开始追踪后无人机云台进入锁定状态，称该选项为云台锁定选项，云台锁定操作即用户点击该选项的操作，用户点击该选项后，进入云台锁定状态，表示用户需要控制无人机进行远程追踪，出现一个或多个待追踪目标共用户选择。待追踪目标为在无人机实时拍摄图像内能够供用户进行远程追踪的目标，通常为人、车、船等，其通过预设的识别算法对实时拍摄图像识别得到(不同的目标对应不同的算法，能够同时采用一种或多种识别算法)。可以理解的是，由于不存在待追踪目标时无法进行远程追踪此处并未提及该情况，实际能够在未识别到待追踪目标是通过调整无人机拍摄方向、采用不同的识别算法等方式得到不同的识别结果。
具体的，本实施例中服务端通过远程控制界面提供有用于开始进行远程追踪的云台锁定选项，还提供了有用于显示无人机实时拍摄图像的第一区域，在用户触发云台锁定选项后，服务端识别实时拍摄图像中的待追踪目标，并在远程控制界面中显示识别到的待追踪目标。
在一个具体示例中，如图2所示为服务端提供的远程控制界面示意图，其中包括第一显示区域(可以不要)21和第二显示区域22，其中第一显示区域 21用于显示无人机当前飞行信息(包括飞行路径等)，第二显示区域22用于显示无人机的实时拍摄图像，图2中在第二显示区域22中提供有“云台锁定”选项221。当然，可以理解的是“云台锁定”选项能够设置在远程控制界面中的任意位置，上述设置在第二显示区域仅是为了示例而非限定。
S130、获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
目标追踪操作为用户基于远程控制界面对待追踪目标进行远程追踪的操作，其同样通过远程控制界面提供的操作选项完成，目标追踪指令为服务端根据目标追踪操作生成的控制指令，用于控制无人机完成执行对应的远程追踪任务。
具体的，本实施例中服务端基于远程控制界面还提供有目标追踪选项，用户通过目标追踪选项从待追踪目标中选择需要追踪的目标，此时即将一个待追踪目标确定为追踪目标，并通过目标追踪选项确定具体的远程追踪任务，服务端获取用户基于目标追踪选项的目标追踪操作，并生成目标追踪指令，最终将目标追踪指令发送至无人机，无人机接收到目标追踪指令后，解析确定需要追踪的目标，进而执行目标追踪任务。
本实施例提供了一种无人机实时目标追踪方法，应用于作为指挥中心的服务端，在需要通过服务端进行远程追踪时，根据用户的控制切换操作显示远程控制画面，并基于远程控制界面获取用户的云台锁定操作，进而根据云台锁定操作在远程控制界面显示一个或多个待追踪目标，获取用户基于一个或多个待追踪目标的目标追踪操作，生成目标追踪指令发送至无人机，以控制无人机远程进行目标追踪，该方法解决了在远程服务端无法实时控制无人机对可疑目标 进行追踪的问题，能够在需要进行远程控制时将控制权切换至服务端，并由服务端控制对待追踪目标进行远程追踪，实现远程控制和实地控制切换以及远程控制下的航线任务和追踪任务切换，适用于更丰富的场景。
实施例二
实施例二提供了一种无人机实时目标追踪方法，其可以在实施例一的基础上实现，对实施例一中的部分内容进行了具体的补充或举例，例如提供了根据目标追踪操作进行目标追踪的过程，具体包括：
如图3所示，本实施例提供的无人机实时目标追踪方法包括：
S210、根据用户的控制切换操作向控制无人机的远程终端发送控制切换指令。
S220、获取所述远程终端根据所述控制切换指令返回的接受切换信息，以根据所述接受切换信息显示所述远程控制界面并获取无人机控制权。
S230、基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
S240、获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
S250、根据用户的控制返还操作退出所述远程控制界面，并向所述远程终端发送控制返还指令，以使远程终端收回无人机控制权。
步骤S210-220为根据用户的至切换操作向远程终端请求切换控制权的过程，控制切换指令为服务端根据用户的控制切换操作生成的，用于通知远程终端服务端需要进行远程控制。接受切换信息为远程终端同意交出无人机控制权 是由远程终端生成并发送至服务端的信息，服务端只有在收到接受切换信息之后才会进入远程控制界面。在一些替代实施例中，当远程终端不同意交出无人机控制权时，服务端会提示远程终端拒绝进行远程控制，并且无法进入远程控制界面。
步骤S250为服务端完成实施目标追踪后，交还无人机控制权的步骤，服务端能够在远程控制界面提供用于退出远程控制的选项，例如显示“退出远程”选项供用户选择，控制返回操作即用户触发“退出远程”选项的操作，此时服务端向远程终端发送用于通知远程终端接手无人机控制权的控制返还指令，同时服务端退出远程控制界面。
可选的，在一些实施例中，如图4所示，在步骤S230之后，还包括用于判断是否需要对用户进行操作引导的步骤S260-270：
S260、判断用户是否为初次进行目标追踪。
S270、当用户为初次进行目标追踪，则在所述远程控制界面显示追踪引导信息。
步骤S260-270针对用户初次进行目标追踪时，可能对操作流程不熟悉，需要通过追踪引导信息提示用户远程控制界面中的各个选项的具体含义以及如何在目标追踪过程中使用。
在一个具体示例中，如图5所示，为显示追踪引导信息的远程控制界面的示意图。图5为图2所示远程控制界面的进一步说明，其进一步提供了用于三个用于选择待追踪目标的选择框222、223和224，每个选择框中都表示一个待追踪目标，而提示框225显示的是追踪引导信息，用于提示用户如何选择待追踪目标，当然，此处同样仅为示例，实际在一些替代实施例中，追踪引导信息 还能够基于选择框设置，选择框也能够采用其他方案替代，此处不一一举例。
可选的，在一些实施例中，进行目标追踪的具体过程，也即步骤S240，如图6所示，包括步骤S241-242：
S241、根据用户基于所述一个或多个待追踪目标的目标选择操作生成云台锁定指令并显示无人机追踪选项，将所述云台锁定指令发送至无人机，以使无人机根据所述云台锁定指令锁定对应的待追踪目标进行追踪拍摄；
S242、根据用户选择所述无人机追踪选项的操作生成飞行跟随指令，将所述飞行跟随指令发送至无人机，以使无人机根据所述飞行跟随指令锁定对应的待追踪目标进行追踪飞行。
在用户点击云台锁定选项后，终端交互界面如图5所示显示有一个或多个待追踪目标，目标选择操作为用户从一个或多个待追踪目标中选择一个作为追踪目标进行追踪的操作(点击或框选其中一个)；云台锁定指令为服务端生成的控制指令，用于使无人机的云台锁定用户选择的追踪目标进行拍摄，也即追踪拍摄；无人机追踪选项为远程终端显示的一个操作选项，用于供用户选择以使服务端生成飞行跟随指令；飞行跟随指令为服务端生成的控制指令，用于控制无人机追踪用户选择的追踪目标飞行(也即追踪飞行)。
以图5所示的远程控制界面为例，目标选择操作具体为用户点击选择框222、223和224中的任意一个，假设用户点击了选择框223，之后图5所示的远程控制界面进一步变更为图7所示的远程控制界面，如图7所示，选择框221和选择框224消失，仅显示选择框223，并且提示框225也消失，进而显示“飞机追踪”选项226，“云台锁定”选项221变更为“退出云台锁定”选项227，用户点击“退出云台锁定”选项227之后返回如图5所示的远程控制界面，用户 点击“飞机追踪”选项226即为用户选择无人机追踪选项的操作。
可选的，在一些实施例中，在进行目标追踪时可能会出现追踪任务需要终止的情况，因此进一步提供了如图8所示的无人机实时目标追踪方法，在步骤S240之后还包括步骤S280-290：
S280、获取用户基于所述远程控制界面的退出追踪操作，基于所述退出追踪操作显示退出选项。
S290、根据用户基于所述退出选项的选择操作生成并发送返回航线指令或原地盘旋指令，所述返回航线指令用于使无人机返回原航线，所述原地盘旋指令用于使无人机停止追踪拍摄和跟踪飞行。
步骤S280-290为用户取消进行目标追踪的过程，本实施例中远程控制界面在步骤S240之后提供有用于退出目标追踪的选项按钮，退出追踪操作即用户选择该选项的操作，并且为了明确服务端用户对无人机下一步的指令，在退出目标追踪后，远程控制界面还提供了退出选项，退出选项中包括多个选择子项，不同选择子项用于生成不同的控制指令，以控制无人机执行不同的动作，例如弹出三个选项：返回原航线(进行目标追踪前的航线)、原地盘旋和取消，返回原航线选项用于生成返回航线指令，以控制无人机返回原航线，原地盘旋选项用于生成原地盘旋指令，以控制无人机停止追踪拍摄和跟踪飞行，在当前地点盘旋飞行，取消选项用于取消退出选项，以控制无人机继续进行目标追踪。
在一个具体示例中，如图9所示，为用户点击图7中“飞机追踪”选项226之后显示的远程控制界面，其中由于无人机正在进行目标追踪，因此实施拍摄图像有所变化，此处以仅示出了拍摄到的追踪目标，此时“飞机追踪”选项226已经消失，而新出现了“停止飞机追踪”选项228，这就是用于退出目标追踪 的选项按钮。
更具体的，在一些实施例中在步骤S240之后还包括步骤S200(图未示)：
S201、显示停止跟随选项，并基于用户选择停止跟随选项的操作生成停止跟随指令，所述停止跟随指令用于使无人机停止跟踪飞行但保持跟踪拍摄。
停止跟随选项为服务端在远程控制界面中显示的选项按钮，其用于在用户选择后生成停止跟随指令，停止跟随指令是用于控制无人机的控制指令，无人机接收到停止跟随指令后，其云台依然保持锁定用户选择的追踪目标，但是无人机不再进行跟踪飞行。
可选的，在一些实施例中，在步骤S240之后还包括用于更换当前追踪的目标的步骤S202(图未示)：
S202、获取用户基于所述一个或多个待追踪目标的目标切换操作，根据所述目标切换操作生成并发送切换追踪指令，以使无人机根据所述切换追踪指令切换目标进行目标追踪。
具体的，在本实施例中，远程控制界面中还提供有用于切换追踪目标的选项按钮(后续称为目标切换选项)，用户基于目标切换选项变更追踪目标的操作称为目标切换操作，目标切换操作确定了一个新的追踪目标，服务端根据目标切换操作生成用于控制无人机变更追踪目标的切换追踪指令，无人机接收到切换追踪指令后，对新的追踪目标进行目标追踪，包括对新的追踪目标进行追踪拍摄和追踪飞行。
本实施例进一步提供了在远程终端同意的情况下进行远程控制的过程，以避免无人机控制权临时切换出现的意外事故，还提供了在远程控制界面进行追踪操作引导的过程，以免用户初次使用目标追踪不会操作，还提供了退出目标 追踪进行其他飞行任务的方式，能够支持更多需要远程控制完成的任务。
实施例三
图10为本发明实施例三提供的一种无人机实时目标追踪装置300的结构示意图，如图10所述，该装置300包括：
控制切换模块310，用于根据用户的控制切换操作显示远程控制界面；
目标显示模块320，用于基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
目标追踪模块330，用于获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
可选的，在一些实施例中，所述根据用户的控制切换操作显示远程控制界面包括：
根据用户的控制切换操作向控制无人机的远程终端发送控制切换指令；
获取所述远程终端根据所述控制切换指令返回的接受切换信息，以根据所述接受切换信息显示所述远程控制界面并获取无人机控制权；
所述根据用户的控制切换操作显示远程控制界面之后，还包括：
根据用户的控制返还操作退出所述远程控制界面，并向所述远程终端发送控制返还指令，以使远程终端收回无人机控制权。
可选的，在一些实施例中，所述以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标之后，还包括：
判断用户是否为初次进行目标追踪；
当用户为初次进行目标追踪，则在所述远程控制界面显示追踪引导信息。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪，包括：
根据用户基于所述一个或多个待追踪目标的目标选择操作生成云台锁定指令并显示无人机追踪选项，将所述云台锁定指令发送至无人机，以使无人机根据所述云台锁定指令锁定对应的待追踪目标进行追踪拍摄；
根据用户选择所述无人机追踪选项的操作生成飞行跟随指令，将所述飞行跟随指令发送至无人机，以使无人机根据所述飞行跟随指令锁定对应的待追踪目标进行追踪飞行。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作之后，还包括：
获取用户基于所述远程控制界面的退出追踪操作，基于所述退出追踪操作显示退出选项；
根据用户基于所述退出选项的选择操作生成并发送返回航线指令或原地盘旋指令，所述返回航线指令用于使无人机返回原航线，所述原地盘旋指令用于使无人机停止追踪拍摄和跟踪飞行。
可选的，在一些实施例中，所述根据用户选择所述无人机追踪选项的操作生成飞行跟随指令之后，还包括：
显示停止跟随选项，并基于用户选择停止跟随选项的操作生成停止跟随指令，所述停止跟随指令用于使无人机停止跟踪飞行但保持跟踪拍摄。
可选的，在一些实施例中，所述获取用户基于所述一个或多个待追踪目标 的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪之后，还包括：
获取用户基于所述一个或多个待追踪目标的目标切换操作，根据所述目标切换操作生成并发送切换追踪指令，以使无人机根据所述切换追踪指令切换目标进行目标追踪。
本实施例提供了一种无人机实时目标追踪装置，在需要通过服务端进行远程追踪时，根据用户的控制切换操作显示远程控制画面，并基于远程控制界面获取用户的云台锁定操作，进而根据云台锁定操作在远程控制界面显示一个或多个待追踪目标，获取用户基于一个或多个待追踪目标的目标追踪操作，生成目标追踪指令发送至无人机，以控制无人机远程进行目标追踪，该方法解决了在远程服务端无法实时控制无人机对可疑目标进行追踪的问题，能够在需要进行远程控制时将控制权切换至服务端，并由服务端控制对待追踪目标进行远程追踪，实现远程控制和实地控制切换以及远程控制下的航线任务和追踪任务切换，适用于更丰富的场景。
实施例四
图11为本发明实施例四提供的一种可以实现无人机实时目标追踪方法的电子设备400的结构示意图，如图11所示，该设备包括存储器410、处理器420，设备中处理器420的数量可以是一个或多个，图11中以一个处理器420为例；设备中的存储器410、处理器420可以通过总线或其他方式连接，图11中以通过总线连接为例。
存储器410作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的无人机实时目标追踪方法对应的程序指令/模块(例如，无人机实时目标追踪装置中的控制切换模块310、目标显示模块320、目标追踪模块330)。处理器420通过运行存储在存储器410中的软件程序、指令以及模块，从而执行基于二维码的页面引导第二页面引导模块的各种功能应用以及数据处理，即实现上述的无人机实时目标追踪方法。
其中，所述处理器420用于运行存储在存储器410中的计算机可执行程序，以实现如下步骤：步骤S110、根据用户的控制切换操作显示远程控制界面；步骤S120、基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；步骤S130、获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
当然,本发明实施例所提供的一种无人机实时目标追踪装置,该装置不限于如上所述的方法操作,还可以执行本发明实施例任意实施例所提供的无人机实时目标追踪方法中的相关操作。
存储器410可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器410可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器410可进一步包括相对于处理器420远程设置的存储器，这些远程存储器可以通过网络连接至设备。上述网络的实 例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
实施例五
本发明实施例五还提供一种包括计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种无人机实时目标追踪方法，该无人机实时目标追踪方法包括：
根据用户的控制切换操作显示远程控制界面；
基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
当然，本发明实施例所提供的一种包括计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作，还可以执行本发明任意实施例所提供的无人机实时目标追踪方法中的相关操作。
通过以上关于实施方式的描述，所述领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台电子设备(可以是 个人计算机，设备，或者网络设备等)执行本发明各个实施例所述的方法。
值得注意的是，上述授权系统的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种无人机实时目标追踪方法，其特征在于，包括：
    根据用户的控制切换操作显示远程控制界面；
    基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
    获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
  2. 根据权利要求1所述的无人机实时目标追踪方法，其特征在于，所述根据用户的控制切换操作显示远程控制界面包括：
    根据用户的控制切换操作向控制无人机的远程终端发送控制切换指令；
    获取所述远程终端根据所述控制切换指令返回的接受切换信息，以根据所述接受切换信息显示所述远程控制界面并获取无人机控制权；
    所述根据用户的控制切换操作显示远程控制界面之后，还包括：
    根据用户的控制返还操作退出所述远程控制界面，并向所述远程终端发送控制返还指令，以使远程终端收回无人机控制权。
  3. 根据权利要求1所述的无人机实时目标追踪方法，其特征在于，所述以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标之后，还包括：
    判断用户是否为初次进行目标追踪；
    当用户为初次进行目标追踪，则在所述远程控制界面显示追踪引导信息。
  4. 根据权利要求1所述的无人机实时目标追踪方法，其特征在于，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪 操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪，包括：
    根据用户基于所述一个或多个待追踪目标的目标选择操作生成云台锁定指令并显示无人机追踪选项，将所述云台锁定指令发送至无人机，以使无人机根据所述云台锁定指令锁定对应的待追踪目标进行追踪拍摄；
    根据用户选择所述无人机追踪选项的操作生成飞行跟随指令，将所述飞行跟随指令发送至无人机，以使无人机根据所述飞行跟随指令锁定对应的待追踪目标进行追踪飞行。
  5. 根据权利要求4所述的无人机实时目标追踪方法，其特征在于，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作之后，还包括：
    获取用户基于所述远程控制界面的退出追踪操作，基于所述退出追踪操作显示退出选项；
    根据用户基于所述退出选项的选择操作生成并发送返回航线指令或原地盘旋指令，所述返回航线指令用于使无人机返回原航线，所述原地盘旋指令用于使无人机停止追踪拍摄和跟踪飞行。
  6. 根据权利要求4所述的无人机实时目标追踪方法，其特征在于，所述根据用户选择所述无人机追踪选项的操作生成飞行跟随指令之后，还包括：
    显示停止跟随选项，并基于用户选择停止跟随选项的操作生成停止跟随指令，所述停止跟随指令用于使无人机停止跟踪飞行但保持跟踪拍摄。
  7. 根据权利要求1所述的无人机实时目标追踪方法，其特征在于，所述获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据 所述目标追踪指令进行目标追踪之后，还包括：
    获取用户基于所述一个或多个待追踪目标的目标切换操作，根据所述目标切换操作生成并发送切换追踪指令，以使无人机根据所述切换追踪指令切换目标进行目标追踪。
  8. 一种无人机实时目标追踪装置，其特征在于，包括：
    控制切换模块，用于根据用户的控制切换操作显示远程控制界面；
    目标显示模块，用于基于所述远程控制界面获取用户的云台锁定操作，以根据所述云台锁定操作在所述远程控制界面显示一个或多个待追踪目标；
    目标追踪模块，用于获取用户基于所述一个或多个待追踪目标的目标追踪操作，以根据所述目标追踪操作生成目标追踪指令并将所述目标追踪指令发送至无人机，以使无人机根据所述目标追踪指令进行目标追踪。
  9. 一种电子设备，其特征在于，包括存储器和处理器，所述存储器上存储有可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-7任意一项所述的无人机实时目标追踪方法。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被执行时，实现如权利要求1-7任意一项所述的无人机实时目标追踪方法。
PCT/CN2022/121358 2021-09-26 2022-09-26 无人机实时目标追踪方法、装置、设备及存储介质 WO2023046174A1 (zh)

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