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WO2017197729A1 - Système de suivi et procédé de suivi - Google Patents

Système de suivi et procédé de suivi Download PDF

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Publication number
WO2017197729A1
WO2017197729A1 PCT/CN2016/087654 CN2016087654W WO2017197729A1 WO 2017197729 A1 WO2017197729 A1 WO 2017197729A1 CN 2016087654 W CN2016087654 W CN 2016087654W WO 2017197729 A1 WO2017197729 A1 WO 2017197729A1
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WO
WIPO (PCT)
Prior art keywords
tracking
current
target
speed
motion speed
Prior art date
Application number
PCT/CN2016/087654
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English (en)
Chinese (zh)
Inventor
桂小琰
曾勇
Original Assignee
西安斯凯智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 西安斯凯智能科技有限公司 filed Critical 西安斯凯智能科技有限公司
Publication of WO2017197729A1 publication Critical patent/WO2017197729A1/fr

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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
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Definitions

  • the present invention relates to the field of tracking, and in particular to a tracking system and a tracking method.
  • the tracking device can be an aerial robot - a drone, a robot on the ground, or a smart car.
  • the UAVs currently on the market basically use computer vision to achieve tracking, and the tracking angle and tracking distance of the UAV are determined by collecting and tracking the image of the target and processing the image.
  • image processing requires a large amount of calculation, there is a problem of time lag to some extent, and image processing is not accurate enough when calculating distance information.
  • image processing is not accurate enough when calculating distance information.
  • An object of the present invention is to overcome the above problems and to provide a tracking system and a tracking method capable of achieving high-precision target tracking.
  • the present invention provides a tracking system for controlling a mobile tracking end to track a moving target end, including:
  • a distance determining unit configured to determine a current relative distance of the tracking end relative to the target end
  • An angle determining unit configured to determine a current relative angle of the tracking end with respect to the target end
  • a target end speed acquiring unit configured to acquire a current target moving speed of the target end
  • a controller configured to adjust a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, so that the tracking end is opposite to the
  • the target end is basically maintained at a preset relative distance and a preset relative angle degree.
  • controller is configured to adjust the current tracking motion speed of the tracking end no later than adjusting the current tracking motion posture of the tracking end.
  • controller is configured to adjust the current tracking motion speed of the tracking end before adjusting the current tracking motion posture of the tracking end.
  • controller is configured to adjust the current tracking motion speed of the tracking end with the current target motion speed of the target end as a target.
  • controller is configured to adjust the current tracking motion speed of the tracking end to the current target motion speed immediately following the target end.
  • the tracking system further includes:
  • An image collection device disposed at the tracking end for acquiring a tracking image including the target end;
  • An image processing unit configured to process the tracking image to obtain a location of the target end in the tracking image
  • the angle determining unit is configured to determine the current relative angle of the tracking end relative to the target end according to a position of the target end in the tracking image.
  • the tracking image is only used to determine the current relative angle.
  • the tracking system further includes:
  • a second radio frequency device disposed at the target end.
  • the distance determining unit is configured to determine the current relative distance according to a radio frequency signal transmitted between the first and second radio frequency devices;
  • the radio frequency signal is an ultra-wideband radio frequency signal.
  • first and second radio frequency devices are used for data and instruction transmission of the tracking end and the target end.
  • the tracking system further includes:
  • a first positioning device disposed at the tracking end for determining a current tracking position of the tracking end
  • a second positioning device disposed at the target end for determining a current target position of the target end
  • the distance determining unit is configured to be based on the current tracking position and the current target Position to determine the current relative distance.
  • the target end speed acquisition unit includes a speed sensor or an acceleration sensor disposed at the target end.
  • the tracking end is a drone, a ground robot or a smart car.
  • the present invention provides a tracking method for controlling a moving tracking end to track a moving target end, including the following steps:
  • adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are performed no later than adjusting the tracking end
  • the current tracking motion speed of the tracking end is adjusted while the motion posture is being tracked.
  • adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are to adjust the current tracking motion of the tracking end
  • the current tracking motion speed of the tracking end is adjusted before the gesture.
  • adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, that is, the current target motion speed of the target end The current tracking motion speed of the tracking end is adjusted for the target.
  • the scheme of the invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end can follow the speed change of the target end in time when tracking the target end, so that the tracking end and the target end always maintain a substantially consistent speed, avoiding Sudden increase in speed due to the target end Or the tracking end caused by the reduction requires a larger speed change due to inertia to adapt to the speed change of the target end, so that the tracking end can respond to the movement of the target end in a more timely manner, reducing the lag time.
  • the present invention even when the target end is outside the shooting range of the camera or is blocked by other objects, the relative distance and/or relative angle of the tracking end with respect to the target end cannot be determined, the present invention
  • the scheme introduces the motion speed of the target end as the control parameter of the controller, and the motion speed of the target end can be obtained by non-image processing, so that the controller can closely follow the speed of the target end by controlling the tracking end, so that the Within acceptable distances.
  • the present invention achieves accurate tracking of the target end by a combination of three parameters of distance, angle and speed.
  • FIG. 1 is a block diagram showing the general structure of a tracking system in accordance with the present invention.
  • FIG. 2 is a schematic structural diagram of a tracking system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a tracking system according to another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a tracking system according to another embodiment of the present invention.
  • FIG. 5 is a flow chart of a tracking method in accordance with another embodiment of the present invention.
  • FIG. 1 is a block diagram showing the structure of a tracking system 100 in accordance with one embodiment of the present invention.
  • 2 is a logic control diagram of a tracking system in accordance with one embodiment of the present invention.
  • the present invention provides a tracking system 100 for controlling a moving tracking end 11 to track a moving target end 12.
  • the tracking system 100 may include a distance determining unit 1, an angle determining unit 2, a target end speed acquiring unit 3, and a controller 4.
  • the distance determining unit 1 is configured to determine a current relative distance of the tracking end 11 relative to the target end 12, and the angle determining unit 2 is configured to determine a current relative angle of the tracking end 11 with respect to the target end 12, a target end
  • the speed acquisition unit 3 is configured to acquire the current target motion speed of the target end 12.
  • the controller 4 is configured to, according to the current relative distance, the Adjusting a current tracking motion speed and a current tracking motion posture of the tracking end 11 with a current relative angle and the current target motion speed such that the tracking end 11 remains substantially at a preset relative distance with respect to the target end 12 Preset relative angle.
  • the position and the attitude of the tracking end are adjusted based on the relative distance and the relative angle of the tracking end with respect to the target end.
  • the solution of the present invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end 11 can track the speed change of the target end in time when tracking the target end 12, so that the tracking end 11 and the target end 12 always maintain a substantially uniform speed, thus avoiding the sudden increase or decrease of the speed of the target end 12
  • the tracking end 11 requires a larger speed change due to inertia to accommodate the speed change at the target end.
  • the tracking end 11 can respond to the movement of the target end 12 in a more timely manner, reducing the lag time.
  • the solution of the present invention additionally introduces the motion speed of the target end 12 as the control parameter of the controller 4, and the motion speed of the target end 12 can be obtained by non-image processing, so that the controller 4 can control the tracking end. 11 closely follows the speed of the target end 12 such that they are within an acceptable distance range.
  • the present invention achieves accurate tracking of the target end by a combination of three parameters of distance, angle and speed.
  • the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 no later than adjusting the current tracking motion attitude of the tracking end 11 such that the tracking end The response to the target 12 is moved more timely, thereby reducing the lag time.
  • the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 before adjusting the current tracking motion posture of the tracking end 11, so that the tracking end 11 responds to the target end 12 moves more timely, thereby reducing lag time.
  • the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 with the current target motion speed of the target end 12 as a target.
  • the controller 4 may be configured to adjust the current tracking motion speed of the tracking end 11 to the current target motion speed immediately following the target end 12.
  • the tracking system 100 may further include an image acquisition device 5 and an image processing unit 6 disposed at the tracking end 11.
  • the image capture device 5 is configured to acquire a tracking image including the target end 12
  • the image processing unit 6 is configured to process the tracking image to acquire the position of the target end 12 in the tracking image.
  • the angle determining unit 2 is configured to determine the current relative angle of the tracking end 11 relative to the target end 12 based on the position of the target end 12 in the tracking image.
  • the image acquisition device 5 can be, for example, a camera.
  • the image capturing device 5 such as a camera can be installed at a single-axis pan/tilt, and the single-axis pan/tilt is installed at the tracking end 11, and the three-dimensional angle between the camera and the target end 12 is set in advance, so that the target end 12 is Always at the center of the camera's shooting.
  • the tracking picture is taken by the camera, and the position of the target end 12 in the tracking image is determined, and then compared with the previous frame image to obtain the pixel displacement of the x and y directions generated by the target end 12 in the tracking image.
  • the change is such that the offset angle of the target end 12 due to the movement is derived from the pixel change.
  • the offset angle for example, left and right, up and down
  • the tracking image may only be used to determine the current relative angle. That is, the distance determining unit 1 may not determine the current relative distance of the tracking end 11 with respect to the target end 12 based on the tracking image. Since the present invention does not need to determine the distance by the tracking image, the amount of calculation is greatly reduced, thereby solving the problem in the prior art that a large amount of calculation is required due to image processing, and there is a time lag to some extent.
  • non-image processing methods may also be used to obtain the current relative angles required, such as a radar detection method, a GPS positioning method, or a radio frequency detection method.
  • the tracking system 100 may further include a first radio frequency device 7 disposed at the tracking end 11; A second radio frequency device 8 is provided at the target end 12.
  • the distance determining unit 1 may be configured to determine the current relative distance according to a radio frequency signal transmitted between the first radio frequency device 7 and the second radio frequency device 8.
  • the radio frequency signal is an ultra wideband (UWB) radio frequency (UWB) radio frequency signal.
  • the first radio frequency device 7 and the second radio frequency device 8 can transmit radio frequency signals and record the transmission and reception time of the radio frequency signals, and the distance determining unit 1 can pass the radio frequency signals on the first radio frequency device 7
  • the transfer time between the second RF device 8 and the second RF device 8 is used to calculate the distance between the two.
  • FIG. 3 shows a tracking system according to another embodiment of the present invention, which differs from FIG. 2 in that the first radio frequency device 7 and the second radio frequency device 8 can also be used only for the tracking end 11 and the The data and instruction transmission of the target end 12 is described.
  • the first radio frequency device 7 and the second radio frequency device 8 implement transmission of data and instructions by radio frequency signals transmitted between them.
  • the radio frequency signal is a UWB (Ultra Wideband) radio frequency signal.
  • the target end speed acquisition unit 3 in FIG. 1 can be implemented by the speed sensor 15 provided at the target end 12 in FIG. 2 to obtain the current target movement speed of the target end 12.
  • the current target speed of motion measured by the speed sensor 15 may be communicated to the controller 4 via radio frequency communication between the first radio frequency device 7 and the second radio frequency device 8.
  • the current target moving speed of the target end 12 can also be obtained by an acceleration sensor.
  • the tracking system 100 can further include a first positioning device 9 disposed at the tracking end 11 and a second positioning device 10 disposed at the target end 12.
  • the first positioning device 9 is used to determine the current tracking position of the tracking end 11, and the second positioning device 10 is used to determine the current target position of the target end 12.
  • the distance determining unit 1 may determine the current relative distance according to the current tracking position and the current target position.
  • the positioning device may be a GPS or a Beidou positioning module.
  • the current target moving speed of the target end 12 can also be calculated based on the change in the current target position of the target end 12 measured by the second positioning device 10.
  • the speed can also be detected by setting a speed sensor at the target end 12, similar to the embodiment of FIG.
  • a wireless communication device such as the radio frequency device shown in FIG. 2 may be provided at the target end 12 and the tracking end 11, respectively, to allow the target terminal 12 to be The positioning information or speed information of the target end 12 is transmitted to the tracking end 11.
  • the tracking end 11 may be a drone, a ground robot or a smart car.
  • the control system may further include a control terminal 13, which may have Bluetooth, WIFI, and terminal App 14.
  • the Bluetooth is used to communicate with the target terminal 12.
  • the Bluetooth receives an instruction from the terminal App 14 and transmits the command to the second radio frequency device 8 of the target terminal 12.
  • the WIFI is used to communicate with the tracking end 11, and the WIFI receives the video sent by the tracking end 11 and sends an instruction of the terminal App 14 to the controller 4 of the tracking end 11.
  • the terminal App14 is configured to display video, instruction information, and the like, where the instruction information includes a preset tracking end.
  • FIG. 5 is a flow chart of a tracking method in accordance with another embodiment of the present invention. As shown in FIG. 5, the present invention provides a tracking method for controlling a moving tracking end to track a moving target end, including the following steps:
  • the position and the attitude of the tracking end are adjusted based on the relative distance and the relative angle of the tracking end with respect to the target end.
  • the solution of the present invention additionally introduces the motion speed of the target end as the control parameter of the controller, so that the tracking end When tracking the target end, it can follow the speed change of the target end in time, so that the tracking end and the target end always maintain a substantially consistent speed, thus avoiding the tracking end due to the inertia of the target end due to the sudden increase or decrease of the speed of the target end. A large speed change to accommodate the speed change at the target end.
  • the tracking end can respond to the movement of the target end in a more timely manner, reducing the lag time.
  • the solution of the present invention ensures accurate tracking of the target end by a combination of three parameters of distance, angle and speed.
  • adjusting the current tracking motion speed and the current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed are not later than adjusting the tracking end. Adjusting the current tracking motion speed of the tracking end when the current motion posture is currently tracked.
  • the current tracking motion speed and the current tracking motion of the tracking end are adjusted according to the current relative distance, the current relative angle, and the current target motion speed.
  • the attitude is to adjust the current tracking motion speed of the tracking end before adjusting the current tracking motion posture of the tracking end.
  • adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, that is, the current target of the target end The speed of motion is a target to adjust the current tracking motion speed of the tracking end.
  • S104 adjusting a current tracking motion speed and a current tracking motion posture of the tracking end according to the current relative distance, the current relative angle, and the current target motion speed, where the current tracking of the tracking end is performed
  • the speed of movement is adjusted to follow the current target speed of motion of the target end.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de suivi (100) et un procédé de suivi concernant le domaine du suivi. Le système de suivi (100) permettant de commander un terminal de suivi mobile (11) permettant de poursuivre un terminal cible mobile (12) comprend : une unité de détermination de distance (1), permettant de déterminer la distance relative actuelle du terminal de suivi (11) par rapport au terminal cible (12) (S101) ; une unité de détermination d'angle (2), permettant de déterminer l'angle relatif actuel du terminal de suivi (11) par rapport au terminal cible (12) (S102) ; une unité d'acquisition de vitesse de terminal cible (3), permettant d'acquérir la vitesse de déplacement cible actuelle du terminal cible (12) (S103) ; un dispositif de commande (4), permettant de réguler, en fonction de la distance relative actuelle, l'angle relatif actuel et la vitesse de déplacement cible actuelle, la vitesse de déplacement de suivi actuelle et le geste de déplacement de suivi actuel du terminal de suivi (11), de sorte que le terminal de suivi (11) conserve sensiblement la distance relative prédéfinie et l'angle relatif prédéfini par rapport au terminal cible (12) (S104). Grâce à la vitesse, le terminal de suivi (11) peut se déplacer de manière plus opportune en réponse au terminal cible (12), ce qui permet de réduire le temps de réponse ; et le terminal de suivi (11) réduit, en raison du maintien d'une vitesse correspondant au terminal cible (12), l'inertie provoquée par l'augmentation ou la réduction soudaine de la vitesse, ce qui permet d'obtenir un suivi précis.
PCT/CN2016/087654 2016-05-16 2016-06-29 Système de suivi et procédé de suivi WO2017197729A1 (fr)

Applications Claiming Priority (2)

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CN201610323428.9A CN106023251A (zh) 2016-05-16 2016-05-16 一种跟踪系统及跟踪方法
CN201610323428.9 2016-05-16

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CN106529500A (zh) * 2016-11-28 2017-03-22 中控智慧科技股份有限公司 一种信息处理方法和系统
CN106843275B (zh) * 2017-04-01 2020-03-27 成都通甲优博科技有限责任公司 一种无人机定点绕飞方法、装置以及系统
WO2018205133A1 (fr) * 2017-05-09 2018-11-15 Zepp Labs, Inc. Repérage radiogoniométrique de dispositifs de communication sans fil
CN107272732A (zh) * 2017-06-12 2017-10-20 广东工业大学 无人飞行装置集群系统
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