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

Target tracking method, device, and system, remote monitoring system, and electronic apparatus Download PDF

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Publication number
WO2017219529A1
WO2017219529A1 PCT/CN2016/100273 CN2016100273W WO2017219529A1 WO 2017219529 A1 WO2017219529 A1 WO 2017219529A1 CN 2016100273 W CN2016100273 W CN 2016100273W WO 2017219529 A1 WO2017219529 A1 WO 2017219529A1
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WO
WIPO (PCT)
Prior art keywords
target
target tracking
tracking device
monitoring
motion
Prior art date
Application number
PCT/CN2016/100273
Other languages
French (fr)
Chinese (zh)
Inventor
唐熊
Original Assignee
乐视控股(北京)有限公司
乐视移动智能信息技术(北京)有限公司
Priority date (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 乐视控股(北京)有限公司, 乐视移动智能信息技术(北京)有限公司 filed Critical 乐视控股(北京)有限公司
Publication of WO2017219529A1 publication Critical patent/WO2017219529A1/en

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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/40Scenes; Scene-specific elements in video content
    • G06V20/46Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/40Scenes; Scene-specific elements in video content
    • G06V20/41Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items
    • G06V20/42Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items of sport video content
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the present application relates to the field of monitoring technologies, and in particular, to a target tracking method, device, system, remote monitoring system, and electronic device.
  • the home security protection can be carried out through the monitoring system.
  • images of illegal intruders can be collected through the camera equipment in the monitoring system; on the other hand, the family can be obtained through the monitoring system.
  • the video information of the elderly and children at home helps to take timely rescue measures in case of family accidents.
  • the monitoring system based on the above two deployment modes is still a waiting location monitoring at a fixed location, and there is a monitoring blind zone.
  • the technical problem to be solved by the present application is to overcome the defects of the monitoring system in the prior art monitoring system, thereby providing a target tracking method, device, system, remote monitoring system and electronic device capable of effectively avoiding the monitoring blind zone.
  • an embodiment of the present application provides a target tracking method, including:
  • the target path of the device is tracked according to the location information of the target and the environment;
  • the target tracking method further, the moving path of the target tracking device according to the location information of the target and the environment planning includes:
  • the current monitoring range Identification within the target includes:
  • Obtaining feature information of a target within a current monitoring range the feature information including at least one of a face image, height information, and clothing color information;
  • the embodiment of the present application further provides a target tracking device, including:
  • a recognition unit for identifying a target within a current monitoring range
  • a motion path planning unit configured to: when the target is consistent with a pre-stored monitoring target, plan a motion path of the target tracking device according to the location information of the target and the environment;
  • control unit configured to control the target tracking device to track the target according to the motion path.
  • the embodiment of the present application further provides a target tracking system, including the foregoing target tracking device and a target tracking device, where the target tracking device includes a camera device and a motion executing device;
  • the image capturing device is configured to perform image collection and transmit to the target tracking device
  • the motion executing device is configured to adjust a motion path of the target tracking device according to the motion path planned by the target tracking device, so that the camera device can track the video of the target along with the motion of the target tracking device image.
  • the camera device includes a camera and a cloud platform
  • the target tracking device is further configured to generate an angle adjustment control signal according to the received video image and transmit the signal to the pan/tilt;
  • the pan/tilt is configured to adjust an angle of the camera according to the angle adjustment control instruction, so that the camera can acquire a complete facial image of the target and a panoramic picture of an environment in which the target is located.
  • the target tracking device further includes:
  • a positioning device configured to acquire location information of the target and transmit the information to the target tracking device.
  • the target tracking system of the present application further includes:
  • the automatic charging actuator is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device.
  • the embodiment of the present application further provides a remote monitoring system, including the foregoing target tracking system and a monitoring terminal;
  • the monitoring terminal is configured to receive and display a video image of the target sent by the target tracking system.
  • the embodiment of the present application further provides an electronic device, including at least one processor; and a memory communicably connected to the at least one processor; wherein the memory is stored and processed by the at least one An instruction executed by the at least one processor to enable the at least one processor to identify a target within a current monitoring range; if the target is consistent with a pre-stored monitoring target, Position information of the target and a motion path of the environment planning target tracking device; controlling the target tracking device to track the target according to the motion path.
  • the embodiment of the present application further provides a non-volatile computer storage medium, the storage medium storing the computer executable instructions of the computer executable instructions, when executed by the electronic device, enabling the electronic device to Identifying the target within the current monitoring range; if the target is consistent with the pre-stored monitoring target, planning the target moving path of the device according to the location information of the target and the environment; controlling the target tracking device according to the motion The path tracks the target.
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform any of the methods described above.
  • the application provides a target tracking method, device, electronic device and storage medium.
  • a target passes the monitoring range of the target tracking device, the target within the current monitoring range is identified, if the target and the pre-stored monitoring target are Consistently, the target path of the device is tracked according to the location information of the target and the environment, and the target tracking device is controlled to track the target according to the motion path.
  • the position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
  • FIG. 1 is a flowchart of a specific example of a target tracking method in Embodiment 1 of the present application;
  • FIG. 2 is a flowchart of another specific example of a target tracking method in Embodiment 1 of the present application.
  • FIG. 3 is the location information according to the target and the environment plan in the target tracking method shown in FIG. 2 A flow chart of a specific example of a motion path;
  • FIG. 4 is a schematic diagram of a specific example of a motion path of a target tracking device in Embodiment 1 of the present application;
  • FIG. 5 is a flowchart of a specific example of identifying a target in a current monitoring range in a target tracking method according to Embodiment 1 of the present application;
  • FIG. 6 is a flowchart of a third specific example of a target tracking method in Embodiment 1 of the present application.
  • FIG. 7 is a schematic block diagram of a specific example of a target tracking device in Embodiment 2 of the present application.
  • FIG. 8 is a schematic block diagram of another specific example of a target tracking device in Embodiment 2 of the present application.
  • FIG. 9 is a schematic block diagram of a specific example of a target tracking device in Embodiment 3 of the present application.
  • FIG. 10 is a schematic block diagram of another specific example of a target tracking device in Embodiment 3 of the present application.
  • FIG. 11 is a schematic block diagram of a third specific example of a target tracking device in Embodiment 3 of the present application.
  • FIG. 12 is a schematic structural diagram of hardware of an electronic device according to Embodiment 5 of the present application.
  • 1-target tracking device 11-identification unit; 12-motion path planning unit; 13-control unit; 14-transmission unit; 111-first acquisition subunit; 112-alignment subunit; 113-judgment subunit; - second acquisition subunit; 122 - division subunit; 123 - planning subunit; 2-target Tracking device; 21-camera device; 22-motion performing device; 23-positioning device; 24-automatic charging actuator; 800-memory, 810-processor, 830-input device, 840-output device.
  • connection or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection.
  • connection or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection.
  • This embodiment provides a target tracking method, as shown in FIG. 1 , including:
  • the target is consistent with the pre-stored monitoring target, the target's motion path is tracked according to the location information of the target and the environment. Specifically, multiple monitoring targets may be stored in advance, and the priority of each monitoring target may be set. If there are more than two targets in the monitoring range, and all of the monitoring targets are successfully matched, the monitoring with the highest priority may be performed.
  • the target is a pre-stored monitoring target, and the target corresponding to the highest priority monitoring target is locked as the target of automatic tracking; of course, the user may select the target that needs to be automatically tracked from each of the stored monitoring targets or each time.
  • the automatic tracking function stores only one monitoring target and updates the stored monitoring target according to the specific situation.
  • the target tracking device may be a device including a control chip and a motion actuator controlled by the control chip, such as a drone, an automatic control cart, and the like, and an application program capable of executing the target tracking method in the embodiment is input in the control chip.
  • the motion actuator is controlled by the control chip to adjust the moving direction of the target tracking device, so that the target tracking device can move along the motion path to achieve effective tracking of the target.
  • the target tracking method in this embodiment when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range, and if the target is consistent with the pre-stored monitoring target, according to the target location information and location
  • the environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path.
  • the position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, realizing dynamic monitoring of the monitoring target in real time, Effectively avoids monitoring blind spots.
  • the target tracking device can be placed in the In the vicinity of the child, the direct tracking mode is activated, and the target recognition process is omitted in the direct tracking mode, and only the moving target in the current monitoring range is tracked, so that the target tracking device can maintain the preset spacing between the obstacle-free moving area and the moving target. Improved target tracking efficiency.
  • the image information of the target within the current monitoring range may be sent to the user's mobile phone, and the direct tracking mode is started after receiving the instruction of the user confirming the tracking.
  • the user experience is better.
  • the foregoing step S2 may further include:
  • step S21 Determine whether the target is consistent with the pre-stored monitoring target. If they match, the process goes to step S22, and if they do not match, the process returns to step S1. Specifically, only when the target is consistent with the pre-stored monitoring target, can the target appearing in the current monitoring scope be the target to be monitored. If the target is not the target to be monitored, the step is returned. S1, continue to identify the targets that appear in the monitoring scope in the future, and lay the foundation for the later tracking of specific monitoring targets.
  • S22 Track the motion path of the device according to the location information of the target and the environment. Specifically, according to the location information of the target and the motion path of the target tracking device in the environment, the environment condition of the target tracking device and the motion characteristics of the target to be monitored are fully considered, thereby improving the rationality and accuracy of the motion path planning. Sexuality, making the target tracking device along the rules The tracking of the moving path can achieve tracking of the target.
  • the foregoing step S22 may further include:
  • the position information of the target can be detected by the radar device on the target tracking device; the target tracking device (such as a drone, an automatic control car, etc.) can be manually remotely controlled by the remote control to move along the area to be monitored, and each area is collected.
  • Panoramic picture for the family, including the living room, bedroom, kitchen, bathroom and other areas
  • image analysis of the panoramic pictures of each area to define the barrier-free sports area of the area (that is, there is no obstacles such as furniture, home appliances, etc.
  • the moving area of the object can improve the processing efficiency.
  • the analysis result of the panoramic picture of the area corresponding to the current environment of the target tracking device can be retrieved, and the barrier-free motion area in the environment is determined.
  • the environment at this time is a kitchen in the home
  • the circle represents the monitoring target
  • the square represents the target tracking device
  • the cabinet is divided by analyzing the panoramic picture of the kitchen.
  • the kitchen area outside is a barrier-free sports area.
  • the target tracking device moves along the movement path planned according to the change of the position information of the target in the unobstructed area, and the distance from the target is always within the preset distance d.
  • the preset spacing d can be adaptively adjusted according to specific conditions, such as the height, posture, and home environment layout of the monitoring target, and is generally set to be between 50 and 80 cm.
  • the obstacle avoidance device (such as the infrared obstacle avoidance sensor) may be added to the target tracking device to achieve the obstacle avoidance.
  • the planned motion path may be a path that ensures that the monitoring target and the target tracking device maintain a preset spacing.
  • the foregoing step S1 may further include:
  • the feature information includes at least one of a face image, a height information, and apparel color information.
  • the facial image of the tracking target and the whole body image can be collected by the imaging device on the target tracking device, and the image color information of the target can be obtained by performing image analysis on the whole body image, and the height information of the target can be obtained by proportional conversion. It is.
  • step S12 Compare the feature information of the target with the feature information of the monitoring target stored in advance. If they match, the process goes to step S13, and if they do not match, the process goes to step S14.
  • the feature information of the pre-stored monitoring target may also be updated according to a specific situation.
  • the judgment target is consistent with the pre-stored monitoring target.
  • the embodiment further provides another target tracking method.
  • steps S1 to S3 after step S3, the following steps S4 to S5 are further included:
  • the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a pad, a computer, etc., and can communicate with the target tracking device through a mobile communication network, WIFI, or the like.
  • the video image of the target captured by the target tracking device when tracking the target may be transmitted to the remote monitoring terminal via the mobile communication network, WIFI, etc. through the communication module on the target tracking device, and the monitoring terminal may pass the installed QQ, WeChat, etc. application programs.
  • To receive and display video images real-time monitoring of monitoring targets. When an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to be timely and effective. Take appropriate rescue measures.
  • the embodiment further provides another target tracking method, which includes the following steps S6 to S7 in addition to the above steps S1 to S3 or the above steps S1 to S5:
  • the rechargeable battery can be used as the power source of the target tracking device, and the charging battery power estimation method in the prior art can be used, and the charging in the target tracking device can be performed according to the collected voltage and current values of the rechargeable battery.
  • the battery power is estimated.
  • step S6 to the step S7 may be performed after the above steps S1 to S3, or any one of the above steps S1 to S5, or may be performed before the above step S1.
  • the step S7 of controlling the charging of the target tracking device may further include:
  • step S71 Determine whether the charged battery is lower than the preset power. If it is lower, the process proceeds to step S72, and if it is not lower, step S71 is repeated. Real-time monitoring of rechargeable battery power is achieved.
  • the embodiment provides a target tracking device 1, as shown in FIG. 7, comprising:
  • the identification unit 11 is configured to identify the target within the current monitoring range.
  • the motion path planning unit 12 is configured to: when the target is consistent with the pre-stored monitoring target, plan the motion path of the target tracking device according to the location information of the target and the environment.
  • the control unit 13 is configured to control the target tracking device to track the target according to the motion path.
  • the target tracking device 1 in this embodiment when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range by the identifying unit 11, if the target and the pre-target The first stored monitoring target is consistent, and the starting motion path planning unit 12 tracks the moving path of the target according to the location information of the target and the environment, and controls the target tracking device to track the target according to the motion path through the control unit 13.
  • the position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
  • the motion path planning unit 12 in the target tracking device 1 in this embodiment further includes:
  • the second obtaining sub-unit 121 is configured to acquire location information of the target and a panoramic picture of the environment.
  • the sub-unit 122 is configured to perform image analysis on the panoramic picture to divide the unobstructed motion area of the environment.
  • the planning sub-unit 123 is configured to determine a motion path of the target tracking device in the barrier-free motion region according to the change of the location information of the target, where the motion path keeps the distance between the target tracking device and the target within a preset spacing range.
  • the identification unit 11 in the target tracking device 1 in this embodiment further includes:
  • the first obtaining sub-unit 111 is configured to acquire feature information of the target in the current monitoring range, where the feature information includes at least one of a face image, a height information, and apparel color information.
  • the comparison sub-unit 112 is configured to compare the feature information of the target with the feature information stored in advance.
  • the determining sub-unit 113 is configured to determine that the target is consistent with the pre-stored monitoring target when the comparison is consistent.
  • the embodiment further provides another target tracking device 1, which includes: in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13,
  • the sending unit 14 is configured to receive a video image of the target acquired by the target tracking device when tracking the target, and send the video image.
  • the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network.
  • the video image of the target captured by the target tracking device when tracking the target may be sent to the remote monitoring terminal via the mobile communication network by using the communication module on the target tracking device, and the monitoring terminal may receive the application through the installed QQ, WeChat, etc. Display video images to achieve real-time monitoring of monitoring targets.
  • an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to take appropriate and timely response. Relief measures.
  • the present embodiment further provides another object tracking device 1 in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13, or the identification unit 11, the motion path planning unit 12, the control unit 13, and the transmitting unit.
  • another object tracking device 1 in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13, or the identification unit 11, the motion path planning unit 12, the control unit 13, and the transmitting unit.
  • a power acquisition unit configured to acquire a rechargeable battery power in the target tracking device
  • the charging control unit is configured to send a charging control signal to the target tracking device when the rechargeable battery power is lower than the preset power, and move the target tracking device to the nearest charging stand for charging. It can further enhance the endurance of the rechargeable battery in the target tracking device to prevent the power from being exhausted. Long-term interruption of the tracking.
  • the present embodiment provides a target tracking system, as shown in FIG. 9, including the target tracking device 1 and the target tracking device 2 in Embodiment 2, and the target tracking device 2 further includes an imaging device 21 and a motion executing device 22.
  • the imaging device 21 is configured to perform image acquisition and transmit to the target tracking device 1. Specifically, when the target tracking device 2 is an automatic control car, the camera device 21 can be installed on the head of the automatic control car or the top camera; when the target tracking device 2 is a drone, the camera device 21 can be installed on the camera. The bottom of the machine is overshot.
  • the motion executing device 22 is configured to adjust the motion path of the target tracking device 2 according to the motion path planned by the target tracking device 1, so that the camera device 21 can track the video image of the target with the motion of the target tracking device 2.
  • the motion executing device 22 may include a chassis, a motor controller fixed to the upper portion of the chassis, a motor, and two driving wheels and two follower wheels disposed under the chassis. Two of the follower wheels are located at the front of the target tracking device, and the two drive wheels are located at the rear of the target tracking device. Each drive wheel is driven by a motor to provide forward or reverse power to the target tracking device and is controlled by the motor.
  • the device adjusts the rotation speed and steering of the two drive wheel motors according to the planned path, and adjusts the movement direction of the target tracking device, so that the target tracking device can move along the planned motion path to track the target.
  • the camera device 21 in the target tracking device 2 further includes a camera and a pan/tilt.
  • the target tracking device 1 is further configured to generate an angle adjustment control instruction according to the received video image and Transfer to the PTZ.
  • the pan/tilt is used to adjust the angle of the camera according to the angle adjustment control command, so that the camera can capture the complete facial image of the target and the panoramic picture of the environment in which the target is located.
  • the angle adjustment control command may be generated according to the orientation corresponding to the missing portion of the image and sent to the pan/tilt, and the gimbal receives After the angle adjustment control command is turned, the camera is rotated according to the adjustment control command, and the shooting angle of the camera is adjusted, so that the camera can capture the complete facial image of the target or the panoramic picture of the environment.
  • the present embodiment further provides another target tracking device 2, which includes, in addition to the camera device 21 and the motion executing device 22, a positioning device 23 for acquiring a target.
  • the location information is transmitted to the target tracking device 1.
  • the positioning device 23 can select a laser radar, can quickly and accurately locate the moving target, and obtain the position information thereof.
  • the embodiment further provides another target tracking device 2, which includes the camera device 21 and the motion executing device 22, or the camera device 21, the motion executing device 22, and the positioning device.
  • another target tracking device 2 which includes the camera device 21 and the motion executing device 22, or the camera device 21, the motion executing device 22, and the positioning device.
  • it also includes:
  • the automatic charging actuator 24 is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device 1.
  • the automatic charging actuator 24 may include a voltage, a current collecting circuit, a charging stand positioning system, and a charging stand connecting component (for example, may be a DC electrode connecting reed), wherein the voltage and current collecting circuit is configured to collect the voltage of the rechargeable battery, Current signal and transmitted to target tracking device 1, target tracking device 1 The charged battery is estimated according to the collected voltage and current signals, and when the rechargeable battery is lower than the preset power, the charging control signal is sent to the automatic charging actuator 24 of the target tracking device 2.
  • the automatic charging actuator 24 activates its charging seat positioning system, locates the charging stand closest to the target tracking device 2, and transmits the position information of the charging stand to the target tracking device 1, and the target tracking device 1 According to the received position information of the nearest charging stand and the current position of the target tracking device, the moving path to the charging stand is planned, and the motion executing device 22 is controlled to adjust the moving path of the target tracking device to The planned motion path moves to the nearest charging stand, and the charging stand connecting part is pushed into the charging stand jack to charge the rechargeable battery in the target tracking device 2.
  • the target tracking device 1 when the target is within the monitoring range, the target tracking device 1 identifies the target in the current monitoring range. If the target is consistent with the pre-stored monitoring target, the target tracking device 1 The target tracking device's motion path is tracked according to the location information of the target and the environment, and the target tracking device 2 is controlled to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
  • This embodiment provides a remote monitoring system, including the target tracking system and the monitoring terminal in Embodiment 3.
  • the monitoring terminal is configured to receive and display a video image of a target sent by the target tracking device.
  • the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network.
  • the remote monitoring system in this embodiment identifies the target within the current monitoring range when the target passes the monitoring range of the target tracking device, and if the target is consistent with the pre-stored monitoring target, according to the location information and location of the target.
  • the environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path.
  • the position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
  • FIG. 12 is a structural block diagram of an electronic device according to Embodiment 5 of the present application. As shown in FIG. 12, the electronic device includes:
  • processors 810 and memory 800 are illustrated by one processor 810 in FIG.
  • the apparatus that performs the target tracking method may further include: an input device 830 and an output device 840.
  • the processor 810, the memory 800, the input device 830, and the output device 840 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 800 is used as a non-transitory computer readable storage medium, and can be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a program instruction corresponding to the target tracking method in the embodiment of the present application. Module.
  • the processor 810 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 800, that is, implementing the target tracking method of the above method embodiments.
  • the memory 800 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the target tracking device, and the like.
  • memory 800 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 800 can optionally include memory remotely located relative to processor 810, which can be connected to the target tracking device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 830 can receive input digital or character information and generate key signal inputs related to user settings and function control of the target tracking device.
  • the output device 840 can include a display device such as a display screen.
  • the one or more modules are stored in the memory 800 and, when executed by the one or more processors 810, perform a target tracking method in any of the method embodiments described above.
  • the electronic device of the embodiment of the invention exists in various forms, including but not limited to:
  • Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
  • Portable entertainment devices These devices can display and play multimedia content. Such devices include: audio, preview players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
  • the server consists of a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.
  • Embodiments of the present application also provide a non-volatile computer storage medium storing the computer-executable instructions of computer-executable instructions that, when executed by an electronic device, enable the electronic device to perform any of the methods described above The target tracking method in the example.
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer Let the computer execute any party The target tracking method in the embodiment of the method.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

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Abstract

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

Description

目标跟踪方法、装置、系统、远程监控系统和电子设备Target tracking method, device, system, remote monitoring system and electronic device
交叉引用cross reference
本申请要求在2016年06月23日提交中国专利局、申请号为201610465110.4、发明名称为“目标跟踪方法、装置、系统及远程监控系统”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。This application claims priority to Chinese Patent Application No. 201610465110.4, entitled "Target Tracking Method, Device, System and Remote Monitoring System", filed on June 23, 2016, the entire contents of which are incorporated by reference. In this application.
技术领域Technical field
本申请涉及监控技术领域,具体涉及一种目标跟踪方法、装置、系统、远程监控系统和电子设备。The present application relates to the field of monitoring technologies, and in particular, to a target tracking method, device, system, remote monitoring system, and electronic device.
背景技术Background technique
目前很多家庭都有安装监控系统的需求,一方面可以通过监控系统来进行家庭安防保护,比如可以通过监控系统中的摄像设备采集非法入侵者的图像等;另一方面也可以通过监控系统获取家人,比如老人、孩子在家里的视频信息,有助于在家人发生意外时及时采取救助措施。At present, many families have the need to install a monitoring system. On the one hand, the home security protection can be carried out through the monitoring system. For example, images of illegal intruders can be collected through the camera equipment in the monitoring system; on the other hand, the family can be obtained through the monitoring system. For example, the video information of the elderly and children at home helps to take timely rescue measures in case of family accidents.
传统的家庭监控系统一般是基于有线方式部署,近些年随着无线联网技术的逐渐成熟和普及,尤其是低功耗、自组网的zigbee无线传感网络技术的发展,无线联网已逐渐成为家庭监控系统的主流部署方式。在实现本申请过程中,发明人发现现有技术中至少存在如下问题:基于上述两种部署方式的监控系统,仍为固定地点的守候式监控,存在监控盲区。Traditional home monitoring systems are generally deployed on a wired basis. In recent years, with the gradual maturity and popularity of wireless networking technologies, especially the development of low-power, self-organizing zigbee wireless sensor network technology, wireless networking has gradually become The mainstream deployment of home monitoring systems. In the process of implementing the present application, the inventor has found that at least the following problems exist in the prior art: the monitoring system based on the above two deployment modes is still a waiting location monitoring at a fixed location, and there is a monitoring blind zone.
发明内容 Summary of the invention
因此,本申请要解决的技术问题在于克服现有技术中的监控系统存在监控盲区的缺陷,从而提供一种能够有效避免监控盲区的目标跟踪方法、装置、系统、远程监控系统和电子设备。Therefore, the technical problem to be solved by the present application is to overcome the defects of the monitoring system in the prior art monitoring system, thereby providing a target tracking method, device, system, remote monitoring system and electronic device capable of effectively avoiding the monitoring blind zone.
为此,本申请实施例提供了如下技术方案:To this end, the embodiment of the present application provides the following technical solutions:
第一方面,本申请实施例提供了一种目标跟踪方法,包括:In a first aspect, an embodiment of the present application provides a target tracking method, including:
对当前监控范围内的目标进行识别;Identify targets within the current monitoring range;
若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;
控制所述目标跟踪设备根据所述运动路径跟踪所述目标。Controlling the target tracking device to track the target based on the motion path.
本申请实施例所述的目标跟踪方法,进一步地,所述根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径包括:The target tracking method according to the embodiment of the present application, further, the moving path of the target tracking device according to the location information of the target and the environment planning includes:
获取所述目标的位置信息和所处环境的全景图片;Obtaining location information of the target and a panoramic picture of the environment;
对所述全景图片进行图像分析,划分出所述所处环境的无障碍运动区域;Performing image analysis on the panoramic picture to divide the barrier-free motion area of the environment;
根据所述目标的位置信息的变化确定所述目标跟踪设备在所述无障碍运动区域内的运动路径,所述运动路径使所述目标跟踪设备与所述目标的间距始终处于预设间距范围内。Determining a motion path of the target tracking device in the barrier-free motion region according to a change in location information of the target, where the motion path keeps a distance between the target tracking device and the target within a preset interval .
本申请实施例所述的目标跟踪方法,进一步地,所述对当前监控范围 内的目标进行识别包括:The target tracking method described in the embodiment of the present application, further, the current monitoring range Identification within the target includes:
获取当前监控范围内的目标的特征信息,所述特征信息包括面部图像、身高信息和服饰颜色信息中的至少一种信息;Obtaining feature information of a target within a current monitoring range, the feature information including at least one of a face image, height information, and clothing color information;
将所述目标的特征信息与预先存储的监控目标的特征信息进行比对;Comparing the feature information of the target with the feature information of the monitoring target stored in advance;
若一致,则判断所述目标与预先存储的监控目标一致。If they are consistent, it is determined that the target is consistent with the pre-stored monitoring target.
本申请实施例所述的目标跟踪方法,进一步地,还包括:The target tracking method described in the embodiment of the present application further includes:
接收所述目标跟踪设备在跟踪所述目标时所采集的所述目标的视频图像;Receiving a video image of the target acquired by the target tracking device while tracking the target;
发送所述视频图像。Send the video image.
本申请实施例所述的目标跟踪方法,优选地,还包括:The target tracking method described in the embodiment of the present application preferably further includes:
获取目标跟踪设备内的充电电池电量;Obtain the amount of rechargeable battery in the target tracking device;
若充电电池电量低于预设电量,发送充电控制信号至目标跟踪设备,使目标跟踪设备移动到最近的充电座进行充电。If the rechargeable battery power is lower than the preset power, send a charging control signal to the target tracking device to move the target tracking device to the nearest charging stand for charging.
第二方面,本申请实施例还提供了一种目标跟踪装置,包括:In a second aspect, the embodiment of the present application further provides a target tracking device, including:
识别单元,用于对当前监控范围内的目标进行识别;a recognition unit for identifying a target within a current monitoring range;
运动路径规划单元,用于在所述目标与预先存储的监控目标一致时,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径; a motion path planning unit, configured to: when the target is consistent with a pre-stored monitoring target, plan a motion path of the target tracking device according to the location information of the target and the environment;
控制单元,用于控制所述目标跟踪设备根据所述运动路径跟踪所述目标。And a control unit, configured to control the target tracking device to track the target according to the motion path.
第三方面,本申请实施例还提供了一种目标跟踪系统,包括上述目标跟踪装置和目标跟踪设备,所述目标跟踪设备包括摄像装置和运动执行装置;In a third aspect, the embodiment of the present application further provides a target tracking system, including the foregoing target tracking device and a target tracking device, where the target tracking device includes a camera device and a motion executing device;
所述摄像装置,用于进行图像采集并传输至所述目标跟踪装置;The image capturing device is configured to perform image collection and transmit to the target tracking device;
所述运动执行装置,用于根据所述目标跟踪装置规划的运动路径对目标跟踪设备的运动路径进行调节,使所述摄像装置能够随着所述目标跟踪设备的运动跟踪采集所述目标的视频图像。The motion executing device is configured to adjust a motion path of the target tracking device according to the motion path planned by the target tracking device, so that the camera device can track the video of the target along with the motion of the target tracking device image.
本申请实施例所述的目标跟踪系统,进一步地,所述摄像装置包括摄像头和云台;The target tracking system according to the embodiment of the present application, further, the camera device includes a camera and a cloud platform;
所述目标跟踪装置还用于根据接收的所述视频图像生成角度调节控制信号并传输至所述云台;The target tracking device is further configured to generate an angle adjustment control signal according to the received video image and transmit the signal to the pan/tilt;
所述云台,用于根据所述角度调节控制指令对所述摄像头的角度进行调节,使摄像头能够采集到所述目标的完整面部图像以及所述目标所处环境的全景图片。The pan/tilt is configured to adjust an angle of the camera according to the angle adjustment control instruction, so that the camera can acquire a complete facial image of the target and a panoramic picture of an environment in which the target is located.
本申请实施例所述的目标跟踪系统,进一步地,所述目标跟踪设备还包括:In the target tracking system of the embodiment of the present application, the target tracking device further includes:
定位装置,用于获取所述目标的位置信息并传输至所述目标跟踪装置。 And a positioning device, configured to acquire location information of the target and transmit the information to the target tracking device.
本申请所述的目标跟踪系统,进一步地,所述目标跟踪设备还包括:The target tracking system of the present application further includes:
自动充电执行机构,用于接收并根据目标跟踪装置发送的充电控制信号控制目标跟踪设备移动到最近的充电座进行充电。The automatic charging actuator is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device.
第四方面,本申请实施例还提供了一种远程监控系统,包括上述目标跟踪系统和监控终端;In a fourth aspect, the embodiment of the present application further provides a remote monitoring system, including the foregoing target tracking system and a monitoring terminal;
所述监控终端,用于接收并显示所述目标跟踪系统发送的所述目标的视频图像。The monitoring terminal is configured to receive and display a video image of the target sent by the target tracking system.
第五方面,本申请实施例还提供了一种电子设备,包括至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够对当前监控范围内的目标进行识别;若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;控制所述目标跟踪设备根据所述运动路径跟踪所述目标。In a fifth aspect, the embodiment of the present application further provides an electronic device, including at least one processor; and a memory communicably connected to the at least one processor; wherein the memory is stored and processed by the at least one An instruction executed by the at least one processor to enable the at least one processor to identify a target within a current monitoring range; if the target is consistent with a pre-stored monitoring target, Position information of the target and a motion path of the environment planning target tracking device; controlling the target tracking device to track the target according to the motion path.
第六方面,本申请实施例还提供了一种非易失性计算机存储介质,所述存储介质存储有计算机可执行指令的所述计算机可执行指令,当由电子设备执行时使得电子设备能够对当前监控范围内的目标进行识别;若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;控制所述目标跟踪设备根据所述运动路径跟踪所述目标。 In a sixth aspect, the embodiment of the present application further provides a non-volatile computer storage medium, the storage medium storing the computer executable instructions of the computer executable instructions, when executed by the electronic device, enabling the electronic device to Identifying the target within the current monitoring range; if the target is consistent with the pre-stored monitoring target, planning the target moving path of the device according to the location information of the target and the environment; controlling the target tracking device according to the motion The path tracks the target.
第七方面,本申请实施例还提出了一种计算机程序产品,所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被计算机执行时,使所述计算机执行上述任一方法。In a seventh aspect, the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform any of the methods described above.
本申请技术方案,具有如下优点:The technical solution of the present application has the following advantages:
本申请提供了一种目标跟踪方法、装置、电子设备和存储介质,当有目标经过目标跟踪设备的监控范围内时,会对当前监控范围内的目标进行识别,若目标与预先存储的监控目标一致,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,并控制目标跟踪设备根据运动路径跟踪目标。能够根据监测目标的运动特点实时调整目标跟踪设备的位置,实现了对监测目标的实时动态监测,有效避免了监控盲区。The application provides a target tracking method, device, electronic device and storage medium. When a target passes the monitoring range of the target tracking device, the target within the current monitoring range is identified, if the target and the pre-stored monitoring target are Consistently, the target path of the device is tracked according to the location information of the target and the environment, and the target tracking device is controlled to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
附图说明DRAWINGS
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施方式,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,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the specific embodiments or the description of the prior art will be briefly described below, and obviously, the attached in the following description The drawings are some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative work.
图1为本申请实施例1中目标跟踪方法的一个具体实例的流程图;1 is a flowchart of a specific example of a target tracking method in Embodiment 1 of the present application;
图2为本申请实施例1中目标跟踪方法的另一个具体实例的流程图;2 is a flowchart of another specific example of a target tracking method in Embodiment 1 of the present application;
图3为图2所示目标跟踪方法中根据目标的位置信息和所处环境规划 运动路径的一个具体实例的流程图;FIG. 3 is the location information according to the target and the environment plan in the target tracking method shown in FIG. 2 A flow chart of a specific example of a motion path;
图4为本申请实施例1中目标跟踪设备运动路径的一个具体实例的示意图;4 is a schematic diagram of a specific example of a motion path of a target tracking device in Embodiment 1 of the present application;
图5为本申请实施例1目标跟踪方法中对当前监控范围内的目标进行识别的一个具体实例的流程图;5 is a flowchart of a specific example of identifying a target in a current monitoring range in a target tracking method according to Embodiment 1 of the present application;
图6为本申请实施例1中目标跟踪方法的第三个具体实例的流程图;6 is a flowchart of a third specific example of a target tracking method in Embodiment 1 of the present application;
图7为本申请实施例2中目标跟踪装置的一个具体实例的原理框图;7 is a schematic block diagram of a specific example of a target tracking device in Embodiment 2 of the present application;
图8为本申请实施例2中目标跟踪装置的另一个具体实例的原理框图;8 is a schematic block diagram of another specific example of a target tracking device in Embodiment 2 of the present application;
图9为本申请实施例3中目标跟踪设备的一个具体实例的原理框图;9 is a schematic block diagram of a specific example of a target tracking device in Embodiment 3 of the present application;
图10为本申请实施例3中目标跟踪设备的另一个具体实例的原理框图;10 is a schematic block diagram of another specific example of a target tracking device in Embodiment 3 of the present application;
图11为本申请实施例3中目标跟踪设备的第三个具体实例的原理框图;11 is a schematic block diagram of a third specific example of a target tracking device in Embodiment 3 of the present application;
图12为本申请实施例5中电子设备的硬件结构示意图。FIG. 12 is a schematic structural diagram of hardware of an electronic device according to Embodiment 5 of the present application.
附图标记:Reference mark:
1-目标跟踪装置;11-识别单元;12-运动路径规划单元;13-控制单元;14-发送单元;111-第一获取子单元;112-比对子单元;113-判断子单元;121-第二获取子单元;122-划分子单元;123-规划子单元;2-目标 跟踪设备;21-摄像装置;22-运动执行装置;23-定位装置;24-自动充电执行机构;800-存储器,810-处理器,830-输入装置,840-输出装置。1-target tracking device; 11-identification unit; 12-motion path planning unit; 13-control unit; 14-transmission unit; 111-first acquisition subunit; 112-alignment subunit; 113-judgment subunit; - second acquisition subunit; 122 - division subunit; 123 - planning subunit; 2-target Tracking device; 21-camera device; 22-motion performing device; 23-positioning device; 24-automatic charging actuator; 800-memory, 810-processor, 830-input device, 840-output device.
具体实施方式detailed description
下面将结合附图对本申请的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。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。The technical solutions of the present application are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.
在本申请的描述中,需要说明的是,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。此外,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The orientation or positional relationship of the indications is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description and the simplified description, and does not indicate or imply that the device or component referred to has a specific orientation, in a specific orientation. Construction and operation are therefore not to be construed as limiting the application. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
在本申请的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,还可以是两个元件内部的连通,可以是无线连接,也可以是有线连接。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本申请中的具体含义。In the description of the present application, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connection, or integral connection; may be mechanical connection or electrical connection; may be directly connected, may also be indirectly connected through an intermediate medium, or may be internal communication of two components, may be wireless connection, or may be wired connection. The specific meanings of the above terms in the present application can be understood in the specific circumstances for those skilled in the art.
此外,下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。Further, the technical features involved in the different embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.
实施例1 Example 1
本实施例提供了一种目标跟踪方法,如图1所示,包括:This embodiment provides a target tracking method, as shown in FIG. 1 , including:
S1.对当前监控范围内的目标进行识别。S1. Identify the targets within the current monitoring range.
S2.若目标与预先存储的监控目标一致,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径。具体地,可以事先存储多个监控目标,并设定每个监控目标的优先级,如果监控范围内有两个以上目标,且均与其对应的监控目标匹配成功,则可以将优先级最高的监控目标作为预先存储的监控目标,将优先级最高的监控目标对应的目标锁定为自动跟踪的目标;当然也可以由用户事先从存储的多个监控目标中选定需要自动跟踪的目标或者每次启动自动跟踪功能时只存储一个监控目标,并根据具体情况对存储的监控目标予以更新。S2. If the target is consistent with the pre-stored monitoring target, the target's motion path is tracked according to the location information of the target and the environment. Specifically, multiple monitoring targets may be stored in advance, and the priority of each monitoring target may be set. If there are more than two targets in the monitoring range, and all of the monitoring targets are successfully matched, the monitoring with the highest priority may be performed. The target is a pre-stored monitoring target, and the target corresponding to the highest priority monitoring target is locked as the target of automatic tracking; of course, the user may select the target that needs to be automatically tracked from each of the stored monitoring targets or each time. The automatic tracking function stores only one monitoring target and updates the stored monitoring target according to the specific situation.
S3.控制目标跟踪设备根据运动路径跟踪目标。具体地,目标跟踪设备可以为无人机、自动控制小车等包含控制芯片和受控制芯片控制的运动执行机构的设备,在控制芯片中录入能够执行本实施例中的目标跟踪方法的应用程序,通过控制芯片控制运动执行机构以对目标跟踪设备的运动方向进行调节,使目标跟踪设备能够沿该运动路径运动,实现对目标的有效跟踪。S3. Control the target tracking device to track the target according to the motion path. Specifically, the target tracking device may be a device including a control chip and a motion actuator controlled by the control chip, such as a drone, an automatic control cart, and the like, and an application program capable of executing the target tracking method in the embodiment is input in the control chip. The motion actuator is controlled by the control chip to adjust the moving direction of the target tracking device, so that the target tracking device can move along the motion path to achieve effective tracking of the target.
本实施例中的目标跟踪方法,当有目标经过目标跟踪设备的监控范围内时,会对当前监控范围内的目标进行识别,若目标与预先存储的监控目标一致,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,并控制目标跟踪设备根据运动路径跟踪目标。能够根据监测目标的运动特点实时调整目标跟踪设备的位置,实现了对监测目标的实时动态监测,有 效避免了监控盲区。The target tracking method in this embodiment, when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range, and if the target is consistent with the pre-stored monitoring target, according to the target location information and location The environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, realizing dynamic monitoring of the monitoring target in real time, Effectively avoids monitoring blind spots.
可选地,如果用户,比如妈妈也在家,只不过妈妈需要去厨房做饭,而孩子留在客厅玩耍,如果妈妈在做饭时也想实时获取孩子的视频图像,可以将目标跟踪设备放置在孩子附近,启动直接跟踪模式,直接跟踪模式下省去了目标识别过程,只是对当前监测范围内的移动目标进行跟踪,使目标跟踪设备在无障碍运动区域与移动目标保持预设间距即可,提升了目标跟踪效率。当用户处于远程时,如果因为光线等原因导致无法准确识别目标是否为监测目标时,可以发送当前监测范围内的目标的图像信息至用户的手机,收到用户确认跟踪的指令后启动直接跟踪模式,用户体验度更好。Alternatively, if the user, such as a mother, is also at home, but the mother needs to go to the kitchen to cook, and the child stays in the living room to play, if the mother wants to obtain the child's video image in real time while cooking, the target tracking device can be placed in the In the vicinity of the child, the direct tracking mode is activated, and the target recognition process is omitted in the direct tracking mode, and only the moving target in the current monitoring range is tracked, so that the target tracking device can maintain the preset spacing between the obstacle-free moving area and the moving target. Improved target tracking efficiency. When the user is remote, if it is impossible to accurately identify whether the target is a monitoring target due to light or the like, the image information of the target within the current monitoring range may be sent to the user's mobile phone, and the direct tracking mode is started after receiving the instruction of the user confirming the tracking. The user experience is better.
优选地,如图2所示,上述步骤S2还可以进一步包括:Preferably, as shown in FIG. 2, the foregoing step S2 may further include:
S21.判断目标与预先存储的监控目标是否一致。若一致,进入步骤S22,若不一致,返回步骤S1。具体地,只有当目标与预先存储的监控目标一致时,才能说明当前监控范围内出现的目标即为需要监测的目标,若不一致,说明当前监控范围内的目标不是需要监测的目标,则返回步骤S1,继续对以后出现在监控范围内的目标进行识别,为后期针对特定的需要监测目标的跟踪奠定了基础。S21. Determine whether the target is consistent with the pre-stored monitoring target. If they match, the process goes to step S22, and if they do not match, the process returns to step S1. Specifically, only when the target is consistent with the pre-stored monitoring target, can the target appearing in the current monitoring scope be the target to be monitored. If the target is not the target to be monitored, the step is returned. S1, continue to identify the targets that appear in the monitoring scope in the future, and lay the foundation for the later tracking of specific monitoring targets.
S22.根据目标的位置信息和所处环境规划目标跟踪设备的运动路径。具体地,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,充分考虑了目标跟踪设备所处的环境状况以及需监测目标的运动特点,从而可以提高运动路径规划的合理性和准确性,使得目标跟踪设备沿着所规 划的运动路径移动即可实现对该目标的跟踪。S22. Track the motion path of the device according to the location information of the target and the environment. Specifically, according to the location information of the target and the motion path of the target tracking device in the environment, the environment condition of the target tracking device and the motion characteristics of the target to be monitored are fully considered, thereby improving the rationality and accuracy of the motion path planning. Sexuality, making the target tracking device along the rules The tracking of the moving path can achieve tracking of the target.
优选地,如图3所示,上述步骤S22还可以进一步包括:Preferably, as shown in FIG. 3, the foregoing step S22 may further include:
S221.获取目标的位置信息和所处环境的全景图片。S221. Obtain the location information of the target and the panoramic picture of the environment.
S222.对全景图片进行图像分析,划分出所处环境的无障碍运动区域。S222. Perform image analysis on the panoramic picture to divide the barrier-free motion area of the environment.
具体地,可以通过目标跟踪设备上的雷达装置来探测目标的位置信息;可以事先通过遥控器手动遥控目标跟踪设备(比如无人机、自动控制小车等)沿需要监控的区域运动,采集各个区域的全景图片(对于家庭来说,包括客厅、卧室、厨房、卫生间等区域),并对各个区域的全景图片进行图像分析,划分出该区域的无障碍运动区域(即不存在家具、家电等阻碍物的运动区域),能够提高处理效率。Specifically, the position information of the target can be detected by the radar device on the target tracking device; the target tracking device (such as a drone, an automatic control car, etc.) can be manually remotely controlled by the remote control to move along the area to be monitored, and each area is collected. Panoramic picture (for the family, including the living room, bedroom, kitchen, bathroom and other areas), and image analysis of the panoramic pictures of each area, to define the barrier-free sports area of the area (that is, there is no obstacles such as furniture, home appliances, etc. The moving area of the object) can improve the processing efficiency.
当目标跟踪设备跟踪目标至某个区域时,就可以调取出目标跟踪设备当前所处环境对应的区域的全景图片的分析结果,确定出该环境中的无障碍运动区域了。当然也可以在跟踪过程中拍摄所处环境的全景图片,可以确保用于分析的全景图片是最新的,更为符合当前所处环境的实际情况。When the target tracking device tracks the target to a certain area, the analysis result of the panoramic picture of the area corresponding to the current environment of the target tracking device can be retrieved, and the barrier-free motion area in the environment is determined. Of course, it is also possible to take a panoramic picture of the environment during the tracking process, which ensures that the panoramic picture for analysis is up-to-date and more in line with the actual situation of the current environment.
S223.根据目标的位置信息的变化确定目标跟踪设备在无障碍运动区域内的运动路径,运动路径使目标跟踪设备与目标的间距始终处于预设间距范围内。S223. Determine a motion path of the target tracking device in the barrier-free motion region according to the change of the location information of the target, where the motion path keeps the distance between the target tracking device and the target within a preset interval.
具体地,如图4所示,此时所处环境为家中的厨房,圆圈代表监测目标,方形代表目标跟踪设备,通过对厨房的全景图片进行分析,划分橱柜 以外的厨房区域为无障碍运动区域。从图4中可以看到,随着目标的位置的变化,目标跟踪设备在无障碍区域沿根据目标的位置信息的变化规划出来的运动路径运动,与目标的间距始终处于预设间距d范围内,实现了对监测目标的跟踪监测。预设间距d可以根据具体情况,比如监测目标的身高、体态、家庭环境布局等进行适应性调整,一般设置为50-80cm之间。Specifically, as shown in FIG. 4, the environment at this time is a kitchen in the home, the circle represents the monitoring target, the square represents the target tracking device, and the cabinet is divided by analyzing the panoramic picture of the kitchen. The kitchen area outside is a barrier-free sports area. As can be seen from FIG. 4, as the position of the target changes, the target tracking device moves along the movement path planned according to the change of the position information of the target in the unobstructed area, and the distance from the target is always within the preset distance d. , to achieve tracking and monitoring of monitoring targets. The preset spacing d can be adaptively adjusted according to specific conditions, such as the height, posture, and home environment layout of the monitoring target, and is generally set to be between 50 and 80 cm.
当然,除了上述根据目标的位置信息和所处环境规划运动路径的方式外,还可以通过在目标跟踪设备上加装避障装置(比如红外避障传感器)来实现对阻碍物的躲避,此时规划的运动路径可以为只要能够确保监测目标和目标跟踪设备保持预设间距的路径即可,当遇到障碍物调整目标跟踪设备的运动方向后,只需根据目标和目标跟踪设备间的预设间距重新规划新的目标跟踪设备的运动路径即可。Of course, in addition to the above-mentioned manner of planning the motion path according to the location information of the target and the environment, the obstacle avoidance device (such as the infrared obstacle avoidance sensor) may be added to the target tracking device to achieve the obstacle avoidance. The planned motion path may be a path that ensures that the monitoring target and the target tracking device maintain a preset spacing. When an obstacle is adjusted to adjust the motion direction of the target tracking device, it is only necessary to track the preset between the devices according to the target and the target. The spacing re-plans the motion path of the new target tracking device.
优选地,如图5所示,上述步骤S1还可以进一步包括:Preferably, as shown in FIG. 5, the foregoing step S1 may further include:
S11.获取当前监控范围内的目标的特征信息,特征信息包括面部图像、身高信息和服饰颜色信息中的至少一种信息。具体地,可以通过目标跟踪设备上的摄像装置来采集跟踪目标的面部图像以及全身图像,通过对全身图像进行图像分析,就可以获取目标的服饰颜色信息,等比例换算就可以获取目标的身高信息了。S11. Acquire feature information of the target within the current monitoring range, where the feature information includes at least one of a face image, a height information, and apparel color information. Specifically, the facial image of the tracking target and the whole body image can be collected by the imaging device on the target tracking device, and the image color information of the target can be obtained by performing image analysis on the whole body image, and the height information of the target can be obtained by proportional conversion. It is.
S12.将目标的特征信息与预先存储的监控目标的特征信息进行比对。若一致,进入步骤S13,若不一致,进入步骤S14。具体地,还可以根据具体情况更新预先存储的监控目标的特征信息。 S12. Compare the feature information of the target with the feature information of the monitoring target stored in advance. If they match, the process goes to step S13, and if they do not match, the process goes to step S14. Specifically, the feature information of the pre-stored monitoring target may also be updated according to a specific situation.
S13.判断目标与预先存储的监控目标一致。S13. The judgment target is consistent with the pre-stored monitoring target.
S14.判断目标与预先存储的监控目标不一致。S14. The judgment target is inconsistent with the pre-stored monitoring target.
优选地,如图6所示,本实施例还提供了另一种目标跟踪方法,在上述步骤S1至S3的基础上,在步骤S3之后还包括如下步骤S4至S5:Preferably, as shown in FIG. 6, the embodiment further provides another target tracking method. On the basis of the foregoing steps S1 to S3, after step S3, the following steps S4 to S5 are further included:
S4.接收目标跟踪设备在跟踪目标时所采集的目标的视频图像;S4. receiving a video image of the target captured by the target tracking device while tracking the target;
S5.发送视频图像。S5. Send a video image.
具体地,可以将视频图像发送至监控终端,监控终端可以为手机、Pad、电脑等,可以通过移动通信网络、WIFI等实现与目标跟踪设备的通讯。目标跟踪设备跟踪目标时所采集的目标的视频图像,可以利用目标跟踪设备上的通讯模块经移动通信网络、WIFI等发送至远程的监控终端,监控终端可以通过已安装的QQ、微信等应用程序来接收并显示视频图像,实现对监测目标的实时监测,当监测目标出现异常状况,比如老人在家中不小心跌倒受伤时,用户也可以通过监控终端了解到该异常状况,有助于用户及时有效的采取相应的救助措施。Specifically, the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a pad, a computer, etc., and can communicate with the target tracking device through a mobile communication network, WIFI, or the like. The video image of the target captured by the target tracking device when tracking the target may be transmitted to the remote monitoring terminal via the mobile communication network, WIFI, etc. through the communication module on the target tracking device, and the monitoring terminal may pass the installed QQ, WeChat, etc. application programs. To receive and display video images, real-time monitoring of monitoring targets. When an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to be timely and effective. Take appropriate rescue measures.
优选地,本实施例还提供了另一种目标跟踪方法,除了上述步骤S1至S3,或者上述步骤S1至S5之外,还包括如下步骤S6至S7:Preferably, the embodiment further provides another target tracking method, which includes the following steps S6 to S7 in addition to the above steps S1 to S3 or the above steps S1 to S5:
S6.获取目标跟踪设备内的充电电池电量。具体地,可以将充电电池作为目标跟踪设备的动力来源,可以采用现有技术中的充电电池电量估算方法,根据采集的充电电池的电压、电流等参数值来对目标跟踪设备内的充 电电池电量进行估算。S6. Obtain the rechargeable battery power in the target tracking device. Specifically, the rechargeable battery can be used as the power source of the target tracking device, and the charging battery power estimation method in the prior art can be used, and the charging in the target tracking device can be performed according to the collected voltage and current values of the rechargeable battery. The battery power is estimated.
S7.控制目标跟踪设备充电。具体地,步骤S6至步骤S7可以在上述步骤S1至S3,或者上述步骤S1至S5中任何一个步骤之后执行,也可以在上述步骤S1之前执行。S7. Control target tracking device charging. Specifically, the step S6 to the step S7 may be performed after the above steps S1 to S3, or any one of the above steps S1 to S5, or may be performed before the above step S1.
优选地,上述控制目标跟踪设备充电的步骤S7还可以进一步包括:Preferably, the step S7 of controlling the charging of the target tracking device may further include:
S71.判断充电电池的电量是否低于预设电量。若低于,进入步骤S72,若不低于,重复步骤S71。实现了对充电电池电量的实时监测。S71. Determine whether the charged battery is lower than the preset power. If it is lower, the process proceeds to step S72, and if it is not lower, step S71 is repeated. Real-time monitoring of rechargeable battery power is achieved.
S72.发送充电控制信号至目标跟踪设备,使目标跟踪设备移动到最近的充电座进行充电。如此,能够进一步增强目标跟踪设备内充电电池的续航能力,防止电能耗尽造成的目标跟踪的长时间中断。S72. Send a charging control signal to the target tracking device, and move the target tracking device to the nearest charging stand for charging. In this way, the battery life of the rechargeable battery in the target tracking device can be further enhanced, and the long-term interruption of the target tracking caused by the power consumption is prevented.
实施例2Example 2
本实施例提供了一种目标跟踪装置1,如图7所示,包括:The embodiment provides a target tracking device 1, as shown in FIG. 7, comprising:
识别单元11,用于对当前监控范围内的目标进行识别。The identification unit 11 is configured to identify the target within the current monitoring range.
运动路径规划单元12,用于在目标与预先存储的监控目标一致时,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径。The motion path planning unit 12 is configured to: when the target is consistent with the pre-stored monitoring target, plan the motion path of the target tracking device according to the location information of the target and the environment.
控制单元13,用于控制目标跟踪设备根据运动路径跟踪目标。The control unit 13 is configured to control the target tracking device to track the target according to the motion path.
本实施例中的目标跟踪装置1,当有目标经过目标跟踪设备的监控范围内时,会通过识别单元11对当前监控范围内的目标进行识别,若目标与预 先存储的监控目标一致,启动运动路径规划单元12根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,并通过控制单元13控制目标跟踪设备根据运动路径跟踪目标。能够根据监测目标的运动特点实时调整目标跟踪设备的位置,实现了对监测目标的实时动态监测,有效避免了监控盲区。The target tracking device 1 in this embodiment, when a target passes the monitoring range of the target tracking device, identifies the target within the current monitoring range by the identifying unit 11, if the target and the pre-target The first stored monitoring target is consistent, and the starting motion path planning unit 12 tracks the moving path of the target according to the location information of the target and the environment, and controls the target tracking device to track the target according to the motion path through the control unit 13. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
优选地,本实施例中的目标跟踪装置1中的运动路径规划单元12进一步包括:Preferably, the motion path planning unit 12 in the target tracking device 1 in this embodiment further includes:
第二获取子单元121,用于获取目标的位置信息和所处环境的全景图片。The second obtaining sub-unit 121 is configured to acquire location information of the target and a panoramic picture of the environment.
划分子单元122,用于对全景图片进行图像分析,划分出所处环境的无障碍运动区域。The sub-unit 122 is configured to perform image analysis on the panoramic picture to divide the unobstructed motion area of the environment.
规划子单元123,用于根据目标的位置信息的变化确定目标跟踪设备在无障碍运动区域内的运动路径,运动路径使目标跟踪设备与目标的间距始终处于预设间距范围内。The planning sub-unit 123 is configured to determine a motion path of the target tracking device in the barrier-free motion region according to the change of the location information of the target, where the motion path keeps the distance between the target tracking device and the target within a preset spacing range.
优选地,本实施例中的目标跟踪装置1中的识别单元11进一步包括:Preferably, the identification unit 11 in the target tracking device 1 in this embodiment further includes:
第一获取子单元111,用于获取当前监控范围内的目标的特征信息,特征信息包括面部图像、身高信息和服饰颜色信息中的至少一种信息。The first obtaining sub-unit 111 is configured to acquire feature information of the target in the current monitoring range, where the feature information includes at least one of a face image, a height information, and apparel color information.
比对子单元112,用于将目标的特征信息与预先存储的特征信息进行比对。 The comparison sub-unit 112 is configured to compare the feature information of the target with the feature information stored in advance.
判断子单元113,用于在比对一致时判断目标与预先存储的监控目标一致。The determining sub-unit 113 is configured to determine that the target is consistent with the pre-stored monitoring target when the comparison is consistent.
优选地,如图8所示,本实施例还提供了另一种目标跟踪装置1,除了识别单元11、运动路径规划单元12和控制单元13之外还包括:Preferably, as shown in FIG. 8, the embodiment further provides another target tracking device 1, which includes: in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13,
发送单元14,用于接收目标跟踪设备在跟踪目标时所采集的目标的视频图像,并发送视频图像。具体地,可以发送视频图像至监控终端,监控终端可以为手机、Pad、电脑等,可以通过移动通信网络实现与目标跟踪设备的通讯。目标跟踪设备跟踪目标时所采集的目标的视频图像,可以利用目标跟踪设备上的通讯模块经移动通信网络发送至远程的监控终端,监控终端可以通过已安装的QQ、微信等应用程序来接收并显示视频图像,实现对监测目标的实时监测,当监测目标出现异常状况,比如老人在家中不小心跌倒受伤时,用户也可以通过监控终端了解到该异常状况,有助于用户及时有效的采取相应的救助措施。The sending unit 14 is configured to receive a video image of the target acquired by the target tracking device when tracking the target, and send the video image. Specifically, the video image can be sent to the monitoring terminal, and the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network. The video image of the target captured by the target tracking device when tracking the target may be sent to the remote monitoring terminal via the mobile communication network by using the communication module on the target tracking device, and the monitoring terminal may receive the application through the installed QQ, WeChat, etc. Display video images to achieve real-time monitoring of monitoring targets. When an abnormal situation occurs in the monitoring target, such as an elderly person accidentally falling down at home, the user can also know the abnormal condition through the monitoring terminal, which helps the user to take appropriate and timely response. Relief measures.
优选地,本实施例还提供了另一种目标跟踪装置1,除了包括识别单元11、运动路径规划单元12和控制单元13,或者识别单元11、运动路径规划单元12、控制单元13和发送单元14之外还包括:Preferably, the present embodiment further provides another object tracking device 1 in addition to the identification unit 11, the motion path planning unit 12 and the control unit 13, or the identification unit 11, the motion path planning unit 12, the control unit 13, and the transmitting unit. In addition to 14:
电量获取单元,用于获取目标跟踪设备内的充电电池电量;a power acquisition unit, configured to acquire a rechargeable battery power in the target tracking device;
充电控制单元,用于在充电电池电量低于预设电量时发送充电控制信号至目标跟踪设备,使目标跟踪设备移动到最近的充电座进行充电。能够进一步增强目标跟踪设备内充电电池的续航能力,防止电能耗尽造成的目 标跟踪的长时间中断。The charging control unit is configured to send a charging control signal to the target tracking device when the rechargeable battery power is lower than the preset power, and move the target tracking device to the nearest charging stand for charging. It can further enhance the endurance of the rechargeable battery in the target tracking device to prevent the power from being exhausted. Long-term interruption of the tracking.
实施例3Example 3
本实施例提供了一种目标跟踪系统,如图9所示,包括实施例2中的目标跟踪装置1和目标跟踪设备2,目标跟踪设备2进一步包括摄像装置21和运动执行装置22。The present embodiment provides a target tracking system, as shown in FIG. 9, including the target tracking device 1 and the target tracking device 2 in Embodiment 2, and the target tracking device 2 further includes an imaging device 21 and a motion executing device 22.
摄像装置21,用于进行图像采集并传输至目标跟踪装置1。具体地,当目标跟踪设备2为自动控制小车时,摄像装置21可以安装于自动控制小车的头部或者顶部仰拍;当目标跟踪设备2为无人机时,摄像装置21可以安装于无人机的底部俯拍。The imaging device 21 is configured to perform image acquisition and transmit to the target tracking device 1. Specifically, when the target tracking device 2 is an automatic control car, the camera device 21 can be installed on the head of the automatic control car or the top camera; when the target tracking device 2 is a drone, the camera device 21 can be installed on the camera. The bottom of the machine is overshot.
运动执行装置22,用于根据目标跟踪装置1规划的运动路径对目标跟踪设备2的运动路径进行调节,使摄像装置21能够随着目标跟踪设备2的运动跟踪采集目标的视频图像。具体地,以自动控制小车为例,其运动执行装置22可以包括底盘、固定于底盘上部的电机控制器、电机;设置于底盘下方的两个驱动轮和两个随动轮。其中两个随动轮位于目标跟踪设备的前部,两个驱动轮位于目标跟踪设备的后部,每个驱动轮由一台电机驱动,给目标跟踪设备提供前进或者后退的动力,并由电机控制器根据规划路径对两个驱动轮电机的转速和转向进行调整,对目标跟踪设备的运动方向进行调整,使目标跟踪设备能够沿规划的运动路径运动,对目标进行跟踪。The motion executing device 22 is configured to adjust the motion path of the target tracking device 2 according to the motion path planned by the target tracking device 1, so that the camera device 21 can track the video image of the target with the motion of the target tracking device 2. Specifically, taking the automatic control trolley as an example, the motion executing device 22 may include a chassis, a motor controller fixed to the upper portion of the chassis, a motor, and two driving wheels and two follower wheels disposed under the chassis. Two of the follower wheels are located at the front of the target tracking device, and the two drive wheels are located at the rear of the target tracking device. Each drive wheel is driven by a motor to provide forward or reverse power to the target tracking device and is controlled by the motor. The device adjusts the rotation speed and steering of the two drive wheel motors according to the planned path, and adjusts the movement direction of the target tracking device, so that the target tracking device can move along the planned motion path to track the target.
优选地,目标跟踪设备2中的摄像装置21进一步包括摄像头和云台。Preferably, the camera device 21 in the target tracking device 2 further includes a camera and a pan/tilt.
目标跟踪装置1还用于根据接收的视频图像生成角度调节控制指令并 传输至云台。The target tracking device 1 is further configured to generate an angle adjustment control instruction according to the received video image and Transfer to the PTZ.
云台,用于根据角度调节控制指令对摄像头的角度进行调节,使摄像头能够采集到目标的完整面部图像以及目标所处环境的全景图片。具体地,当目标跟踪装置1对从摄像装置21接收的视频图像进行图像分析发现其不完整时,可以根据图像缺失的部分所对应的方位生成角度调节控制指令并发出至云台,云台接收到该角度调节控制指令后会根据调节控制指令转动摄像头,对摄像头的拍摄角度进行调节,使摄像头能够采集到目标的完整面部图像或者所处环境的全景图片。The pan/tilt is used to adjust the angle of the camera according to the angle adjustment control command, so that the camera can capture the complete facial image of the target and the panoramic picture of the environment in which the target is located. Specifically, when the target tracking device 1 performs image analysis on the video image received from the camera device 21 and finds that it is incomplete, the angle adjustment control command may be generated according to the orientation corresponding to the missing portion of the image and sent to the pan/tilt, and the gimbal receives After the angle adjustment control command is turned, the camera is rotated according to the adjustment control command, and the shooting angle of the camera is adjusted, so that the camera can capture the complete facial image of the target or the panoramic picture of the environment.
优选地,如图10所示,本实施例还提供了另一种目标跟踪设备2,目标跟踪设备2除了包括摄像装置21和运动执行装置22外,还包括:定位装置23,用于获取目标的位置信息并传输至目标跟踪装置1。具体地,定位装置23可以选用激光雷达,能够快速准确的对运动目标进行定位,获取其位置信息。Preferably, as shown in FIG. 10, the present embodiment further provides another target tracking device 2, which includes, in addition to the camera device 21 and the motion executing device 22, a positioning device 23 for acquiring a target. The location information is transmitted to the target tracking device 1. Specifically, the positioning device 23 can select a laser radar, can quickly and accurately locate the moving target, and obtain the position information thereof.
优选地,如图11所示,本实施例还提供了另一种目标跟踪设备2,目标跟踪设备2除了包括摄像装置21和运动执行装置22,或者摄像装置21、运动执行装置22和定位装置23之外,还包括:Preferably, as shown in FIG. 11, the embodiment further provides another target tracking device 2, which includes the camera device 21 and the motion executing device 22, or the camera device 21, the motion executing device 22, and the positioning device. In addition to 23, it also includes:
自动充电执行机构24,用于接收并根据目标跟踪装置1发送的充电控制信号控制目标跟踪设备移动到最近的充电座进行充电。具体地,自动充电执行机构24可以包括电压、电流采集电路、充电座定位系统以及充电座连接部件(比如可以为直流电极连接簧片),其中电压、电流采集电路用于采集充电电池的电压、电流信号并传输至目标跟踪装置1,目标跟踪装置1 会根据采集的电压、电流信号估算出充电电池的电量,并在充电电池电量低于预设电量时,发送充电控制信号至目标跟踪设备2的自动充电执行机构24。自动充电执行机构24接收到充电控制信号后会启动其充电座定位系统,定位与目标跟踪设备2距离最近的充电座,并将该充电座的位置信息发送至目标跟踪装置1,目标跟踪装置1根据接收到的距离最近的充电座的位置信息以及目标跟踪设备当前所处的位置规划出移动至该充电座的运动路径,控制运动执行装置22对目标跟踪设备的运动路径进行调节,使其沿规划出的运动路径移动至最近的充电座,并将充电座连接部件推入充电座插孔,对目标跟踪设备2内的充电电池进行充电。The automatic charging actuator 24 is configured to receive and control the target tracking device to move to the nearest charging stand for charging according to the charging control signal sent by the target tracking device 1. Specifically, the automatic charging actuator 24 may include a voltage, a current collecting circuit, a charging stand positioning system, and a charging stand connecting component (for example, may be a DC electrode connecting reed), wherein the voltage and current collecting circuit is configured to collect the voltage of the rechargeable battery, Current signal and transmitted to target tracking device 1, target tracking device 1 The charged battery is estimated according to the collected voltage and current signals, and when the rechargeable battery is lower than the preset power, the charging control signal is sent to the automatic charging actuator 24 of the target tracking device 2. After receiving the charging control signal, the automatic charging actuator 24 activates its charging seat positioning system, locates the charging stand closest to the target tracking device 2, and transmits the position information of the charging stand to the target tracking device 1, and the target tracking device 1 According to the received position information of the nearest charging stand and the current position of the target tracking device, the moving path to the charging stand is planned, and the motion executing device 22 is controlled to adjust the moving path of the target tracking device to The planned motion path moves to the nearest charging stand, and the charging stand connecting part is pushed into the charging stand jack to charge the rechargeable battery in the target tracking device 2.
本实施例中的目标跟踪系统,当有目标经过其监控范围内时,会通过目标跟踪装置1对当前监控范围内的目标进行识别,若目标与预先存储的监控目标一致,目标跟踪装置1会根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,并控制目标跟踪设备2根据运动路径跟踪目标。能够根据监测目标的运动特点实时调整目标跟踪设备的位置,实现了对监测目标的实时动态监测,有效避免了监控盲区。In the target tracking system in this embodiment, when the target is within the monitoring range, the target tracking device 1 identifies the target in the current monitoring range. If the target is consistent with the pre-stored monitoring target, the target tracking device 1 The target tracking device's motion path is tracked according to the location information of the target and the environment, and the target tracking device 2 is controlled to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
实施例4Example 4
本实施例提供了一种远程监控系统,包括实施例3中的目标跟踪系统和监控终端。This embodiment provides a remote monitoring system, including the target tracking system and the monitoring terminal in Embodiment 3.
监控终端,用于接收并显示目标跟踪设备发送的目标的视频图像。具体地,监控终端可以为手机、Pad、电脑等,可以通过移动通信网络实现与目标跟踪设备的通讯。 The monitoring terminal is configured to receive and display a video image of a target sent by the target tracking device. Specifically, the monitoring terminal can be a mobile phone, a Pad, a computer, etc., and can communicate with the target tracking device through the mobile communication network.
本实施例中的远程监控系统,当有目标经过目标跟踪设备的监控范围内时,会对当前监控范围内的目标进行识别,若目标与预先存储的监控目标一致,根据目标的位置信息和所处环境规划目标跟踪设备的运动路径,并控制目标跟踪设备根据运动路径跟踪目标。能够根据监测目标的运动特点实时调整目标跟踪设备的位置,实现了对监测目标的实时动态监测,有效避免了监控盲区。The remote monitoring system in this embodiment identifies the target within the current monitoring range when the target passes the monitoring range of the target tracking device, and if the target is consistent with the pre-stored monitoring target, according to the location information and location of the target. The environment planning target tracks the motion path of the device, and controls the target tracking device to track the target according to the motion path. The position of the target tracking device can be adjusted in real time according to the motion characteristics of the monitoring target, real-time dynamic monitoring of the monitoring target is realized, and the monitoring blind zone is effectively avoided.
实施例5Example 5
图12为本申请实施例5中电子设备的结构框图,如图12所示,该电子设备包括:FIG. 12 is a structural block diagram of an electronic device according to Embodiment 5 of the present application. As shown in FIG. 12, the electronic device includes:
一个或多个处理器810以及存储器800,图12中以一个处理器810为例。One or more processors 810 and memory 800 are illustrated by one processor 810 in FIG.
执行目标跟踪方法的设备还可以包括:输入装置830和输出装置840。The apparatus that performs the target tracking method may further include: an input device 830 and an output device 840.
处理器810、存储器800、输入装置830和输出装置840可以通过总线或者其他方式连接,图9中以通过总线连接为例。The processor 810, the memory 800, the input device 830, and the output device 840 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
存储器800作为一种非暂态计算机可读存储介质,可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块,如本申请实施例中的目标跟踪方法对应的程序指令/模块。处理器810通过运行存储在存储器800中的非易失性软件程序、指令以及模块,从而执行服务器的各种功能应用以及数据处理,即实现上述方法实施例的目标跟踪方法。 The memory 800 is used as a non-transitory computer readable storage medium, and can be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a program instruction corresponding to the target tracking method in the embodiment of the present application. Module. The processor 810 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 800, that is, implementing the target tracking method of the above method embodiments.
存储器800可以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、至少一个功能所需要的应用程序;存储数据区可存储根据目标跟踪装置的使用所创建的数据等。此外,存储器800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。在一些实施例中,存储器800可选包括相对于处理器810远程设置的存储器,这些远程存储器可以通过网络连接至目标跟踪装置。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。The memory 800 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the target tracking device, and the like. Moreover, memory 800 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 800 can optionally include memory remotely located relative to processor 810, which can be connected to the target tracking device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
输入装置830可接收输入的数字或字符信息,以及产生与目标跟踪装置的用户设置以及功能控制有关的键信号输入。输出装置840可包括显示屏等显示设备。 Input device 830 can receive input digital or character information and generate key signal inputs related to user settings and function control of the target tracking device. The output device 840 can include a display device such as a display screen.
所述一个或者多个模块存储在所述存储器800中,当被所述一个或者多个处理器810执行时,执行上述任意方法实施例中的目标跟踪方法。The one or more modules are stored in the memory 800 and, when executed by the one or more processors 810, perform a target tracking method in any of the method embodiments described above.
上述产品可执行本申请实施例所提供的方法,具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节,可参见本申请实施例所提供的方法。The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application.
本发明实施例的电子设备以多种形式存在,包括但不限于:The electronic device of the embodiment of the invention exists in various forms, including but not limited to:
(1)移动通信设备:这类设备的特点是具备移动通信功能,并且以提供话音、数据通信为主要目标。这类终端包括:智能手机(例如iPhone)、多媒体手机、功能性手机,以及低端手机等。 (1) Mobile communication devices: These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication. Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
(2)超移动个人计算机设备:这类设备属于个人计算机的范畴,有计算和处理功能,一般也具备移动上网特性。这类终端包括:PDA、MID和UMPC设备等,例如iPad。(2) Ultra-mobile personal computer equipment: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access. Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
(3)便携式娱乐设备:这类设备可以显示和播放多媒体内容。该类设备包括:音频、预览播放器(例如iPod),掌上游戏机,电子书,以及智能玩具和便携式车载导航设备。(3) Portable entertainment devices: These devices can display and play multimedia content. Such devices include: audio, preview players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
(4)服务器:提供计算服务的设备,服务器的构成包括处理器、硬盘、内存、系统总线等,服务器和通用的计算机架构类似,但是由于需要提供高可靠的服务,因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高。(4) Server: A device that provides computing services. The server consists of a processor, a hard disk, a memory, a system bus, etc. The server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.
(5)其他具有数据交互功能的电子装置。(5) Other electronic devices with data interaction functions.
实施例6Example 6
本申请实施例还提供了一种非易失性计算机存储介质,所述存储介质存储有计算机可执行指令的所述计算机可执行指令,当由电子设备执行时使得电子设备能够执行上述任意方法实施例中的目标跟踪方法。Embodiments of the present application also provide a non-volatile computer storage medium storing the computer-executable instructions of computer-executable instructions that, when executed by an electronic device, enable the electronic device to perform any of the methods described above The target tracking method in the example.
实施例7Example 7
本申请实施例还提出了一种计算机程序产品,所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被计算机执行时,使所述计算机执行任意方 法实施例中的目标跟踪方法。The embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer Let the computer execute any party The target tracking method in the embodiment of the method.
本领域内的技术人员应明白,本申请的实施例可提供为方法、系统、或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机 实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on the computer or other programmable device to produce the computer The implemented processing, such as instructions executed on a computer or other programmable device, provides steps for implementing the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.
显然,上述实施例仅仅是为清楚地说明所作的举例,而并非对实施方式的限定。对于所属领域的普通技术人员来说,在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。 It is apparent that the above-described embodiments are merely illustrative of the examples, and are not intended to limit the embodiments. Other variations or modifications of the various forms may be made by those skilled in the art in light of the above description. There is no need and no way to exhaust all of the implementations. Obvious changes or variations resulting therefrom are still within the scope of the invention.

Claims (14)

  1. 一种目标跟踪方法,其特征在于,包括:A target tracking method, comprising:
    对当前监控范围内的目标进行识别;Identify targets within the current monitoring range;
    若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;
    控制所述目标跟踪设备根据所述运动路径跟踪所述目标。Controlling the target tracking device to track the target based on the motion path.
  2. 根据权利要求1所述的目标跟踪方法,其特征在于,所述根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径包括:The target tracking method according to claim 1, wherein the moving path of the target tracking device according to the location information of the target and the environment is:
    获取所述目标的位置信息和所处环境的全景图片;Obtaining location information of the target and a panoramic picture of the environment;
    对所述全景图片进行图像分析,划分出所述所处环境的无障碍运动区域;Performing image analysis on the panoramic picture to divide the barrier-free motion area of the environment;
    根据所述目标的位置信息的变化确定所述目标跟踪设备在所述无障碍运动区域内的运动路径,所述运动路径使所述目标跟踪设备与所述目标的间距始终处于预设间距范围内。Determining a motion path of the target tracking device in the barrier-free motion region according to a change in location information of the target, where the motion path keeps a distance between the target tracking device and the target within a preset interval .
  3. 根据权利要求1所述的目标跟踪方法,其特征在于,所述对当前监控范围内的目标进行识别包括:The target tracking method according to claim 1, wherein the identifying the target within the current monitoring range comprises:
    获取当前监控范围内的目标的特征信息,所述特征信息包括面部图像、身高信息和服饰颜色信息中的至少一种信息; Obtaining feature information of a target within a current monitoring range, the feature information including at least one of a face image, height information, and clothing color information;
    将所述目标的特征信息与预先存储的监控目标的特征信息进行比对;Comparing the feature information of the target with the feature information of the monitoring target stored in advance;
    若一致,则判断所述目标与预先存储的监控目标一致。If they are consistent, it is determined that the target is consistent with the pre-stored monitoring target.
  4. 根据权利要求1-3任一项所述的目标跟踪方法,其特征在于,所述方法还包括:The object tracking method according to any one of claims 1 to 3, wherein the method further comprises:
    获取所述目标跟踪设备在跟踪所述目标时所采集的所述目标的视频图像;Obtaining a video image of the target acquired by the target tracking device while tracking the target;
    发送所述视频图像。Send the video image.
  5. 根据权利要求1-3任一项所述的目标跟踪方法,其特征在于,所述方法还包括:The object tracking method according to any one of claims 1 to 3, wherein the method further comprises:
    获取目标跟踪设备内的充电电池电量;Obtain the amount of rechargeable battery in the target tracking device;
    若充电电池电量低于预设电量,发送充电控制信号至目标跟踪设备,使目标跟踪设备移动到最近的充电座进行充电。If the rechargeable battery power is lower than the preset power, send a charging control signal to the target tracking device to move the target tracking device to the nearest charging stand for charging.
  6. 一种目标跟踪装置,其特征在于,包括:A target tracking device, comprising:
    识别单元,用于对当前监控范围内的目标进行识别;a recognition unit for identifying a target within a current monitoring range;
    运动路径规划单元,用于在所述目标与预先存储的监控目标一致时,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;a motion path planning unit, configured to: when the target is consistent with a pre-stored monitoring target, plan a motion path of the target tracking device according to the location information of the target and the environment;
    控制单元,用于控制所述目标跟踪设备根据所述运动路径跟踪所述目标。 And a control unit, configured to control the target tracking device to track the target according to the motion path.
  7. 一种目标跟踪系统,其特征在于,包括权利要求6所述的目标跟踪装置和目标跟踪设备,所述目标跟踪设备包括摄像装置和运动执行装置;A target tracking system, comprising the target tracking device and the target tracking device of claim 6, the target tracking device comprising an imaging device and a motion executing device;
    所述摄像装置,用于进行图像采集并传输至所述目标跟踪装置;The image capturing device is configured to perform image collection and transmit to the target tracking device;
    所述运动执行装置,用于根据所述目标跟踪装置规划的运动路径对目标跟踪设备的运动路径进行调节,使所述摄像装置能够随着所述目标跟踪设备的运动跟踪采集所述目标的视频图像。The motion executing device is configured to adjust a motion path of the target tracking device according to the motion path planned by the target tracking device, so that the camera device can track the video of the target along with the motion of the target tracking device image.
  8. 根据权利要求7所述的目标跟踪系统,其特征在于,所述摄像装置包括摄像头和云台;The target tracking system according to claim 7, wherein the camera device comprises a camera and a pan/tilt;
    所述目标跟踪装置还用于根据接收的所述视频图像生成角度调节控制信号并传输至所述云台;The target tracking device is further configured to generate an angle adjustment control signal according to the received video image and transmit the signal to the pan/tilt;
    所述云台,用于根据所述角度调节控制指令对所述摄像头的角度进行调节,使摄像头能够采集到所述目标的完整面部图像以及所述目标所处环境的全景图片。The pan/tilt is configured to adjust an angle of the camera according to the angle adjustment control instruction, so that the camera can acquire a complete facial image of the target and a panoramic picture of an environment in which the target is located.
  9. 根据权利要求7或8所述的目标跟踪系统,其特征在于,所述目标跟踪设备还包括:The target tracking system according to claim 7 or 8, wherein the target tracking device further comprises:
    定位装置,用于获取所述目标的位置信息并传输至所述目标跟踪装置。And a positioning device, configured to acquire location information of the target and transmit the information to the target tracking device.
  10. 根据权利要求7或8所述的目标跟踪系统,其特征在于,所述目标跟踪设备还包括:The target tracking system according to claim 7 or 8, wherein the target tracking device further comprises:
    自动充电执行机构,用于接收并根据目标跟踪装置发送的充电控制信 号控制目标跟踪设备移动到最近的充电座进行充电。Automatic charging actuator for receiving and charging control signals transmitted according to the target tracking device The number control target tracking device moves to the nearest charging stand for charging.
  11. 一种远程监控系统,其特征在于,包括权利要求7-10任一项所述的目标跟踪系统和监控终端;A remote monitoring system, comprising the target tracking system and monitoring terminal according to any one of claims 7-10;
    所述监控终端,用于接收并显示所述目标跟踪系统发送的所述目标的视频图像。The monitoring terminal is configured to receive and display a video image of the target sent by the target tracking system.
  12. 一种电子设备,其特征在于,包括至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够:An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, The instructions are executed by the at least one processor to enable the at least one processor to:
    对当前监控范围内的目标进行识别;Identify targets within the current monitoring range;
    若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径;If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;
    控制所述目标跟踪设备根据所述运动路径跟踪所述目标。Controlling the target tracking device to track the target based on the motion path.
  13. 一种非易失性计算机存储介质,其特征在于:所述存储介质存储有计算机可执行指令的所述计算机可执行指令,当由电子设备执行时使得电子设备能够:A non-volatile computer storage medium characterized by: said storage medium storing said computer executable instructions of computer executable instructions, when executed by an electronic device, enabling the electronic device to:
    对当前监控范围内的目标进行识别;Identify targets within the current monitoring range;
    若所述目标与预先存储的监控目标一致,根据所述目标的位置信息和所处环境规划目标跟踪设备的运动路径; If the target is consistent with the pre-stored monitoring target, the target path of the device is tracked according to the location information of the target and the environment;
    控制所述目标跟踪设备根据所述运动路径跟踪所述目标。Controlling the target tracking device to track the target based on the motion path.
  14. 一种计算机程序产品,所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,其特征在于,当所述程序指令被计算机执行时,使所述计算机执行上述任一权利要求所述的方法。 A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, The computer performs the method of any of the preceding claims.
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