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Target tracking method and device, and unmanned aerial vehicle

A target tracking and UAV technology, applied in the field of devices and UAVs, target tracking methods, can solve problems such as tracking failure, easy to lose targets, and rare features of targets

Inactive Publication Date: 2019-05-31
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a target tracking method, device, and UAV, aiming to solve the problem that the target is easily lost when the target features are rare, small in size, or blocked, resulting in tracking failure

Method used

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  • Target tracking method and device, and unmanned aerial vehicle
  • Target tracking method and device, and unmanned aerial vehicle
  • Target tracking method and device, and unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0083] figure 1 is a schematic diagram of one application environment of the target tracking method provided by the embodiment of the present invention, please refer to figure 1 , the application environment includes: a drone 10 , a remote control device 20 and a target 30 . Wireless communication connection can be carried out by any means between the drone 10 and the remote control device 20, for example: wireless fidelity technology (Wireless Fidelity, Wi-Fi), bluetooth (Bluetooth) technology or such as the third generation ( 3rd Generation, 3G), fourth generation (4th Generation, 4G), or fifth generation (5th Generation, 5G) and other mobile communication technologies to implement wireless connection, which is not limited herein.

[0084] Wherein, the UAV 10 may be any type of unmanned aerial vehicle, which may include but not limited to: single-rotor UAV, quad-rotor UAV, six-rotor UAV, tilt-rotor UAV, etc. Wait.

[0085] Specifically, the drone 10 includes a fuselage 10...

Embodiment 2

[0094] figure 2 is a schematic flowchart of a target tracking method provided by an embodiment of the present invention. This method can be executed by the UAV 10 mentioned above.

[0095] Specifically, see figure 2, the method may include but not limited to the following steps:

[0096] Step 110: Control the visible light camera to visually track the target, and record the first tracking information of the target in real time.

[0097] In this embodiment, the "target" is the target to be tracked, which can be automatically identified by the drone based on some given features (such as dynamic features, shape features, etc.), or can be obtained by the user through a remote control device. Feedback to the drone after selection. The "visual tracking" refers to tracking the target based on the sequence of visible light images. The "first tracking information" refers to the information obtained and recorded by the visible light camera when visually tracking the target, which...

Embodiment 3

[0134] Further, considering that the visible light camera and the infrared camera may not be able to correctly lock the target due to interference from environmental factors during the target tracking process, the embodiment of the present invention provides another target tracking method.

[0135] The difference between this method and the target tracking method provided in the second embodiment above is that the method further includes: when the first position information and the second position information are inconsistent, judging whether the visible light camera and the infrared Whether the camera is being interfered with. If the visible light camera is not disturbed, then control the infrared camera to re-lock the target according to the first position information and continue infrared tracking; if the visible light camera is disturbed, but the infrared camera is not disturbed , then control the visible light camera to re-lock the target according to the second position ...

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Abstract

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, and specifically discloses a target tracking method and device, and an unmanned aerial vehicle. The method is applied to an unmanned aerial vehicle comprising a visible light camera and an infrared camera. The method comprises the steps of: controlling the visible light camera to perform visual tracking fora target object, recording first tracking information of the target object in real time, controlling the infrared camera to perform infrared tracking for the target object, and controlling second tracking information of the target object in real time; determining if the visible light camera loses the target object, controlling the visible light camera to relock the target object according to thesecond tracking information and continuously perform visual tracking; or if the infrared camera loses the target object, controlling the infrared camera to relock the target object according to the first tracking information and continuously perform visual tracking. According to the technical scheme, the target tracking method and device, and the unmanned aerial vehicle provided by the embodimentcan improve the target tracking performance of the unmanned aerial vehicle and can expand the application range.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, relate to a target tracking method and device and an unmanned aerial vehicle. Background technique [0002] Unmanned aircraft, referred to as UAV (Unmanned Aerial Vehicle, UAV), is an unmanned aircraft that controls the flight attitude through radio remote control equipment and built-in programs. , low operating requirements and other advantages, it has been widely used in aerial photography, plant protection, power inspection, disaster relief and many other fields. [0003] Currently, drones can be used to identify and track a given target. However, in the existing target tracking methods, the UAV usually uses the visible light camera on it to visually track the target. When the target features are rare, small in size or blocked, it is easy to lose the target, resulting in Tracking failed. [0004] Therefore, the existing target tracki...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/08G05D1/10H04N7/181G01S3/7864H04N23/60H04N23/90B64U10/13B64U2101/30H04N23/61H04N23/66B64U2201/20
Inventor 雷小刚
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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