A control method and system for a target tracking shooting line

Abstract

The present invention discloses a control method and system for a target tracking shooting line. The control method includes: obtaining the real-time distance between a tracking target and a mobile shooting device, and the real-time angle between the azimuth of the tracking target and the reference direction of the mobile shooting device; obtaining the movement speed and movement angle of the mobile shooting device according to the selected shooting line tracking mode, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode. The present invention solves the problem of a fixed and single shooting line mode, realizes the control of the shape of the shooting trajectory curve, and achieves the effect of multi-angle shooting of a tracking target according to user requirements.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of tracking shooting, and in particular, to a control method and system for a target tracking shooting line. Background Art

[0002] In the current technology, intelligent target tracking shooting is generally fixed straight-line shooting or random tracking shooting. Such tracking shooting lines are relatively single or random. Users cannot control the curve shape of the shooting trajectory, and the existing technology cannot achieve multi-angle shooting. How to control the curve shape of the shooting trajectory and achieve multi-angle shooting of the tracking target is an urgent problem for us to solve. Summary of the Invention

[0003] The present invention provides a control method and system for a target tracking shooting line to achieve the technical effect of controlling the curve shape of the shooting trajectory and achieving multi-angle shooting of the tracking target.

[0004] In a first aspect, an embodiment of the present invention provides a control method for a target tracking shooting line. The control method includes:

[0005] Obtaining the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device;

[0006] According to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, obtaining the movement speed and movement angle of the mobile shooting device, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode, and a surrounding mode.

[0007] Wherein, the obtaining the movement speed and movement angle of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device includes:

[0008] According to the formula: Calculating the movement speed and movement angle of the mobile shooting device; wherein, s q =∑v′ q ·T s ; v′ q =v·cos(β - θ); v′q = v·cos(β - θ); v is the movement speed; v d is the tangential speed; v q is the radial speed; β is the movement angle; θ is the real-time angle; K is a constant; d ref is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s qis the radial movement distance; v' q is the velocity projection of the motion velocity v in the radial reference direction; T s is the velocity sampling period and is a constant value;

[0009] Control the movement of the mobile shooting device according to the calculated movement speed and movement angle.

[0010] Among them, before obtaining the real-time distance between the tracking target and the mobile shooting device and the real-time angle between the tracking target azimuth and the reference direction of the mobile shooting device, it further includes:

[0011] Obtain the shooting line tracking mode selected by the user.

[0012] Among them, the obtaining the shooting line tracking mode selected by the user specifically includes:

[0013] Receive the tracking mode switching instruction input by the user through the mobile terminal or gesture recognition;

[0014] The obtaining the shooting line tracking mode selected by the user is specifically: obtaining the shooting line tracking mode corresponding to the tracking mode switching instruction.

[0015] In a second aspect, an embodiment of the present invention provides a control system for a target tracking shooting line, and the control system includes:

[0016] A parameter acquisition module, configured to acquire the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target azimuth and the reference direction of the mobile shooting device;

[0017] A control module, configured to obtain the movement speed and movement angle of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode.

[0018] Among them, the control module includes:

[0019] A calculation unit, configured to calculate according to the formula: Calculate the movement speed and movement angle of the mobile shooting device; wherein, v q =K·(d ref -d); s q =∑v' q ·T s ; v' q =v·cos(β - θ); v' q =v·cos(β - θ); v is the movement speed; v d is the tangential velocity; v qLet \(v_r\) be the radial velocity; \(\beta\) be the motion angle; \(\theta\) be the real-time angle; \(K\) be a constant; \(d\) ref is the set distance reference value; \(d\) is the real-time distance between the tracking target and the mobile shooting device; \(c\) is a constant; \(A\) is the fluctuation amplitude; \(s\) q is the radial moving distance; \(v'\) q is the velocity projection of the motion velocity \(v\) in the radial reference direction; \(T\) s is the velocity sampling period, which is a constant value;

[0020] The control unit is used to control the movement of the mobile shooting device according to the calculated motion velocity and motion angle.

[0021] Wherein, the control system further includes:

[0022] The mode acquisition module is used to acquire the shooting line tracking mode selected by the user.

[0023] Wherein, the mode acquisition module specifically includes:

[0024] The instruction receiving unit is used to receive the tracking mode switching instruction input by the user through the mobile terminal or the gesture recognition method;

[0025] The mode acquisition unit is used to acquire the shooting line tracking mode corresponding to the tracking mode switching instruction.

[0026] The present invention controls the movement of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device, and can realize the free switching between various shooting line tracking modes; the shooting line tracking modes include a straight line mode, an S-shaped mode, and a surrounding mode, which solves the problem of a fixed and single shooting line mode, realizes the control of the shape of the shooting trajectory curve, and achieves the effect of multi-angle shooting of the tracking target according to the user's needs. Brief Description of the Drawings

[0027] Figure 1 The flowchart of a method for controlling a target tracking shooting line provided in Embodiment 1 of the present invention.

[0028] Figure 2 The schematic diagram of the mobile shooting device tracking the tracking target provided in Embodiment 1 of the present invention.

[0029] Figure 3 is the flowchart of a method for controlling a target tracking shooting line provided in Embodiment 2 of the present invention.

[0030] Figure 4 is the sub-flowchart of a method for controlling a target tracking shooting line provided in Embodiment 2 of the present invention.

[0031] Figure 5 It is a system block diagram of a control system for a target tracking shooting line provided in Embodiment 3 of the present invention.

[0032] Figure 6 It is another system block diagram of a control system for a target tracking shooting line provided in Embodiment 3 of the present invention. Specific Embodiments

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all structures.

[0034] Embodiment 1

[0035] Figure 1 It is a method flowchart of a control method for a target tracking shooting line provided in Embodiment 1 of the present invention. This embodiment is applicable to the target tracking shooting situation. This method can be executed by a mobile shooting device, which includes a pan-tilt camera, a mobile device, and a controller. The controller is electrically connected to the pan-tilt camera and the mobile device respectively; the mobile device is used to place the pan-tilt camera, and a servo for controlling the forward direction of the mobile device and a motor for controlling the running speed of the mobile device are provided on the mobile device. The controller is arranged on the mobile shooting device. The pan-tilt camera includes a pan-tilt and a camera arranged on the pan-tilt. The pan-tilt is a three-axis pan-tilt, which can drive the camera to rotate in all directions, realizing all-round adjustment of the angle to perform tracking shooting of the target in all directions. The controller controls the operation of the pan-tilt and the mobile device by obtaining and analyzing the parameters of the pan-tilt, the servo, and the motor in the mobile device, and achieves the tracking shooting of the target according to the analysis result, realizing the control of the target tracking shooting line; in some embodiments, the mobile shooting device further includes a sensor component that can locate the tracking target, and the controller obtains the parameters of the sensor component to obtain the distance and position relationship between the tracking target and the mobile shooting device; in other embodiments, the controller can also obtain the distance and position relationship with the mobile shooting device through a vision method. In the present invention, the controller can select all MCUs based on the ARM-M3 / M4 core architecture, such as the STM32 series, the GD32 series, or 32-bit microcontroller chips of other platforms. Preferably, a microcontroller chip with the model GD32F330 is selected as the controller of this embodiment. In this embodiment, the mobile device is an intelligent vehicle. The control method for the target tracking shooting line provided in the embodiment of the present invention includes step S110 and step S120, and the specific content is as follows:

[0036] Step S110: Obtain the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the azimuth of the tracking target and the reference direction of the mobile shooting device.

[0037] The controller directly obtains the yaw-axis pan angle parameter of the pan-tilt camera based on the deep learning neural network, so as to obtain the real-time angle between the azimuth of the tracking target and the reference direction of the mobile shooting device; and the controller obtains the distance between the tracking target and the camera from the image of the pan-tilt camera based on the deep learning neural network, that is, the real-time distance between the tracking target and the mobile shooting device; this technology is a commonly used technical means for those skilled in the art and will not be elaborated here. The controller controls the rotation of the pan-tilt of the pan-tilt camera according to the yaw-axis pan angle parameter, and then controls the steering of the camera, and calculates and obtains the servo rotation angle control parameter and the rotation speed of the motor according to the real-time distance and the real-time angle; so that the mobile device can track and shoot the tracking target.

[0038] Step S120: Obtain the movement speed and movement angle of the mobile shooting device according to the selected shooting line tracking mode, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode.

[0039] In this embodiment, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode. Users can select the corresponding shooting line according to their needs and freely switch between various shooting line tracking modes, which reduces the skill requirements for photographers, simplifies the shooting skills, and improves the shooting effect.

[0040] In some embodiments, step S120 includes step S121 to step S122, and the specific content is as follows:

[0041] Step S121: According to the formula: Calculate the movement speed v and movement angle β of the mobile shooting device; wherein, v q = K·(d ref - d); s q = ∑v′ q ·T s ; v′ q = v·cos(β - θ); v is the movement speed; v d is the tangential speed; v q is the radial speed; β is the movement angle; θ is the real-time angle; K is a constant; d eef is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s q is the radial movement distance; v′ qis the velocity projection of the motion velocity v in the radial reference direction; T s is the velocity sampling period, which is a constant value.

[0042] In this embodiment, the real-time distance d between the tracking target and the mobile shooting device, and the real-time angle θ between the orientation of the tracking target and the reference direction of the mobile shooting device (the direction in which the mobile shooting device advances) can be obtained by visual methods or sensor components. As Figure 2 shown, the control method of this embodiment first divides the control into two parts: radial control and tangential control. Among them, the tangential velocity is v d , and the radial velocity is v q , θ is the real-time angle. Finally, the velocities and steering in the two directions are synthesized to obtain the final velocity and steering angle, that is, the motion velocity v and the motion angle β.

[0043] Among them, the radial direction points to the direction where the tracking target is located, and the radial direction changes continuously with the change of the orientation of the tracking target. The purpose of radial control is to realize the distance control between the mobile shooting device and the tracking target. The radial velocity v q = f(d ref - d), where f(·) is an error compensation function, which can be simply designed as a proportional control parameter or implemented using a widely used PID controller. In some embodiments, if f(·) is set as a proportional control parameter, then the radial velocity v q = K·(d ref - d), and K can be calculated according to the model or determined by engineering methods, which will not be elaborated here.

[0044] For tangential control, the radial movement distance can be obtained through the speed and rotation angle of the mobile device. The radial movement distance is s q , and the tangential movement distance is S d . The radial movement distance s q = ∑v′ q ·T s , where v′ q = v·cos(β - θ); v′ q is the velocity projection of the motion velocity v in the radial reference direction; T s is the velocity sampling period, which is a constant value. For the setting of the tangential movement distance S d , it determines the shape of the tracking shooting line. If a straight tracking shooting line is desired, then setting the tangential movement distance S d = 0 can obtain a straight tracking shooting line; if a circular tracking shooting line is desired, then setting the tangential movement distance S d as a linear function that increases with time, S d= c·t, where c is the tangential velocity of rotation, which is a constant value; it can also be modified to a variable velocity value to achieve variable-speed rotation; in this way, a circular tracking shooting line can be obtained to achieve surrounding shooting of the tracking target; if an S-shaped tracking shooting line is desired, then set the tangential movement distance s d = A·sin(s q ), where the tangential movement distance S d fluctuates with the radial movement distance Sq, where A is the amplitude of the fluctuation, which can be a constant value or a variable value. According to the tangential movement distance S d the tangential velocity can be further obtained For a linear tracking shooting line, v d = 0; for a circular tracking shooting line, v d = c; for an S-shaped tracking shooting line, v d = A·v q ·cos(s q ); finally, according to the radial velocity v q and the tangential velocity v d and the formula calculate the movement speed v and movement angle β of the mobile shooting device.

[0045] Step S122, control the movement of the mobile shooting device according to the calculated movement speed and movement angle.

[0046] The controller controls the movement of the mobile shooting device according to the calculated movement speed v and movement angle β of the mobile shooting device, that is, controls the rotation of the motor of the mobile device in the mobile shooting device according to the movement speed v and controls the steering of the servo of the mobile device in the mobile shooting device according to the movement angle β, so as to achieve the switching and control of the shooting route.

[0047] In this embodiment, the real-time distance d between the tracking target and the mobile shooting device and the real-time angle θ between the azimuth of the tracking target and the reference direction of the mobile shooting device are obtained through a visual method or a sensor component, and the movement speed and movement angle of the mobile shooting device are calculated according to the selected shooting line tracking mode, real-time distance d and real-time angle θ, so as to control the movement of the mobile shooting device. Among them, the shooting line tracking mode includes a linear mode, an S-shaped mode and a surrounding mode. This embodiment solves the problem of the fixed and single shooting line mode, realizes the control of the shape of the shooting trajectory curve while tracking the tracking target, and achieves the effect of multi-angle shooting of the tracking target according to the user's needs.

[0048] Embodiment 2

[0049] Figure 3 This is a method flowchart of a control method for a target tracking shooting line provided by Embodiment 2 of the present invention, asFigure 3 As shown in the figure, the control method for the target tracking shooting line provided by the embodiment of the present invention includes step S210 and step S230. The specific content is as follows. Among them, step S220 and step S230 respectively correspond to step S110 and step S120 in Embodiment 1, and will not be described in detail here. For the specific content, please refer to step S110 and step S120 in Embodiment 1.

[0050] Step S210: Obtain the shooting line tracking mode selected by the user.

[0051] In this embodiment, the shooting line tracking modes include a straight line mode, an S-shaped mode, and a surrounding mode. Obtaining the shooting line tracking mode selected by the user can realize the free switching of the shooting line, making the tracking shooting effect better meet the needs of users. In some embodiments, as Figure 4 shown, step S210 includes step S211 to step S212, and the specific content is as follows:

[0052] Step S211: Receive the tracking mode switching instruction input by the user through a mobile terminal or gesture recognition.

[0053] In this embodiment, receiving the tracking mode switching instruction input by the user through a mobile terminal or gesture recognition may be receiving the tracking mode switching instruction input by the shooter through a mobile terminal, receiving the tracking mode switching instruction input by the shooter through gesture recognition, receiving the tracking mode switching instruction input by the tracking target through a mobile terminal, or receiving the tracking mode switching instruction input by the tracking target through gesture recognition. In this embodiment, while tracking and shooting the tracking target, the control of the shooting line can also be realized, further improving the user experience and realizing unmanned tracking shooting. When the tracking target inputs the tracking mode switching instruction through gesture recognition, the tracking target can independently complete the switching of the tracking mode without the operation of others, which is simple and convenient to operate and greatly improves the user experience. Step S212: Obtain the shooting line tracking mode corresponding to the tracking mode switching instruction.

[0054] Step S220: Obtain the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the azimuth of the tracking target and the reference direction of the mobile shooting device.

[0055] In some embodiments, step S220 includes step S221 to step S222, and the specific content is as follows:

[0056] Step S221: According to the formula: Calculate the movement speed and movement angle of the mobile shooting device; where, v q = K·∑(d ref - d); sq = ∑v′ q ·T s ; v′ q = v·cos(β - θ); v is the moving speed; v d is the tangential speed; v q is the radial speed; β is the moving angle; θ is the real-time angle; K is a constant; d ref is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s q is the radial moving distance; v′ q is the speed projection of the moving speed v in the radial reference direction; T s is the speed sampling period, which is a constant value.

[0057] Step S222, control the movement of the mobile shooting device according to the calculated moving speed and moving angle.

[0058] Step S230, obtain the moving speed and moving angle of the mobile shooting device according to the selected shooting line tracking mode, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode.

[0059] In this embodiment, the user can input a tracking mode switching instruction through a mobile terminal or a gesture recognition method, obtain the real-time distance d between the tracking target and the mobile shooting device and the real-time angle θ between the orientation of the tracking target and the reference direction of the mobile shooting device through a vision method or a sensor component, and calculate the moving speed and moving angle of the mobile shooting device according to the shooting line tracking mode, the real-time distance d and the real-time angle θ corresponding to the instruction, so as to control the movement of the mobile shooting device. Among them, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode. This embodiment solves the problem of the fixed and single shooting line mode, realizes controlling the shape of the shooting trajectory curve while tracking the tracking target, and achieves the effect of multi-angle shooting of the tracking target according to the user's needs.

[0060] Embodiment Three

[0061] The control system of the target tracking shooting line provided by the embodiment of the present invention can execute the control method of the target tracking shooting line provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The content not detailed in this embodiment can refer to the corresponding content in Embodiment One and Embodiment Two of the present invention. As Figure 5 shown, the control system of the target tracking shooting line provided by the embodiment of the present invention includes:

[0062] The parameter acquisition module 10 is configured to acquire the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device.

[0063] The control module 20 is configured to obtain the movement speed and movement angle of the mobile shooting device according to the selected shooting line tracking mode, the real-time distance, and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking modes include a straight line mode, an S-shaped mode, and a surrounding mode.

[0064] In some embodiments, as Figure 6 shown, the control module 20 specifically includes:

[0065] The calculation unit 21 is configured to calculate the movement speed and movement angle of the mobile shooting device according to the formula: wherein, v q = K·(d ref - d); s q = ∑v′ q ·T s ; v′ q = v·cos(β - θ); v′ q = v·cos(β - θ); v is the movement speed; v d is the tangential speed; v q is the radial speed; β is the movement angle; θ is the real-time angle; K is a constant; d ref is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s q is the radial movement distance; v′ q is the speed projection of the movement speed v in the radial reference direction; T s is the speed sampling period, which is a constant value.

[0066] The control unit 22 is configured to control the movement of the mobile shooting device according to the calculated movement speed and movement angle.

[0067] In some embodiments, as Figure 6 shown, the control system for the target tracking shooting line provided by the embodiment of the present invention further includes a mode acquisition module 30, which is configured to acquire the selected shooting line tracking mode of the user.

[0068] In some embodiments, as Figure 6 shown, the mode acquisition module 30 specifically includes:

[0069] The instruction receiving unit 31 is configured to receive the tracking mode switching instruction input by the user through a mobile terminal or a gesture recognition method.

[0070] A mode acquisition unit 32, configured to acquire a shooting line tracking mode corresponding to the tracking mode switching instruction.

[0071] In this embodiment, the real-time distance d between the tracking target and the mobile shooting device and the real-time angle θ between the azimuth of the tracking target and the reference direction of the mobile shooting device are obtained through a vision method or a sensor component, and the movement speed and movement angle of the mobile shooting device are calculated according to the selected shooting line tracking mode, the real-time distance d, and the real-time angle θ, so as to control the movement of the mobile shooting device. The shooting line tracking modes include a straight line mode, an S-shaped mode, and a surrounding mode. This embodiment solves the problem of a fixed and single shooting line mode, realizes controlling the shape of the shooting trajectory curve while tracking the tracking target, can freely switch and control between a straight line shape, an S-shaped shape, and a circular shape, and achieves the effect of multi-angle shooting of the tracking target according to user needs.

[0072] Note that the above is only a preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the inventive concept, it may also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a target tracking shooting line, characterized in that The control method includes: Obtaining the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device; Obtaining the movement speed and movement angle of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode; Among them, the obtaining the movement speed and movement angle of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device includes: According to the formula: Calculate the movement speed and movement angle of the mobile shooting device; where, v q = K·(d ref - d); s q = ∑v′ q ·T s ; v′ q = v·cos(β - θ); v is the movement speed; v d is the tangential speed; v q is the radial speed; β is the movement angle; θ is the real-time angle; K is a constant; d ref is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s q is the radial movement distance; v q ′ is the speed projection of the movement speed v in the radial reference direction; T s is the speed sampling period, which is a constant value; Controlling the movement of the mobile shooting device according to the calculated movement speed and movement angle.

2. The control method of the target tracking shooting line according to claim 1, characterized in that Before obtaining the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device, it further includes: Obtaining the shooting line tracking mode selected by the user.

3. The control method of the target tracking shooting line according to claim 2, characterized in that, The obtaining the shooting line tracking mode selected by the user specifically includes: Receiving a tracking mode switching instruction input by the user through a mobile terminal or a gesture recognition method; Obtaining the shooting line tracking mode corresponding to the tracking mode switching instruction.

4. A control system for a target tracking shooting line, characterized in that, The control system includes: A parameter acquisition module for obtaining the real-time distance between the tracking target and the mobile shooting device, and the real-time angle between the tracking target orientation and the reference direction of the mobile shooting device; A control module for obtaining the movement speed and movement angle of the mobile shooting device according to the shooting line tracking mode selected by the user, the real-time distance and the real-time angle, so as to control the movement of the mobile shooting device; wherein, the shooting line tracking mode includes a straight line mode, an S-shaped mode and a surrounding mode; Among them, the control module specifically includes: A calculation unit for calculating the movement speed and movement angle of a mobile shooting device according to the formula: where v q = K·(d ref - d); s q = ∑v′ q ·T s ; v′ q = v·cos(β - θ); v′ q = v·cos(β - θ); v is the movement speed; v d is the tangential speed; v q is the radial speed; β is the movement angle; θ is the real-time angle; K is a constant; d ref is the set distance reference value; d is the real-time distance between the tracking target and the mobile shooting device; c is a constant; A is the fluctuation amplitude; s q is the radial movement distance; v′ q is the speed projection of the movement speed v in the radial reference direction; T s is the speed sampling period, which is a constant value; A control unit for controlling the movement of the mobile shooting device according to the calculated movement speed and movement angle.

5. The control system of a target tracking shooting line according to claim 4, characterized in that, The control system further includes: A mode acquisition module for obtaining the shooting line tracking mode selected by the user.

6. The control system of a target tracking shooting line according to claim 5, characterized in that, The mode acquisition module specifically includes: An instruction receiving unit for receiving a tracking mode switching instruction input by the user through a mobile terminal or a gesture recognition method; A mode acquisition unit for obtaining the shooting line tracking mode corresponding to the tracking mode switching instruction.

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