Target tracking control method and device, electronic equipment and readable storage medium

Abstract

The application discloses a control method for tracking a target object, a control device for tracking a target object, an electronic device and a readable storage medium, and belongs to the field of medical equipment. The control method comprises the following steps: obtaining first space information of a tracking device and second space information of a target object, and determining a tracking parameter between the tracking device and the target object based on the first space information and the second space information; determining a relationship between the tracking parameter and a range of the tracking device preset for tracking the target object, wherein the range of the tracking device preset for tracking the target object comprises a holding area, a tracking area in operation, a tracking area out of operation and an abnormal termination area; and controlling movement of the tracking device and determining whether to perform an operation on the target object according to the relationship between the tracking parameter and the range of the tracking device preset for tracking the target object. The control method can at least partially eliminate unnecessary operation stop, and reduce the occurrence of frequent start and stop of the operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, and in particular, to a control method for tracking a target object, a control device for tracking a target object, an electronic device, and a readable storage medium. BACKGROUND

[0002] In the process of continuously operating on a target object (e.g., magnetic stimulation), the operating unit needs to be continuously aligned with the target object. If the operating unit and the target object are not aligned or the error is large, the processing efficiency will be significantly reduced. Sometimes the target object will move within a certain range, which brings great challenges to the alignment.

[0003] In practice, the operating unit can be arranged on a trackable or movable device, such as a mechanical arm, and the target object is tracked by using the trackable or movable device. In order to ensure safety during operation, the operation is stopped during the movement of the trackable or movable device, and then restarted after the trackable or movable device moves to the optimal interval.

[0004] However, the above operation mode will cause the operation to be frequently started and stopped. On the one hand, this will affect the frequency, rhythm, or duration of the operation, and thus affect the operation efficiency. On the other hand, it will also increase the wear and tear of the accessories and reduce the service life of the equipment.

[0005] Therefore, the frequent start and stop of the operation in the process of tracking the target object by using the trackable or movable device is a technical problem to be solved. SUMMARY

[0006] In order to solve at least one aspect of the above problems and defects in the prior art, embodiments of the present application provide a control method for tracking a target object, a control device for tracking a target object, an electronic device, and a readable storage medium to solve the problem of frequent start and stop of operation in the process of tracking the target object by using the trackable or movable device. Embodiments of the present application at least partially eliminate unnecessary frequent start and stop of operation.

[0007] An object of the present application is to provide a control method for tracking a target object.

[0008] Another object of the present application is to provide a control device for tracking a target object.

[0009] Still another object of the present application is to provide an electronic device.

[0010] A further object of the present application is to provide a readable storage medium.

[0011] According to an aspect of the present application, there is provided a control method for tracking a target object, the control method comprising:

[0012] obtaining first spatial information of the tracking device and second spatial information of the target object, and determining a tracking parameter between the tracking device and the target object based on the first spatial information and the second spatial information;

[0013] determining a relationship between the tracking parameter and a range of the tracking target object preset by the tracking device, wherein the range of the tracking target object preset by the tracking device comprises a holding area, an active tracking area, an inactive tracking area, and an abnormal termination area;

[0014] controlling movement of the tracking device according to the relationship between the tracking parameter and the range of the tracking target object preset by the tracking device, and determining whether to perform work on the target object.

[0015] In some embodiments, when it is determined that the tracking parameter is in the holding area, the tracking device is stationary, and work on the target object is started or continued.

[0016] In some embodiments, when it is determined that the tracking parameter is in the active tracking area, the tracking parameter is brought into the holding area by movement of the tracking device, and work on the target object is not stopped during movement of the tracking device.

[0017] In some embodiments, when it is determined that the tracking parameter is in the inactive tracking area, work on the target object is stopped, the tracking parameter is brought into the holding area by movement of the tracking device, and work on the target object is restarted.

[0018] In some embodiments, when it is determined that the tracking parameter is in the abnormal termination area, work on the target object is stopped, and movement of the tracking device is also stopped.

[0019] In some embodiments, when it is determined that the tracking parameter is in the holding area, it is determined whether work on the target object is stopped,

[0020] If work on the target object is not stopped, the determination of the relationship between the tracking parameter and the range of the tracking target object preset by the tracking device is continuously performed to determine in real time or at intervals which area in the range of the tracking target object preset by the tracking device the tracking parameter is in.

[0021] If the operation on the target object has been stopped, a stop operation time is determined and a relationship between the stop operation time and a time threshold is determined, wherein when the stop operation time is greater than the time threshold, the operation is started and the determination of the relationship between the tracking parameter and the range of the tracking target object preset by the tracking device is continued to determine in real time or at intervals which area in the range of the tracking target object preset by the tracking device the tracking parameter is in; when the stop operation time is less than or equal to the time threshold, the stop operation is continued to be maintained, and the determination of the relationship between the tracking parameter and the range of the tracking target object preset by the tracking device is continued to determine in real time or at intervals which area in the range of the tracking target object preset by the tracking device the tracking parameter is in.

[0022] In some embodiments, the first spatial information comprises a position coordinate of the tracking device,

[0023] The second spatial information comprises a position coordinate of the target object,

[0024] The tracking parameter between the tracking device and the target object comprises an absolute value of a relative distance between the tracking device and the target object,

[0025] A first threshold value, a second threshold value and a third threshold value are set in the range of the tracking target object preset by the tracking device, the first threshold value is less than the second threshold value, and the second threshold value is less than the third threshold value,

[0026] The maintained area is in a range greater than or equal to 0 and less than the first threshold value,

[0027] The active tracking area is in a range greater than or equal to the first threshold value and less than the second threshold value,

[0028] The inactive tracking area is in a range greater than or equal to the second threshold value and less than the third threshold value,

[0029] The abnormal termination area is in a range greater than or equal to the third threshold value.

[0030] In some embodiments, the first spatial information comprises a position coordinate and an attitude of the tracking device,

[0031] The second spatial information comprises a position coordinate and an attitude of the target object,

[0032] The tracking parameter between the tracking device and the target object comprises an absolute value of a relative distance between the tracking device and the target object and an absolute value of a spatial included angle,

[0033] The first distance sub-threshold value is smaller than the second distance sub-threshold value, the first angle sub-threshold value is smaller than the second angle sub-threshold value, the second distance sub-threshold value is smaller than the third distance sub-threshold value, and the second angle sub-threshold value is smaller than the third angle sub-threshold value,

[0034] The keeping area is an area surrounded by a value greater than or equal to 0 and smaller than the first distance sub-threshold value and a value greater than or equal to 0 and smaller than the first angle sub-threshold value,

[0035] The business tracking area is an area surrounded by a value greater than or equal to the first distance sub-threshold value and smaller than the second distance sub-threshold value and a value greater than or equal to the first angle sub-threshold value and smaller than the second angle sub-threshold value,

[0036] The non-business tracking area is an area surrounded by a value greater than or equal to the second distance sub-threshold value and smaller than the third distance sub-threshold value and a value greater than or equal to the second angle sub-threshold value and smaller than the third angle sub-threshold value,

[0037] The abnormal termination area is an area surrounded by a value greater than or equal to the third distance sub-threshold value or a value greater than or equal to the third angle sub-threshold value.

[0038] In some embodiments, the first spatial information includes a position coordinate and an attitude of the tracking device,

[0039] The second spatial information includes a position coordinate and an attitude of the target object,

[0040] The tracking parameters between the tracking device and the target object include an absolute value of a relative distance and an absolute value of a spatial included angle between the tracking device and the target object,

[0041] The first distance sub-threshold value is smaller than the second distance sub-threshold value, the second distance sub-threshold value is smaller than the third distance sub-threshold value, and the second angle sub-threshold value is smaller than the third angle sub-threshold value,

[0042] The keeping area is an area surrounded by a value greater than or equal to 0 and smaller than the first distance sub-threshold value and a value greater than or equal to 0 and smaller than the second angle sub-threshold value,

[0043] The business tracking area is an area surrounded by a value greater than or equal to the first distance sub-threshold value and smaller than the second distance sub-threshold value and a value greater than or equal to 0 and smaller than the second angle sub-threshold value,

[0044] The non-business tracking area is an area surrounded by a value greater than or equal to the second distance sub-threshold value and smaller than the third distance sub-threshold value and a value greater than or equal to the second angle sub-threshold value and smaller than the third angle sub-threshold value,

[0045] The abnormal termination area is an area surrounded by a third distance sub-threshold or a third angle sub-threshold.

[0046] In some embodiments, the first spatial information comprises position coordinates and an attitude of the tracking device,

[0047] The second spatial information comprises position coordinates and an attitude of the target object,

[0048] The tracking parameter between the tracking device and the target object comprises an absolute value of a relative distance and an absolute value of a spatial included angle between the tracking device and the target object,

[0049] The first angle sub-threshold is smaller than the second angle sub-threshold, the second distance sub-threshold is smaller than the third distance sub-threshold, and the second angle sub-threshold is smaller than the third angle sub-threshold,

[0050] The holding area is an area surrounded by a distance greater than or equal to 0 and smaller than the second distance sub-threshold and an angle greater than or equal to 0 and smaller than the first angle sub-threshold,

[0051] The active tracking area is an area surrounded by a distance greater than or equal to 0 and smaller than the second distance sub-threshold and an angle greater than or equal to the first angle sub-threshold and smaller than the second angle sub-threshold,

[0052] The inactive tracking area is an area surrounded by a distance greater than or equal to the second distance sub-threshold and smaller than the third distance sub-threshold and an angle greater than or equal to the second angle sub-threshold and smaller than the third angle sub-threshold,

[0053] The abnormal termination area is an area surrounded by a third distance sub-threshold or a third angle sub-threshold.

[0054] In some embodiments, the first spatial information and the second spatial information are obtained by a visual positioning system.

[0055] According to another aspect of the present application, a control device for tracking a target object is provided, the control device comprising:

[0056] a tracking parameter obtaining module configured to obtain first spatial information of a tracking device and second spatial information of a target object, and determine a tracking parameter between the tracking device and the target object based on the first spatial information and the second spatial information;

[0057] a relationship determining module in communication connection with the tracking parameter obtaining module, configured to determine a relationship between the tracking parameter and a tracking target range preset by the tracking device, wherein the tracking target range preset by the tracking device comprises a holding zone, an active tracking zone, an inactive tracking zone and an abnormal termination zone;

[0058] a control module in communication connection with the relationship determining module, configured to control movement of the tracking device and determine whether to perform work on the target object according to the relationship between the tracking parameter and the tracking target range preset by the tracking device.

[0059] In some embodiments, the control module is configured to:

[0060] when it is determined that the tracking parameter is in the holding zone, causing the tracking device to be stationary, starting work on the target object or continuing work on the target object;

[0061] when it is determined that the tracking parameter is in the active tracking zone, causing the tracking device to move and causing the tracking parameter determined after movement of the tracking device to be in the holding zone, work on the target object not being stopped during movement of the tracking device;

[0062] when it is determined that the tracking parameter is in the inactive tracking zone, stopping work on the target object, causing the tracking device to move and causing the tracking parameter determined after movement of the tracking device to be in the holding zone and restarting work on the target object,

[0063] when it is determined that the tracking parameter is in the abnormal termination zone, stopping work on the target object and causing movement of the tracking device to stop.

[0064] In some embodiments, the control module is further configured to, when it is determined that the tracking parameter is in the holding zone, determining whether work on the target object is stopped,

[0065] if work on the target object is not stopped, generating a signal to continue to determine the relationship between the tracking parameter and the tracking target range preset by the tracking device and transmitting the signal to the relationship determining module;

[0066] if work on the target object is stopped, determining a work stop time and determining a relationship between the work stop time and a time threshold, when the work stop time is greater than the time threshold, starting work, generating the signal to continue to determine the relationship between the tracking parameter and the tracking target range preset by the tracking device and transmitting the signal to the relationship determining module; when the work stop time is less than or equal to the time threshold, continuing to keep work stopped, generating the signal to continue to determine the relationship between the tracking parameter and the tracking target range preset by the tracking device and transmitting the signal to the relationship determining module.

[0067] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0068] A memory and a processor, wherein the memory stores a program, and the processor, when executing the program in the memory, implements the control method according to any of the foregoing embodiments.

[0069] According to another aspect of the present invention, a readable storage medium is provided, wherein a computer-readable program or instructions are stored therein, which, when executed by a processor, implement the control method according to any of the foregoing embodiments.

[0070] The target tracking control method, target tracking control device, electronic device, and readable storage medium according to the present invention have at least one of the following advantages:

[0071] (1) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention allow for precise and continuous operation without human intervention;

[0072] (2) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention allow the operation to continue during the movement of the robotic arm while the tracking parameters are within a range (within the tracking area), thereby at least partially eliminating unnecessary operation stops and reducing the occurrence of frequent operation starts and stops;

[0073] (3) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can reduce the adverse effects of reduced work efficiency and reduced equipment life caused by frequent start-stop;

[0074] (4) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can take into account two parameters: the spatial position and attitude of the tracking device and the target, which is conducive to tracking the target more accurately.

[0075] (5) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can obtain the spatial information of the tracking device and the target in real time, so as to control the movement and start and stop of the tracking device in real time, without having to complete the predetermined target and then turn to a new target;

[0076] (6) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention are equipped with the judgment of operation stop time, thereby realizing the safe control of delayed start operation. Attached Figure Description

[0077] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0078] Figure 1 A control method for tracking a target object according to an embodiment of the present invention is shown;

[0079] Figure 2 This illustrates the determination of tracking parameters based on position coordinates according to an embodiment of the present invention;

[0080] Figure 3 The range of the target object preset by the tracking device according to an embodiment of the present invention is shown;

[0081] Figure 4 This illustrates the determination of tracking parameters based on position coordinates and attitude according to another embodiment of the present invention;

[0082] Figure 5 This illustrates the range of a target object pre-defined by a tracking device according to another embodiment of the present invention;

[0083] Figure 6 This illustrates the range of a target object preset by a tracking device according to yet another embodiment of the present invention;

[0084] Figure 7 The range of the target object preset by the tracking device according to yet another embodiment of the present invention is shown. Detailed Implementation

[0085] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0086] In embodiments of the present invention, a control method for tracking a target object is provided. For example... Figure 1 As shown, the control method includes:

[0087] Obtain first spatial information of the tracking device and second spatial information of the target object, and determine the tracking parameters between the tracking device and the target object based on the first spatial information and the second spatial information;

[0088] Determine the relationship between the tracking parameters and the range of the tracking target preset by the tracking device, wherein the range of the tracking target preset by the tracking device includes the holding area, the business tracking area, the business closure tracking area, and the abnormal termination area;

[0089] The movement of the tracking device and whether to perform operations on the target object are controlled based on the relationship between the tracking parameters and the range of the target object preset by the tracking device.

[0090] The control method of this invention can include a holding zone, a continuous tracking zone, a stop tracking zone, and an abnormal termination zone within the preset tracking target range of the tracking device. It determines which zone the obtained tracking parameters fall into and controls the movement of the tracking device accordingly, determining whether to perform work on the target object. For example, the control method of this invention allows the tracking device to move while continuing work on the target object when the tracking parameters are in the continuous tracking zone, thus eliminating to some extent the necessity of stopping work when the tracking device moves.

[0091] The control method of the present invention controls the movement and start / stop of the tracking device based on the relationship between the tracking parameters and the range of the target object preset by the tracking device, thereby allowing continuous and accurate operation without human intervention, reducing the need for manual operation and improving the automation process of the operation.

[0092] The tracking device can be a movable device used to track a target object. For example, the tracking device can be a robotic arm or a movable trolley.

[0093] The working unit is used to perform operations on the target object. For example, the working unit includes a scalpel, a laser ablation needle, a bone drill, a biopsy needle, or a stimulation coil. In an embodiment of the present invention, the working unit is mounted on a tracking device. Through the movement of the tracking device, the working unit can be aligned with the target object, thereby achieving precise operation.

[0094] The target object is the object to be performed. For example, the target object includes different body parts of the subject, such as the head, feet, etc.

[0095] The embodiments of the present invention are not limited to specific examples of tracking devices, work units, and targets. Those skilled in the art can determine suitable tracking devices, work units, and targets as needed.

[0096] In one example, the tracking device is a tracking device for an entity, and the target object is the target object of the entity. That is, the control method of the embodiments of the present invention is applicable to the process of controlling the tracking device for an entity and the operation on the target object of the entity.

[0097] In another example, the tracking device can also be a virtual tracking device, and similarly, the target object can be a virtual target object. That is, the control method of the embodiments of the present invention is applicable to the process of controlling a virtual tracking device and operating on a virtual target object in a virtual scene.

[0098] In embodiments of the present invention, a visual positioning system is used to obtain first spatial information of the tracking device and second spatial information of the target object. For example, the visual positioning system includes an infrared positioning system, a structured light visual positioning system, a laser visual positioning system, a monocular camera, a binocular camera, etc. The embodiments disclosed herein are not limited to these, as long as the spatial information of the tracking device and the target object can be obtained.

[0099] In embodiments of the present invention, the control method acquires the first spatial information of the tracking device and the second spatial information of the target object in real time. Thus, during tracking, when the spatial position of the target object changes continuously, the control method can adjust the movement path of the tracking device promptly based on the latest second spatial information of the target object, rather than having the tracking device move along a predetermined path to a predetermined target and then turn to a new target. In other words, the control method of the present invention has better real-time performance.

[0100] Alternatively, the control method of the present invention acquires first spatial information of the tracking device and second spatial information of the target object at intervals. This reduces the number of determinations required. The interval can be determined according to operational requirements, for example, 1 second, 2 seconds, 5 seconds, or longer.

[0101] In embodiments of the present invention, when the tracking parameters are determined to be in the holding zone, the tracking device remains stationary, and the operation on the target object is initiated or continues. When the tracking parameters are in the holding zone, they are already within the optimal accuracy range (the optimal accuracy range is the range that meets the requirements of precise operation, which is determined according to the specific operation requirements and the movement accuracy of the tracking device). That is, the tracking device and the target object are already in an optimal state, so there is no need to adjust the tracking device or move it; the operation can be initiated or the operation on the target object can continue. Thus, the control method of the present invention reduces the necessity of moving the tracking device when the tracking parameters are in the holding zone, thereby reducing the frequent movement of the tracking device.

[0102] In embodiments of the present invention, when the tracking parameters are determined to be within the belt tracking zone, the tracking parameters are kept within the holding zone by moving the tracking device, and the operation on the target object does not stop during the movement of the tracking device. Even when the tracking parameters are within the belt tracking zone, though exceeding the optimal accuracy range, they are still within the acceptable range for the operation (the acceptable range is determined based on specific operation requirements and the movement accuracy of the tracking device, for example, within 30% or 50% of the optimal accuracy range). Only minor adjustments to the tracking device are needed to bring the tracking parameters back to the optimal accuracy range. Moreover, this minor adjustment does not affect the safety of the operation. Based on this consideration, the control method of the present invention allows the tracking device to move without stopping the operation when the tracking parameters are within the belt tracking zone, thereby ultimately ensuring the parameters are within the holding zone. Thus, embodiments of the present invention eliminate the necessity of stopping the operation in this situation, while achieving precise continuous operation and operational safety.

[0103] In embodiments of the present invention, when the tracking parameters are determined to be in the stoppage tracking zone, the operation on the target object is stopped. The tracking parameters are then moved to the holding zone by the movement of the tracking device, and the operation on the target object is restarted. When the tracking parameters are in the stoppage tracking zone, the tracking parameters exceed the acceptable accuracy range for the operation, but are still within the tracking range that the tracking device can track (the tracking range of the tracking device is determined according to the specific operation requirements and the movement accuracy of the tracking device, for example, within 80% or 100% of the optimal accuracy range). At this time, the operation on the target object is stopped, the tracking device is moved until it enters the optimal accuracy range, and then the operation on the target object is restarted. In this way, the control method of the present invention fully utilizes the automation advantages of the tracking device while ensuring the safety of the operation.

[0104] In an embodiment of the present invention, when the tracking parameters are determined to be in the abnormal termination zone, the operation on the target object is stopped, and the movement of the tracking device also stops. When the tracking parameters are in the abnormal termination zone, the tracking parameters exceed the acceptable accuracy range of the operation and also exceed the tracking range that the tracking device can track. In order to ensure the safety of the operation, it is necessary to control the operation to stop and stop the movement of the tracking device.

[0105] In one example, factors that could cause the tracking parameters to fall into the abnormal termination zone include: external impact, target object monitoring failure, target object exceeding the tracking range of the tracking device, timeout in reaching the target object, and malfunction of the tracking device itself. Under these circumstances, continued operation would severely compromise the safety of the target object; therefore, operation and the movement of the tracking device must be stopped. Operation and the movement of the tracking device can only be restarted after these factors have been eliminated.

[0106] Furthermore, to avoid frequent start-stop operations, the control method of this invention incorporates a delayed start mechanism. Specifically, when the tracking parameters are determined to be in the holding range, the control method of this invention determines whether to stop the operation on the target object.

[0107] If the operation on the target object does not stop, the process continues to determine the relationship between the tracking parameters and the preset range of the target object by the tracking device, so as to determine in real time or at intervals which zone of the preset range of the target object the tracking parameters fall within.

[0108] The control method of the present invention performs corresponding operations based on the determined results. For example, when the tracking parameters are in the holding zone, the tracking device stops and starts or continues the operation on the target object; when the tracking parameters are in the belt tracking zone, the tracking device moves to the point where the tracking parameters are in the holding zone, and the operation does not stop during the movement of the tracking device, etc. Specific operation procedures can be found in the above embodiments.

[0109] In one example, the interval period can be set to 1 second, 2 seconds, or longer. The specific interval period can be determined according to the job requirements.

[0110] If the operation on the target object has stopped, the operation stop time is determined, and the relationship between the operation stop time and a time threshold is determined. The time threshold can be determined according to the specific operation requirements, and the embodiments of the present invention do not limit the specific value. For example, for magnetic stimulation operations, the time threshold can be set to 10 seconds, 15 seconds, or a longer time.

[0111] When the operation stop time exceeds a time threshold, the operation is started and continues to determine the relationship between the tracking parameters and the range of the target object preset by the tracking device, thereby determining in real time or at intervals which zone of the target object's range the tracking parameters fall within. When the operation stop time is less than or equal to the time threshold, the operation remains stopped, and the process of determining the relationship between the tracking parameters and the range of the target object preset by the tracking device continues, thereby determining in real time or at intervals which zone of the target object's range the tracking parameters fall within. Thus, the control method of the present invention achieves delayed start-up, thereby avoiding frequent start-stop operations; specifically, the operation is only started after the stop time reaches the time threshold.

[0112] In embodiments of the present invention, spatial information of the tracking device and the target object, the status and operation of the tracking device, start and stop of operations, and abnormal situations can be displayed or prompted through various means such as pop-ups, warnings, status bars, and information streams. This allows operators to easily understand relevant information, thereby facilitating efficient operation.

[0113] In one example, the first spatial information includes the position coordinates of the tracking device, the second spatial information includes the position coordinates of the target object, and the tracking parameters between the tracking device and the target object include the absolute value L of the relative distance between them. That is, as shown... Figure 2 As shown, embodiments of the present invention determine tracking parameters based on the position coordinate parameter, and control the movement and start / stop of the tracking device based on this parameter.

[0114] It should be noted that the position coordinates of the tracking device can be the position coordinates of a point on the working unit of the tracking device. This point can be called the working focus. The working focus can be selected as needed. For example, it can be the center point of the front face of the working unit, the center point of the top of the working unit, or the center point of the bottom of the working unit. As another example, during magnetic stimulation, the strongest point of the magnetic field generated by the working unit (e.g., a magnetic stimulation coil) can be selected as the working focus. Similarly, the position coordinates of the target object can be the position coordinates of a point on the target object. This point can be called the target point. The target point can be selected as needed. For example, it can be the center of mass of the target object, the center point of the top of the target object, or the center point of the bottom of the target object. As another example, a point on the subject's body part can be selected as the target point, such as a point on the head.

[0115] Accordingly, within the preset range of the tracking target object in the tracking device, a first threshold A1, a second threshold A2, and a third threshold A3 are set, where the first threshold A1 is less than the second threshold A2, and the second threshold A2 is less than the third threshold A3. For example... Figure 3 As shown, the maintenance zone is within the range of greater than or equal to 0 and less than the first threshold A1, the business tracking zone is within the range of greater than or equal to the first threshold A1 and less than the second threshold A2, the business suspension tracking zone is within the range of greater than or equal to the second threshold A2 and less than the third threshold A3, and the abnormal termination zone is within the range of greater than or equal to the third threshold A3.

[0116] The first threshold A1, the second threshold A2, and the third threshold A3 of the present invention can be determined according to specific operational requirements and the motion accuracy of the tracking device. Specifically, the first threshold A1 is determined based on the optimal accuracy range of the operation. The second threshold A2 is determined based on the acceptable range of the operation. The third threshold A3 is determined based on the trackable range of the tracking device.

[0117] For example, when performing magnetic stimulation, if the optimal accuracy range is within 5 mm, then the first threshold A1 is 5 mm; if the acceptable range is within 7.5 mm, then the second threshold A2 is 7.5 mm; if the tracking device can track within 10 mm, then the third threshold A3 is 10 mm.

[0118] Alternatively, when performing magnetic stimulation, if the optimal accuracy range is within 5 mm, then the first threshold A1 is 4 mm; if the acceptable range is within 7.5 mm, then the second threshold A2 is 7 mm; and if the tracking range is within 10 mm, then the third threshold A3 is 9 mm.

[0119] However, those skilled in the art will understand that the embodiments of the present invention do not specifically limit these thresholds, and they can be determined according to different application scenarios.

[0120] In another example, the first spatial information includes the position coordinates and attitude of the tracking device, and the second spatial information includes the position coordinates and attitude of the target object. The tracking parameters between the tracking device and the target object include the absolute value of the relative distance L between them and the absolute value of the spatial angle α. The attitude of the tracking device represents the current operating direction. The attitude of the target object represents the target operating direction, i.e., the optimal input direction for the target object to receive the operation. When the current operating direction and the target operating direction are on the same plane, the absolute value of the spatial angle α is the absolute value of the angle between the current operating direction and the target operating direction. When the current operating direction and the target operating direction are not on the same plane, the current operating direction is translated to the plane containing the target operating direction, and the absolute value of the resulting angle is the absolute value of the spatial angle α; or the target operating direction is translated to the plane containing the current operating direction, and the absolute value of the resulting angle is the absolute value of the spatial angle α. Figure 4 As shown, the current embodiment of the present invention determines the tracking parameters based on two parameters: position coordinates and attitude, and controls the movement of the tracking device and the start and stop of the operation based on these two parameters. Compared to a single dimension of position coordinates, controlling the operation from two dimensions allows for more precise control.

[0121] It should also be noted that the orientation of the tracking device can be the orientation of a point on the working unit of the tracking device. This point can be called the working focus. The working focus can be selected as needed. For example, the center point of the front face of the working unit, the center point of the top of the working unit, or the center point of the bottom of the working unit can be selected. For another example, during magnetic stimulation, the strongest point of the magnetic field generated by the working unit (e.g., a magnetic stimulation coil) can be selected as the working focus. In one example, the center point of the front face of the working unit can be selected, and the orientation of that center point can be obtained. Similarly, the orientation of the target object can be the orientation of a point on the target object, which can be called the target point. This target point can be selected as needed. For example, the center of mass of the target object, the center point of the top of the target object, or the center point of the bottom of the target object can be selected. For another example, a point on the subject's body part can be selected as the target point, such as a point on the head.

[0122] Accordingly, within the preset range of the tracking target object in the tracking device, a first distance sub-threshold B1, a first angle sub-threshold C1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle sub-threshold C3 are set. The first distance sub-threshold B1 is less than the second distance sub-threshold B2, the first angle sub-threshold C1 is less than the second angle sub-threshold C2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle sub-threshold C2 is less than the third angle sub-threshold C3. Figure 5 As shown, the maintenance zone is the area enclosed by a distance sub-threshold B1 greater than or equal to 0 and less than the first distance sub-threshold B1 and a distance sub-threshold C1 greater than or equal to 0 and less than the first angle sub-threshold C1; the business tracking zone is the area enclosed by a distance sub-threshold B1 greater than or equal to the first distance sub-threshold B1 and less than the second distance sub-threshold B2 and greater than or equal to the first angle sub-threshold C1 and less than the second angle sub-threshold C2; the business suspension tracking zone is the area enclosed by a distance sub-threshold B2 greater than or equal to the second distance sub-threshold B3 and greater than or equal to the second angle sub-threshold C2 and less than the third angle sub-threshold C3; and the abnormal termination zone is the area enclosed by a distance sub-threshold B3 greater than or equal to the third angle sub-threshold C3.

[0123] The first distance sub-threshold B1, the first angle sub-threshold C1, the second distance sub-threshold B2, the second angle sub-threshold C2, the third distance sub-threshold B3, and the third angle sub-threshold C3 of the present invention can be determined according to specific operational requirements and the motion accuracy of the tracking device. Specifically, the first distance sub-threshold B1 and the first angle sub-threshold C1 are determined based on the optimal accuracy range of the operation. The second distance sub-threshold B2 and the second angle sub-threshold C2 are determined based on the acceptable range of the operation. The third distance sub-threshold B3 and the third angle sub-threshold C3 are determined based on the trackable range of the tracking device.

[0124] For example, when performing magnetic stimulation, the optimal accuracy range is within 5mm of distance and within 5° of angle, so the first distance sub-threshold B1 is 5mm and the first angle sub-threshold C1 is 5°; the acceptable range is within 7.5mm of distance and within 7.5° of angle, so the second distance sub-threshold B2 is 7.5mm and the second angle sub-threshold C2 is 7.5°; the tracking range that the tracking device can track is within 10mm of distance and within 10° of angle, so the third distance sub-threshold B3 is 10mm and the third angle sub-threshold C3 is 10°.

[0125] Alternatively, when performing magnetic stimulation, if the optimal accuracy range is within 5 mm of distance and within 5° of angle, then the first distance sub-threshold B1 is 4 mm and the first angle sub-threshold C1 is 4°; if the acceptable range is within 7.5 mm of distance and within 7.5° of angle, then the second distance sub-threshold B2 is 7 mm and the second angle sub-threshold C2 is 7°; if the tracking device can track within 10 mm of distance and within 10° of angle, then the third distance sub-threshold B3 is 9 mm and the third angle sub-threshold C3 is 9°.

[0126] However, those skilled in the art will understand that the embodiments of the present invention do not specifically limit these thresholds, and they can be determined according to different application scenarios.

[0127] In another example, the first spatial information includes the position coordinates and attitude of the tracking device, and the second spatial information includes the position coordinates and attitude of the target object. The tracking parameters between the tracking device and the target object include the absolute value of the relative distance L between the tracking device and the target object and the absolute value of the spatial angle α. The attitude of the tracking device represents the current working direction. The attitude of the target object represents the target working direction, that is, the optimal input direction for the target object to receive the operation. When the current working direction and the target working direction are on the same plane, the absolute value of the spatial angle α is the absolute value of the angle between the current working direction and the target working direction. When the current working direction and the target working direction are not on the same plane, the current working direction is translated to the plane where the target working direction is located, and the absolute value of the angle formed by this is the absolute value of the spatial angle α; or the target working direction is translated to the plane where the current working direction is located, and the absolute value of the angle formed by this is the absolute value of the spatial angle α. Within the preset range of the tracking target object in the tracking device, a first distance sub-threshold B1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle threshold C3 are set. The first distance sub-threshold B1 is less than the second distance sub-threshold B2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle threshold C2 is less than the third angle threshold C3. For example... Figure 6 As shown, the holding zone is the area enclosed by a distance greater than or equal to 0 and less than the first distance sub-threshold B1 and a distance greater than or equal to 0 and less than the second angle sub-threshold C2; the business tracking zone is the area enclosed by a distance greater than or equal to the first distance sub-threshold B1 and less than the second distance sub-threshold B2 and a distance greater than or equal to 0 and less than the second angle sub-threshold C2; the business suspension tracking zone is the area enclosed by a distance greater than or equal to the second distance sub-threshold B2 and less than the third distance sub-threshold B3 and a distance greater than or equal to the second angle sub-threshold C2 and less than the third angle sub-threshold C3; and the abnormal termination zone is the area enclosed by a distance greater than or equal to the third distance sub-threshold B3 or a distance greater than or equal to the third angle sub-threshold C3.

[0128] Figure 6The example considers both position and angle dimensions, but when determining the holding zone and the tracking zone, it does not set separate angle sub-thresholds for each zone. Instead, both are determined based on the same angle sub-threshold (i.e., the second angle sub-threshold C2). This is particularly suitable for operations where the accuracy of the angle is not critical, in order to minimize the movement of the tracking device.

[0129] Figure 6 The determination of the threshold in the example and Figure 5 The threshold determination is the same as in the example, and will not be repeated here.

[0130] In another example, the first spatial information includes the position coordinates and attitude of the tracking device, and the second spatial information includes the position coordinates and attitude of the target object. The tracking parameters between the tracking device and the target object include the absolute value of the relative distance L between the tracking device and the target object and the absolute value of the spatial angle α. The attitude of the tracking device represents the current working direction. The attitude of the target object represents the target working direction, that is, the optimal input direction for the target object to receive the operation. When the current working direction and the target working direction are on the same plane, the absolute value of the spatial angle α is the absolute value of the angle between the current working direction and the target working direction. When the current working direction and the target working direction are not on the same plane, the current working direction is translated to the plane where the target working direction is located, and the absolute value of the angle formed by this is the absolute value of the spatial angle α; or the target working direction is translated to the plane where the current working direction is located, and the absolute value of the angle formed by this is the absolute value of the spatial angle α. Within the preset range of the tracking target object in the tracking device, a first angle sub-threshold C1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle sub-threshold C3 are set. The first angle sub-threshold C1 is less than the second angle sub-threshold C2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle sub-threshold C2 is less than the third angle sub-threshold C3. For example... Figure 7 As shown, the holding zone is the area enclosed by a distance greater than or equal to 0 and less than the second distance sub-threshold B2 and a distance greater than or equal to 0 and less than the first angle sub-threshold C1; the business tracking zone is the area enclosed by a distance greater than or equal to 0 and less than the second distance sub-threshold B2 and a distance greater than or equal to the first angle sub-threshold C1 and less than the second angle sub-threshold C2; the business suspension tracking zone is the area enclosed by a distance greater than or equal to the second distance sub-threshold B2 and less than the third distance sub-threshold B3 and a distance greater than or equal to the second angle sub-threshold C2 and less than the third angle sub-threshold C3; and the abnormal termination zone is the area enclosed by a distance greater than or equal to the third distance sub-threshold B3 or a distance greater than or equal to the third angle sub-threshold C3.

[0131] Figure 7The example considers both position and angle dimensions, but when determining the holding zone and the tracking zone, it does not set separate distance sub-thresholds for each zone. Instead, both are determined based on the same distance sub-threshold (i.e., the second distance sub-threshold B2). This is particularly suitable for operations where distance accuracy requirements are not high, in order to minimize the movement of the tracking device.

[0132] Figure 7 The determination of the threshold in the example and Figure 5 The threshold determination is the same as in the example, and will not be repeated here.

[0133] In the control method of this invention, the process of tracking the target object is linked to the operation on the target object. On the one hand, the start of the tracking process can be triggered by human instructions, preset plans, etc.; the termination of the tracking process can be based on factors such as operation completion, operation termination, and abnormal termination. On the other hand, the tracking process, in turn, affects the start and stop of the operation: when the tracking parameters are in the holding zone or the tracking zone with operation, the operation on the target object is started; when the tracking parameters leave the holding zone or the tracking zone with operation, the operation on the target object is stopped; when the tracking parameters are in the abnormal termination zone (i.e., the tracking process stops abnormally), the operation on the target object is stopped.

[0134] In an embodiment of the present invention, a control device for tracking a target object is provided. The control device includes a tracking parameter acquisition module, a relationship determination module, and a control module. The control device is capable of implementing the control method described in any of the foregoing embodiments.

[0135] The tracking parameter acquisition module is configured to acquire first spatial information of the tracking device and second spatial information of the target object, and determine the tracking parameters between the tracking device and the target object based on the first spatial information and the second spatial information.

[0136] The relationship determination module is communicatively connected to the tracking parameter acquisition module. The relationship determination module is configured to determine the relationship between the tracking parameters and the range of the tracking target object preset by the tracking device. In one example, the range of the tracking target object preset by the tracking device includes a holding area, a business tracking area, a business closure tracking area, and an abnormal termination area. For a detailed description of the holding area, business tracking area, business closure tracking area, and abnormal termination area, please refer to the foregoing embodiments; further details will not be repeated here.

[0137] The control module communicates with the relationship determination module. The control module is configured to control the movement of the tracking device and determine whether to perform operations on the target object based on the relationship between the tracking parameters and the preset range of the tracking target.

[0138] Furthermore, the control module is configured to: when the tracking parameters are determined to be in the holding zone, stop the tracking device and start or continue the operation on the target object; when the tracking parameters are determined to be in the ongoing tracking zone, move the tracking device so that the tracking parameters determined after the movement of the tracking device are in the holding zone, and the operation on the target object does not stop during the movement of the tracking device; when the tracking parameters are determined to be in the off-track tracking zone, stop the operation on the target object, move the tracking device so that the tracking parameters determined after the movement of the tracking device are in the holding zone, and restart the operation on the target object; when the tracking parameters are determined to be in the abnormal termination zone, stop the operation on the target object and stop the movement of the tracking device. The control device of the present invention utilizes a control module to control the movement of the tracking device and the start and stop of the operation on the target object when the tracking parameters are in different ranges for tracking targets, ensuring safety while reducing the frequency of operation start and stop to a certain extent.

[0139] In one example, the control module is also configured to determine whether to stop the operation on the target object when the tracking parameters are determined to be in the holding zone.

[0140] If the operation on the target object does not stop, a signal is generated to continue determining the relationship between the tracking parameters and the preset tracking range of the target object by the tracking device, and this signal is transmitted to the relationship determination module. The relationship determination module determines the relationship between the tracking parameters and the preset tracking range of the target object by the tracking device based on the received signal.

[0141] If the operation on the target object has stopped, the operation stop time is determined, and the relationship between the stop time and a time threshold is determined. If the operation stop time is greater than the time threshold, the operation is restarted, a signal is generated to continue executing the determination of the relationship between the tracking parameters and the preset tracking target object range of the tracking device, and this signal is transmitted to the relationship determination module. The relationship determination module determines the relationship between the tracking parameters and the preset tracking target object range of the tracking device based on the received signal. If the operation stop time is less than or equal to the time threshold, the operation remains stopped, the signal to continue executing the determination of the relationship between the tracking parameters and the preset tracking target object range of the tracking device is generated, and this signal is transmitted to the relationship determination module. The relationship determination module determines the relationship between the tracking parameters and the preset tracking target object range of the tracking device based on the received signal.

[0142] Thus, the control device of the present invention determines whether to restart the job by checking whether the job stop time exceeds a time threshold. That is, if the job stop time is short and has not yet exceeded the time threshold, the job will not be restarted; instead, the job will be restarted only after the job stop time exceeds the time threshold. Therefore, the control device of the present invention provides a mechanism for delaying job startup, thereby reducing the frequency of job starts and stops to a certain extent.

[0143] In embodiments of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions, which, when executed by a processor, implement the target tracking control method described in any of the above embodiments.

[0144] In embodiments of the present invention, "readable storage medium" refers to any medium that participates in providing a program or instructions to a processor for execution. The medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including conductors containing buses. Transmission media can also take the form of acoustic or optical waves, such as acoustic or optical waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0145] In an embodiment of the present invention, an electronic device is also provided. The electronic device (not shown) includes a processor (not shown) and a memory (not shown). A program is stored in the memory, which, when executed by the processor, can implement the target tracking control method of any of the above examples.

[0146] In one example, the processor can be a microprocessor, such as a general-purpose processor like a graphics processing unit (GPU), a central processing unit (CPU), or a digital signal processor (DSP). In another example, the processor can also be a microprocessor core implemented through hardware circuitry, such as a microprocessor core implemented in hardware logic components using reconfigurable logic, including field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), and the like.

[0147] In one example, the processor can also be a virtual processor, which can be a virtual processor with Intel x86 processor features or a virtual processor with PowerPC processor features. Preferably, the processor is a graphics processor. In one example, the processor can be a single-core processor or a multi-core processor.

[0148] In one example, the memory includes volatile memory (i.e., random access memory) and non-volatile memory. Volatile memory includes main memory, cache, etc., while non-volatile memory includes auxiliary memory, etc. In one example, the memory can be configured as remote memory, which can be connected to the processor via a network (wired or wireless network). The network includes, but is not limited to, wide area networks (WANs), local area networks (LANs), metropolitan area networks (MANs), personal area networks (PANs), the Internet, satellite communication networks, and any combination thereof.

[0149] In one example, the processor creates a corresponding task thread based on a program retrieved from memory and executes the thread. In another example, the processor retrieves a program from secondary storage based on a read instruction from memory to create a corresponding task thread and executes the thread. The above program is used to implement a control method for tracking a target object.

[0150] Although the subject matter described herein is provided in the general context of execution on a computer system in conjunction with an operating system and applications, those skilled in the art will recognize that it can also be implemented in conjunction with other types of program modules. Generally, program modules include routines, programs, components, data structures, and other types of structures that perform specific tasks or implement specific abstract data types. Those skilled in the art will understand that the method steps described in conjunction with any of the examples herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Implementation in hardware or software depends primarily on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods for each specific application to implement the described functionality, but such implementation should not be considered beyond the scope of this application.

[0151] When the method steps are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Therefore, the technical solution of this invention, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various examples of this invention.

[0152] The target tracking control method, target tracking control device, electronic device, and readable storage medium according to the present invention have at least one of the following advantages:

[0153] (1) The target tracking control method, target tracking control device, electronic device and readable storage medium of the present invention allow for precise and continuous operation without human intervention;

[0154] (2) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention allow the operation to continue during the movement of the robotic arm while the tracking parameters are within a range (within the tracking area), thereby at least partially eliminating unnecessary operation stops and reducing the occurrence of frequent operation starts and stops;

[0155] (3) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can reduce the adverse effects of reduced work efficiency and reduced equipment life caused by frequent start-stop;

[0156] (4) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can take into account two parameters: the spatial position and attitude of the tracking device and the target, which is conducive to tracking the target more accurately.

[0157] (5) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention can obtain the spatial information of the tracking device and the target in real time, so as to control the movement and start and stop of the tracking device in real time, without having to complete the predetermined target and then turn to a new target;

[0158] (6) The tracking target control method, tracking target control device, electronic device and readable storage medium of the present invention are equipped with the judgment of operation stop time, thereby realizing the safe control of delayed start operation.

[0159] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for tracking a target object, characterized in that, The control method includes: The tracking device obtains first spatial information and second spatial information of the target object, and determines tracking parameters between the tracking device and the target object based on the first spatial information and the second spatial information, wherein the tracking parameters include the absolute value of the relative distance between the tracking device and the target object and the absolute value of the spatial angle. Determine the relationship between the tracking parameters and the range of the tracking target preset by the tracking device, wherein the range of the tracking target preset by the tracking device includes the holding area, the business tracking area, the business closure tracking area, and the abnormal termination area; The movement of the tracking device and whether to perform work on the target object are controlled according to the relationship between the tracking parameters and the range of the target object preset by the tracking device. When the tracking parameters are determined to be in the working tracking zone, the tracking parameters are kept in the holding zone by the movement of the tracking device, and the work on the target object does not stop during the movement of the tracking device.

2. The control method according to claim 1, characterized in that, When the tracking parameters are determined to be in the holding zone, the tracking device remains stationary, and either starts or continues operation on the target object.

3. The control method according to claim 2, characterized in that, When the tracking parameters are determined to be in the shutdown tracking zone, the operation on the target object is stopped. The tracking parameters are then brought to the holding zone by the movement of the tracking device, and the operation on the target object is restarted.

4. The control method according to claim 3, characterized in that, When the tracking parameters are determined to be in the abnormal termination zone, the operation on the target object is stopped, and the movement of the tracking device also stops.

5. The control method according to any one of claims 2-4, characterized in that, Once the tracking parameters are determined to be in the hold zone, determine whether to stop the operation on the target object. If the operation on the target object does not stop, the process continues to determine the relationship between the tracking parameters and the preset range of the target object of the tracking device, so as to determine in real time or at intervals which zone of the preset range of the target object the tracking parameters are in. If the operation on the target object has stopped, the operation stop time is determined, and the relationship between the operation stop time and a time threshold is determined. If the operation stop time is greater than the time threshold, the operation is started and continues to determine the relationship between the tracking parameters and the range of the target object preset by the tracking device to determine in real time or at intervals which zone of the target object range the tracking parameters are located in. If the operation stop time is less than or equal to the time threshold, the operation remains stopped, and the process of determining the relationship between the tracking parameters and the range of the target object preset by the tracking device continues to determine in real time or at intervals which zone of the target object range the tracking parameters are located in.

6. The control method according to claim 5, characterized in that, The first spatial information includes the position coordinates of the tracking device. The second spatial information includes the location coordinates of the target object. The tracking parameters between the tracking device and the target object include the absolute value of the relative distance between the tracking device and the target object. Within the preset range of the tracking target object in the tracking device, a first threshold, a second threshold, and a third threshold are set, wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold. The holding region is within the range of 0 or greater and less than the first threshold. The belt tracking area is within the range of greater than or equal to the first threshold and less than the second threshold. The business closure tracking zone is defined as the range between a second threshold and a third threshold. The abnormal termination zone is a range greater than or equal to the third threshold.

7. The control method according to claim 5, characterized in that, The first spatial information includes the position coordinates and attitude of the tracking device. The second spatial information includes the target's position coordinates and orientation. The tracking parameters between the tracking device and the target object include the absolute value L of the relative distance between the tracking device and the target object and the absolute value α of the spatial angle. Within the preset tracking target range of the tracking device, a first distance sub-threshold B1, a first angle sub-threshold C1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle sub-threshold C3 are set. The first distance sub-threshold B1 is less than the second distance sub-threshold B2, the first angle sub-threshold C1 is less than the second angle sub-threshold C2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle sub-threshold C2 is less than the third angle sub-threshold C3. The holding region is the region that satisfies the conditions: 0 ≤ L < B1 and 0 ≤ α < C1. The belt tracking area is the region that satisfies the conditions: B1≤L<B2 and C1≤α<C2. The business suspension tracking area is the region that meets the conditions: B2≤L<B3 and C2≤α<C3. The abnormal termination region is a region that satisfies the condition: L≥B3 or α≥C3, and the abnormal termination region also covers the states of all other tracking parameters not defined by the holding region, the business tracking region, and the business suspension tracking region.

8. The control method according to claim 5, characterized in that, The first spatial information includes the position coordinates and attitude of the tracking device. The second spatial information includes the target's position coordinates and orientation. The tracking parameters between the tracking device and the target object include the absolute value L of the relative distance between the tracking device and the target object and the absolute value α of the spatial angle. Within the preset range of the tracking target object in the tracking device, a first distance sub-threshold B1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle threshold C3 are set. The first distance sub-threshold B1 is less than the second distance sub-threshold B2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle threshold C2 is less than the third angle threshold C3. The holding region is the region that satisfies the conditions: 0 ≤ L < B1 and 0 ≤ α < C2. The belt tracking area is the region that satisfies the conditions: B1≤L<B2 and 0≤α<C2. The business suspension tracking area is the region that meets the conditions: B2≤L<B3 and C2≤α<C3. The abnormal termination region is a region that satisfies the condition: L≥B3 or α≥C3, and the abnormal termination region also covers the states of all other tracking parameters not defined by the holding region, the business tracking region, and the business suspension tracking region.

9. The control method according to claim 5, characterized in that, The first spatial information includes the position coordinates and attitude of the tracking device. The second spatial information includes the target's position coordinates and orientation. The tracking parameters between the tracking device and the target object include the absolute value L of the relative distance between the tracking device and the target object and the absolute value α of the spatial angle. Within the preset range of the tracking target object in the tracking device, a first angle sub-threshold C1, a second distance sub-threshold B2, a second angle sub-threshold C2, a third distance sub-threshold B3, and a third angle sub-threshold C3 are set. The first angle sub-threshold C1 is less than the second angle sub-threshold C2, the second distance sub-threshold B2 is less than the third distance sub-threshold B3, and the second angle sub-threshold C2 is less than the third angle sub-threshold C3. The holding region is the region that satisfies the conditions: 0 ≤ L < B2 and 0 ≤ α < C1. The belt tracking area is the region that satisfies the conditions: 0 ≤ L < B2 and C1 ≤ α < C2. The business suspension tracking area is the region that meets the conditions: B2≤L<B3 and C2≤α<C3. The abnormal termination region is a region that satisfies the condition: L≥B3 or α≥C3, and the abnormal termination region also covers the states of all other tracking parameters not defined by the holding region, the business tracking region, and the business suspension tracking region.

10. The control method according to claim 5, characterized in that, The first spatial information of the tracking device and the second spatial information of the target object are obtained through a visual positioning system.

11. A control device for tracking a target object, characterized in that, The control device includes: The tracking parameter acquisition module is configured to acquire first spatial information of the tracking device and second spatial information of the target object, and determine the tracking parameters between the tracking device and the target object based on the first spatial information and the second spatial information. A relationship determination module, which is communicatively connected to the tracking parameter acquisition module, is configured to determine the relationship between the tracking parameters and the range of the tracking target object preset by the tracking device, wherein the range of the tracking target object preset by the tracking device includes a holding area, a business tracking area, a business closure tracking area, and an abnormal termination area. The control module, which is communicatively connected to the relationship determination module, is configured to control the movement of the tracking device and determine whether to perform operations on the target object based on the relationship between the tracking parameters and the range of the target object preset by the tracking device.

12. The control device according to claim 11, characterized in that, The control module is configured to: When the tracking parameters are determined to be in the holding zone, the tracking device is brought to a standstill, and the operation on the target object is started or the operation on the target object is continued. When the tracking parameters are determined to be in the tracking zone, the tracking device is moved so that the tracking parameters determined after the tracking device moves are in the holding zone, and the operation on the target object is not stopped during the movement of the tracking device. When the tracking parameters are determined to be in the shutdown tracking zone, operations on the target object are stopped, the tracking device is moved, and the tracking parameters determined after the movement of the tracking device are placed in the holding zone. Operations on the target object are then restarted. When the tracking parameters are determined to be in the abnormal termination zone, the operation on the target object is stopped, causing the movement of the tracking device to cease.

13. The control device according to claim 12, characterized in that, The control module is also configured to determine whether to stop the operation on the target object when it is determined that the tracking parameters are in the holding range. If the operation on the target object does not stop, a signal is generated to continue executing the relationship between the tracking parameters and the range of the target object preset by the tracking device, and the signal is transmitted to the relationship determination module. If the operation on the target object has stopped, the operation stop time is determined and the relationship between the operation stop time and a time threshold is determined. When the operation stop time is greater than the time threshold, the operation is started, a signal is generated to continue execution to determine the relationship between the tracking parameters and the range of the target object preset by the tracking device, and the signal is transmitted to the relationship determination module. When the operation stop time is less than or equal to the time threshold, the operation is stopped, the signal is generated to continue execution to determine the relationship between the tracking parameters and the range of the target object preset by the tracking device, and the signal is transmitted to the relationship determination module.

14. An electronic device, characterized in that, The electronic device includes: A memory and a processor, wherein the memory stores a program, and the processor, when executing the program in the memory, implements the control method according to any one of claims 1-10.

15. A readable storage medium, characterized in that, The readable storage medium stores a computer-readable program or instructions, which, when executed by a processor, implement the control method according to any one of claims 1-10.

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