A tracking self-adjusting method, device and tracking system

Abstract

Embodiments of the present application disclose a tracking self-adjusting method, device and system. The method comprises: in a tracking process of a camera on a tracking target based on a pan-tilt motion, acquiring a first tracking parameter corresponding to a tracking result in real time; judging whether the first tracking parameter meets a preset motion tracking effect evaluation standard; and adjusting a second tracking parameter of the pan-tilt in a subsequent tracking process according to a judgment result. Through the embodiment, automatic adaptation of a machine core and the pan-tilt is achieved, the tracking effect of the pan-tilt device in the tracking process is effectively optimized, and the adaptability of the device in actual use is improved.

Description

Technical Field

[0001] This application relates to gimbal tracking technology, and more particularly to a tracking self-adjustment method, apparatus, and tracking system. Background Technology

[0002] When the camera mechanism and gimbal work together to achieve the tracking function, they often need to be adapted. This adaptation process requires repeated debugging in the scene to meet the scene's adaptability, which is time-consuming and labor-intensive. Summary of the Invention

[0003] This application provides a tracking self-adjustment method, device, and tracking system that can achieve automatic adaptation between the tracking mechanism and the gimbal, effectively optimize the tracking effect of the gimbal device during the tracking process, and improve the adaptability of the device in actual use.

[0004] This application provides a tracking self-adjustment method, which may include:

[0005] During the tracking of the target by the camera based on gimbal motion, the first tracking parameter corresponding to the tracking result is acquired in real time;

[0006] Determine whether the first tracking parameter meets the preset motion tracking effect evaluation criteria;

[0007] Based on the judgment results, the second tracking parameter of the gimbal is adjusted during subsequent tracking.

[0008] In an exemplary embodiment of this application, the first tracking parameter may include: tracking trajectory information of the gimbal and / or status information of the tracking target;

[0009] The tracking trajectory information of the gimbal includes any one or more of the following: continuous tracking duration, probability of acute angle trajectory appearing, and number of times acute angle trajectory appears within a preset duration;

[0010] The status information of the tracked target includes any one or more of the following: the size of the tracked target, the position coordinates of the tracked target in the tracking screen, and the probability of abnormal speed of the tracked target;

[0011] The second tracking parameter may include: tracking speed and / or tracking path.

[0012] In an exemplary embodiment of this application, the first tracking parameter may include: the continuous tracking duration and the position coordinates of the tracking target in the tracking screen;

[0013] The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria includes:

[0014] Detect whether the continuous tracking duration is less than or equal to a preset duration threshold;

[0015] When the continuous tracking time is less than or equal to a preset duration threshold, it is determined whether the position coordinates of the tracked target in the tracking screen are lagging behind or ahead of the center of the tracking screen.

[0016] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0017] When the position coordinates of the tracked target in the tracking screen lag behind the center of the tracking screen, reduce the tracking speed;

[0018] When the position coordinates of the tracked target in the tracking screen exceed the center of the tracking screen, the tracking speed is increased.

[0019] In an exemplary embodiment of this application, the first tracking parameter may include: the probability of an acute-angle trajectory occurring and / or the probability of an abnormal speed of the tracked target;

[0020] The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria may include:

[0021] Determine whether the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to a preset first probability threshold; and / or,

[0022] Determine whether the probability of abnormal speed of the tracked target is greater than or equal to a preset second probability threshold.

[0023] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0024] When the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to the first probability threshold, and / or when the probability of abnormal speed of the tracked target is greater than or equal to the second probability threshold, a preset tracking path priority strategy is adopted.

[0025] In an exemplary embodiment of this application, the tracking path priority strategy may include:

[0026] When two tracking targets intersect, the tracking target with the smaller trajectory deflection angle is selected to continue tracking; or, the tracking target with the smallest speed difference from the original tracking target is selected to continue tracking.

[0027] In an exemplary embodiment of this application, the first tracking parameter may include: the number of times an acute-angle trajectory occurs within a preset time period;

[0028] The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria may include:

[0029] Determine whether the number of times an acute-angle trajectory appears in the track within a preset time period is greater than or equal to a preset threshold number.

[0030] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0031] When the number of times an acute-angle trajectory appears in the tracking trajectory within the preset time period is greater than or equal to the number threshold, a preset oscillation suppression strategy is implemented.

[0032] In an exemplary embodiment of this application, the first tracking parameter may include: the size of the tracking target;

[0033] The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria may include:

[0034] Determine whether the proportion of the size of the tracked target in the tracking screen has changed.

[0035] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0036] The tracking speed is increased when the size of the target increases the proportion of the tracking screen.

[0037] When the size of the target being tracked decreases and its proportion in the tracking frame decreases, the tracking speed is slowed down.

[0038] This application also provides a tracking self-adjustment device, which may include a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed by the processor, implement the tracking self-adjustment method described in any of the above embodiments.

[0039] This application also provides a tracking system, which may include a gimbal, a camera, and the aforementioned tracking self-adjustment device.

[0040] Compared with related technologies, the embodiments of this application may include: during the tracking of a target by a camera based on gimbal motion, acquiring first tracking parameters corresponding to the tracking result in real time; determining whether the first tracking parameters meet preset motion tracking effect evaluation criteria; and adjusting second tracking parameters of the gimbal in subsequent tracking processes based on the determination result. This embodiment achieves automatic adaptation between the camera module and the gimbal, effectively optimizing the tracking effect of the gimbal device during the tracking process and improving the adaptability of the device in actual use.

[0041] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0042] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0043] Figure 1 This is a flowchart of the tracking self-adjustment method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the tracking self-adjustment method according to an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the path priority strategy in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the tracking path priority strategy in an embodiment of this application;

[0047] Figure 5 This is a block diagram of the tracking self-adjustment device according to an embodiment of this application;

[0048] Figure 6 This is a block diagram of the tracking system according to an embodiment of this application. Detailed Implementation

[0049] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0050] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0051] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0052] This application provides a tracking self-adjustment method, such as... Figure 1 As shown, the method may include steps S101-S103:

[0053] S101. During the tracking of the target by the camera based on the motion of the gimbal, the first tracking parameter corresponding to the tracking result is acquired in real time.

[0054] S102. Determine whether the first tracking parameter meets the preset motion tracking effect evaluation standard;

[0055] S103. Adjust the second tracking parameter of the gimbal during subsequent tracking based on the judgment result.

[0056] In an exemplary embodiment of this application, in order to detect whether the mechanism and the gimbal are compatible, the tracking effect of the gimbal on the tracked target can be detected. In order to accurately evaluate the tracking effect, a standard for evaluating the linkage tracking effect (i.e., the above-mentioned motion tracking effect evaluation standard) can be established to evaluate whether the current tracking effect needs to be adjusted, and accordingly, it can be determined whether the mechanism and the gimbal are compatible.

[0057] In the exemplary embodiments of this application, the most important evaluation metric for assessing the linkage tracking effect is that the gimbal camera can continuously track a target, and that the target (i.e., the tracking target) is of appropriate size and centered in the tracking frame. These evaluation metrics can be decomposed and analyzed to quantify them, as shown in the last column of Table 1:

[0058] Table 1

[0059]

[0060]

[0061] In an exemplary embodiment of this application, the acute angle trajectory refers to a sharp turn in the tracking trajectory of the tracking gimbal, where the angle between the tracking trajectory before and after the turn is an acute angle.

[0062] In an exemplary embodiment of this application, trajectory oscillation refers to the appearance of a large number of acute-angle trajectories in a tracking trajectory within a short period of time.

[0063] In exemplary embodiments of this application, as Figure 3 As shown, this diagram illustrates three abnormal motion scenarios that can occur during gimbal tracking. The solid line represents the gimbal tracking trajectory, while the dashed line represents the movement trajectory of the tracked target.

[0064] In an exemplary embodiment of this application, by summarizing the evaluation indicators in Table 1, the threshold data shown in Table 2 can be obtained based on multiple trials or empirical values. These threshold data embodiments are used to define the motion tracking effect evaluation criteria.

[0065] Table 2

[0066]

[0067]

[0068]

[0069] In an exemplary embodiment of this application, based on the defined data shown in Table 2, a corresponding motion tracking performance evaluation standard can be obtained, which may include, for example:

[0070] If the continuous tracking time is less than or equal to the preset duration threshold, the tracking effect is poor, and the second tracking parameter can be adjusted; if the continuous tracking time is greater than the duration threshold, the tracking effect is good, and the current second tracking parameter can be maintained.

[0071] If the position coordinates of the tracked target in the tracking screen lag behind the center of the tracking screen, or if the position coordinates of the tracked target in the tracking screen exceed the center of the tracking screen, the tracking effect is poor, and the second tracking parameter can be adjusted; if the position of the tracked target in the tracking screen matches the center of the tracking screen (or is within a preset area of ​​the center of the tracking screen), the tracking effect is good, and the current second tracking parameter can be maintained.

[0072] If the probability of an acute-angle trajectory appearing in the motion trajectory is greater than or equal to the first probability threshold, the tracking effect is poor, and the second tracking parameter can be adjusted; if the probability of an acute-angle trajectory appearing in the motion trajectory is not greater than or equal to the first probability threshold, the tracking effect is good, and the current second tracking parameter can be maintained.

[0073] If the probability of abnormal speed of the tracked target is greater than or equal to the second probability threshold, the tracking effect is poor, and the second tracking parameter can be adjusted; if the probability of abnormal speed of the tracked target is less than the second probability threshold, the tracking effect is good, and the current second tracking parameter can be maintained.

[0074] If the number of times an acute-angle trajectory appears in the motion trajectory within a preset time period is greater than or equal to a preset threshold, trajectory oscillation occurs, and the tracking effect is poor. The second tracking parameter can be adjusted. If the number of times an acute-angle trajectory appears in the motion trajectory within a preset time period is not greater than or equal to the preset threshold, the tracking effect is good, and the current second tracking parameter can be maintained.

[0075] If the size of the tracking target occupies a larger proportion of the tracking screen, or if the size of the tracking target occupies a smaller proportion of the tracking screen, the tracking effect is poor, and the second tracking parameter can be adjusted; if the size of the tracking target occupies no proportion of the tracking screen (or the change range is within the preset change range), the tracking effect is good, and the current second tracking parameter can be maintained.

[0076] In an exemplary embodiment of this application, the first tracking parameter may include: tracking trajectory information of the gimbal and / or status information of the tracking target;

[0077] The tracking trajectory information of the gimbal includes any one or more of the following: continuous tracking duration, probability of acute angle trajectory appearing, and number of times acute angle trajectory appears within a preset duration;

[0078] The status information of the tracked target includes any one or more of the following: the size of the tracked target, the position coordinates of the tracked target in the tracking screen, and the probability of abnormal speed of the tracked target;

[0079] The second tracking parameter may include: tracking speed and / or tracking path.

[0080] In an exemplary embodiment of this application, according to a pre-set motion tracking effect evaluation standard, some tracking data can be collected accordingly. That is, the parameters corresponding to the tracking results obtained after running for a certain period of time based on the current gimbal parameters (i.e., the aforementioned first tracking parameters) can be compared with the limited data in Table 2 to obtain a comparison result. The second tracking parameter can then be adjusted based on the comparison result. The specific adjustment scheme can be as follows: Figure 2 As shown.

[0081] In an exemplary embodiment of this application, any one of the first tracking parameters can be judged individually, or any combination of the second tracking parameters can be used for judgment to improve the accuracy of the judgment.

[0082] In exemplary embodiments of this application, as Figure 2 As shown, the solutions of this application embodiment can be implemented at different stages of the gimbal tracking process for different parameters in the first tracking parameter. The solutions for adjusting the second tracking parameter based on different judgment results of each first tracking parameter will be described in detail below.

[0083] In an exemplary embodiment of this application, when the first tracking parameters are the continuous tracking duration and the position coordinates of the tracking target in the tracking screen, determining whether the first tracking parameters meet the preset motion tracking effect evaluation criteria may include:

[0084] Detect whether the continuous tracking duration is less than or equal to a preset duration threshold;

[0085] When the continuous tracking time is less than or equal to a preset duration threshold, it is determined whether the position coordinates of the tracked target in the tracking screen are lagging behind or ahead of the center of the tracking screen.

[0086] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0087] When the position coordinates of the tracked target in the tracking screen lag behind the center of the tracking screen, reduce the tracking speed;

[0088] When the position coordinates of the tracked target in the tracking screen exceed the center of the tracking screen, the tracking speed is increased.

[0089] In an exemplary embodiment of this application, when the first tracking parameter is the probability of an acute-angle trajectory, determining whether the first tracking parameter meets a preset motion tracking effect evaluation standard may include:

[0090] Determine whether the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to a preset first probability threshold.

[0091] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0092] When the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to the first probability threshold, a preset tracking path priority strategy is adopted.

[0093] In an exemplary embodiment of this application, when the first tracking parameter is the probability of abnormal velocity of the tracked target, determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria may include:

[0094] Determine whether the probability of abnormal speed of the tracked target is greater than or equal to a preset second probability threshold.

[0095] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0096] When the probability of abnormal speed of the tracked target is greater than or equal to the second probability threshold, a preset tracking path priority strategy is adopted.

[0097] In an exemplary embodiment of this application, the tracking path priority strategy may include:

[0098] When two tracking targets intersect, the tracking target with the smaller trajectory deflection angle is selected to continue tracking; or, the tracking target with the smallest speed difference from the original tracking target is selected to continue tracking.

[0099] In an exemplary embodiment of this application, when two targets intersect, the program tends to select the path with the smaller deflection angle, as specifically calculated as follows: Figure 4 As shown.

[0100] In an exemplary embodiment of this application, four points (m1, m2, m3, and m3') can be determined from trajectory 1 and trajectory 2, wherein the coordinates of the four points are m1(x0, y0), m2(x1, y1), m3(x2, y2), and m3'(x3, y3). The slope K0 can be determined from m1 and m2, the slope K1 can be determined from m2 and m3, and the slope K2 can be determined from m2 and m3'. K0, K1, and K2 can be calculated using the following formula:

[0101] K1 = (y2 - y1) / (x2 - x1);

[0102] K2 = (y3 - y1) / (x3 - x1);

[0103] K0 = (y1 - y0) / (x1 - x0);

[0104] Where m2(x1, y1) is the tracking coordinate determined in the gimbal tracking trajectory of the previous frame, and m3(x2, y2) and m3'(x3, y3) are the possible tracking coordinates in the gimbal tracking trajectory of the next frame. The path optimization strategy tends to select the path with smaller slope K value difference (i.e. smaller motion trajectory deflection angle) to continue tracking.

[0105] In an exemplary embodiment of this application, when two targets intersect, the program tends to select the path with similar speeds, and the specific calculation method is as follows: Figure 4 As shown.

[0106] In an exemplary embodiment of this application, the tracking speed of the target between m1 and m2 is V0, the tracking speed of the target between m2 and m3 is V1, and the tracking speed of the target between m2 and m3' is V3, which can be calculated by the following formula:

[0107] v0 = sqrt((y0-y1)) 2 +(x0-x1) 2 ) / t;

[0108] v1 = sqrt((y1-y2)) 2 +(x1-x2) 2 ) / t;

[0109] v2 = sqrt((y1-y3)) 2 +(x1-x3) 2 ) / t;

[0110] Where v0 is the historical velocity of the tracked target, v1 and v2 are the velocities of the two intersecting tracked targets, m2(x1, y1) is the tracking coordinate determined in the gimbal tracking trajectory of the previous frame, m3(x2, y2) and m3'(x3, y3) are the possible tracking coordinates in the gimbal tracking trajectory of the next frame, and t is the interval between every two frames. The path optimization strategy tends to select the path with the smallest velocity change (i.e., the velocity difference between the two tracked targets and the original tracked target is the smallest) to continue tracking.

[0111] In an exemplary embodiment of this application, when the first tracking parameter is the number of times an acute-angle trajectory appears within a preset time period, determining whether the first tracking parameter meets a preset motion tracking effect evaluation standard may include:

[0112] Determine whether the number of times an acute-angle trajectory appears in the track within a preset time period is greater than or equal to a preset threshold number.

[0113] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0114] When the number of times an acute-angle trajectory appears in the tracking trajectory within the preset time period is greater than or equal to the number threshold, a preset oscillation suppression strategy is implemented, such as slowing down the tracking speed.

[0115] In an exemplary embodiment of this application, it can be determined whether an oscillation suppression strategy needs to be activated based on the occurrence of a large number of acute-angle trajectories within a short period of time. When trajectory oscillation is detected, the oscillation suppression strategy will reduce the gimbal speed, thereby reducing the amplitude of the oscillation. After the tracking target is re-identified, the gimbal speed can return to its normal value.

[0116] In an exemplary embodiment of this application, when the first tracking parameter is the size of the tracking target, determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria may include:

[0117] Determine whether the proportion of the size of the tracked target in the tracking screen has changed.

[0118] In an exemplary embodiment of this application, adjusting the second tracking parameters of the gimbal based on the judgment result during subsequent tracking may include:

[0119] The tracking speed is increased when the size of the target increases the proportion of the tracking screen.

[0120] When the size of the target being tracked decreases and its proportion in the tracking frame decreases, the tracking speed is slowed down.

[0121] In an exemplary embodiment of this application, if it is determined that the proportion of the area of ​​the tracked target in the area of ​​the tracked screen increases or decreases, or that the proportion of the length, width, and / or height of the tracked target in the length, width, and / or height of the tracked screen increases or decreases, the second tracking parameter can be adjusted accordingly.

[0122] In an exemplary embodiment of this application, during the target tracking process, the position coordinates of the tracked target in the tracking screen can be detected in real time, and it can be determined whether the position coordinates of the tracked target in the tracking screen are lagging or ahead of the center of the tracking screen. Based on the determination result, the second tracking parameter is adjusted in real time to ensure that the tracked target always remains centered.

[0123] In the exemplary embodiments of this application, the self-adjustment scheme for the tracking function when the mechanism is adapted to the gimbal proposed in the embodiments of this application effectively optimizes the tracking effect of the gimbal device (such as a camera) during the tracking process and improves the adaptability of the device in actual use.

[0124] This application embodiment also provides a tracking self-adjustment device 1, such as... Figure 5 As shown, it may include a processor 11 and a computer-readable storage medium 12, wherein the computer-readable storage medium 12 stores instructions that, when executed by the processor 11, implement the tracking self-adjustment method described in any of the above-mentioned embodiments.

[0125] In the exemplary embodiments of this application, any of the embodiments in the foregoing tracking self-adjustment method embodiments can be applied to the device embodiments, and will not be described in detail here.

[0126] This application also provides a tracking system 2, such as... Figure 6 As shown, it may include a gimbal 21, a camera 22, and the aforementioned tracking self-adjustment device 1.

[0127] In the exemplary embodiments of this application, any of the embodiments of the aforementioned tracking self-adjustment method can be applied to the tracking system 2 embodiments, and will not be described in detail here.

[0128] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A tracking self-adjustment method, characterized in that, The method includes: During the tracking of the target by the camera based on gimbal motion, the first tracking parameters corresponding to the tracking effect are acquired in real time; Determine whether the first tracking parameter meets the preset motion tracking effect evaluation criteria; Based on the judgment results, the second tracking parameter of the gimbal is adjusted in the subsequent tracking process to optimize the motion tracking effect; The first tracking parameters include: the tracking trajectory information of the gimbal and / or the status information of the tracking target; The tracking trajectory information of the gimbal includes the probability of an acute-angle trajectory appearing and the number of times an acute-angle trajectory appears within a preset time period, or includes the continuous tracking duration, the probability of an acute-angle trajectory appearing, and the number of times an acute-angle trajectory appears within a preset time period. The state information of the tracked target includes the probability of abnormal speed of the tracked target, or includes the size of the tracked target, the position coordinates of the tracked target in the tracking screen, and the probability of abnormal speed of the tracked target. The second tracking parameter includes the tracking path, or includes tracking speed and tracking path.

2. The tracking self-adjustment method according to claim 1, characterized in that, The first tracking parameters include: the continuous tracking duration and the position coordinates of the tracking target in the tracking screen; The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria includes: Detect whether the continuous tracking duration is less than or equal to a preset duration threshold; When the continuous tracking duration is less than or equal to a preset duration threshold, it is determined whether the position coordinates of the tracked target in the tracking screen are lagging behind or ahead of the center of the tracking screen.

3. The tracking self-adjustment method according to claim 2, characterized in that, The adjustment of the second tracking parameters of the gimbal during subsequent tracking based on the judgment result includes: When the position coordinates of the tracked target in the tracking screen lag behind the center of the tracking screen, reduce the tracking speed; When the position coordinates of the tracked target in the tracking screen exceed the center of the tracking screen, the tracking speed is increased.

4. The tracking self-adjustment method according to any one of claims 1-3, characterized in that, The first tracking parameters include: the probability of an acute-angle trajectory and / or the probability of an abnormal speed of the tracked target; The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria includes: Determine whether the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to a preset first probability threshold; and / or, Determine whether the probability of abnormal speed of the tracked target is greater than or equal to a preset second probability threshold; The adjustment of the second tracking parameters of the gimbal during subsequent tracking based on the judgment result includes: When the probability of an acute-angle trajectory appearing in the tracking trajectory is greater than or equal to the first probability threshold, and / or when the probability of abnormal speed of the tracked target is greater than or equal to the second probability threshold, a preset tracking path priority strategy is adopted.

5. The tracking self-adjustment method according to claim 4, characterized in that, The tracking path priority strategy includes: When two tracking targets intersect, the tracking target with the smaller trajectory deflection angle is selected to continue tracking; or, the tracking target with the smallest speed difference from the original tracking target is selected to continue tracking.

6. The tracking self-adjustment method according to claim 1, characterized in that, The first tracking parameter includes: the number of times an acute-angle trajectory occurs within a preset time period; The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria includes: Determine whether the number of times an acute-angle trajectory appears in the track within a preset time period is greater than or equal to a preset threshold number; The adjustment of the second tracking parameters of the gimbal during subsequent tracking based on the judgment result includes: When the number of times an acute-angle trajectory appears in the tracking trajectory within the preset time period is greater than or equal to the number threshold, a preset oscillation suppression strategy is implemented.

7. The tracking self-adjustment method according to claim 1, characterized in that, The first tracking parameter includes: the size of the tracking target; The step of determining whether the first tracking parameter meets the preset motion tracking effect evaluation criteria includes: Determine whether the proportion of the size of the tracked target in the tracking frame has changed; The adjustment of the second tracking parameters of the gimbal during subsequent tracking based on the judgment result includes: The tracking speed is increased when the size of the target increases the proportion of the tracking screen. When the size of the target being tracked decreases and its proportion in the tracking frame decreases, the tracking speed is slowed down.

8. A tracking self-adjusting device, characterized in that, The device includes a processor and a computer-readable storage medium storing instructions that, when executed by the processor, implement the tracking self-adjustment method as described in any one of claims 1-7.

9. A tracking system, characterized in that, It includes a gimbal, a camera, and the tracking self-adjustment device as described in claim 8.

Images