Moving target tracking equipment

Abstract

The invention discloses moving target tracking equipment, and relates to the technical field of monitoring, the moving target tracking equipment comprises a protection box, a supporting plate is slidably connected in the protection box, a telescopic mechanism is arranged in the protection box, the telescopic mechanism is used for controlling the supporting plate to slide in the protection box, and the lower part of the supporting plate is rotatably connected with a second connecting plate. A mounting plate is fixedly connected to the lower portion of the second connecting plate, and a camera body used for tracking a moving target is arranged on the lower portion of the mounting plate. The camera body can more accurately recognize and track the moving target through a real-time target tracking algorithm fusing color and spatio-temporal context information; the modeling precision of the target appearance is improved through the combination of the color features and the gray features, the accuracy of target position prediction is enhanced through the introduction of the spatio-temporal context model, and the algorithm is not only suitable for complex and changeable scenes, but also can effectively cope with the target scale change and improve the stability and robustness of tracking.

Description

Technical Field

[0001] The present invention relates to the field of monitoring technology, and in particular to a moving target tracking device. Background Art

[0002] Video tracking is an important task in computer vision. It refers to the process of continuously inferring the state of a target in a video sequence. Its task is to locate the target in each frame of the video to generate the target's motion trajectory and provide a complete target area at every moment. Video tracking technology has a wide range of applications in both military and civilian fields. The military field includes unmanned aerial vehicles, precision guidance, air warning, battlefield surveillance, etc.; the civilian field includes mobile robots, intelligent video surveillance, intelligent transportation systems, human-computer interaction, virtual reality, etc.

[0003] After searching, the Chinese patent number CN213576354U discloses a moving target tracking device, including a mounting seat and a base, a second spring groove is provided at the middle position of the top of the mounting seat, a fixing block is installed at the middle position of the top of the mounting seat, a second threaded hole is provided inside the fixing block, and the inner wall of the second threaded hole is evenly installed with latching teeth, fixing pins are installed at the four corners of the top of the fixing block, and the outer side of the fixing pin is installed with a paddle, and a base is provided inside the second threaded hole. The moving target tracking device is used by the mutual cooperation of the first mounting block, the second mounting block and the pressure plate. When the second motor is turned on, the second motor controls the cross pin to drive the second mounting block to rotate. Due to the mutual cooperation of the first rolling steel ball, the second ball groove and the third ball groove, the friction of the second mounting block during rotation can be reduced, thereby increasing the service life of the device.

[0004] However, in the actual use of the above patent, the camera is always exposed to the air. As a key component of the motion target tracking device, the camera is easily targeted by malicious damage. It is difficult to protect the camera, that is, it is difficult to reduce the risk of damage to the equipment and to ensure the normal operation of the equipment and the security of the data. Therefore, it is necessary to propose a motion target tracking device. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that the camera is always exposed to the air. As a key component of the motion target tracking device, the camera is easily targeted by malicious damage, and it is difficult to protect the camera, that is, it is difficult to reduce the risk of damage to the equipment and it is difficult to ensure the normal operation of the equipment and the security of the data. A motion target tracking device is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A moving target tracking device comprises a protective box, wherein a support plate is slidably connected to the inside of the protective box, a telescopic mechanism is arranged inside the protective box, the telescopic mechanism is used to control the support plate to slide inside the protective box, the lower part of the support plate is rotatably connected to a second connecting plate, the lower part of the second connecting plate is fixedly connected to a mounting plate, a camera body for tracking moving targets is arranged at the lower part of the mounting plate, a rotating control motor for controlling the rotation of the camera body is fixedly mounted on the upper part of the mounting plate, an opening and closing mechanism is arranged on the upper part of the protective box, the opening and closing mechanism is used to control the rotation of a sealing plate after the camera body is stored in the protective box to put the protective box in a sealed state.

[0008] The above technical solution further includes:

[0009] The telescopic mechanism comprises a threaded rod arranged inside the protection box, the threaded rod and the protection box are rotatably connected, the threaded rod is threadedly connected to a support plate, and two groups of limit rods for limiting the support plate are arranged inside the protection box;

[0010] Wherein, the limiting rod can prevent the supporting plate from falling off.

[0011] The support plate is slidably connected to a fixing rod, the fixing rod is fixedly connected to the protection box, one side of the support plate is fixedly connected to a sliding plate, the sliding plate is slidably connected to a sliding groove, and the sliding groove is arranged inside the protection box.

[0012] One side of the protection box is rotatably connected to a second rotating shaft, the second rotating shaft passes through the protection box and extends to be fixedly connected to the threaded rod, and a retractable control motor for controlling the rotation of the second rotating shaft is fixedly installed on one side of the protection box close to the second rotating shaft.

[0013] The lower part of the support plate is rotatably connected to the third connecting plate, the side of the third connecting plate away from the support plate is rotatably connected to the first connecting plate, and the side of the first connecting plate away from the third connecting plate is rotatably connected to the second connecting plate.

[0014] The lower part of the support plate is rotatably connected to a fifth connecting plate, the lower part of the fifth connecting plate is fixedly connected to a spring, the side of the spring away from the fifth connecting plate is rotatably connected to a fourth connecting plate, and the fourth connecting plate is rotatably connected to the first connecting plate.

[0015] The opening and closing mechanism comprises a third rotating shaft arranged on the upper part of the protection box, the third rotating shaft is rotatably connected to the protection box, and a sealing plate for keeping the protection box in a closed state is fixedly connected to one side of the third rotating shaft;

[0016] The sealing plate is convenient for protecting the camera body housed in the protective box.

[0017] The second rotating shaft is connected to a belt transmission, the belt is connected to the first rotating shaft, the first rotating shaft is rotationally connected to the protective box, the first rotating shaft is fixedly connected to the first bevel gear, the first bevel gear is meshingly connected to the second bevel gear, and the second bevel gear is fixedly connected to the third rotating shaft.

[0018] The detection unit included in the camera body continues to study and learn the target scale change based on the real-time target tracking algorithm that integrates color and spatiotemporal context information, and combines the optimal scale learning method with the algorithm for real-time tracking.

[0019] The specific steps of the real-time target tracking algorithm that integrates color and spatiotemporal context information are as follows:

[0020] Step 1: Use the adaptive dimension reduction color features and grayscale features of the target and its surrounding local context area to model the target appearance and obtain a context prior model;

[0021] Step 2: Based on the above, convert to the frequency domain to learn the spatial context model of the target and its surrounding background online, and introduce the conjugate complex number of the context prior model to improve the spatial context model;

[0022] Step 3: Calculate the confidence map, find the maximum response value, and predict the position of the target in the next frame.

[0023] The present invention has the following beneficial effects:

[0024] 1. In the present invention, the telescopic mechanism arranged inside the protective box enables the camera body to be extended or retracted as needed. When the device is maliciously damaged, the camera body can be retracted into the protective box, thereby improving the flexibility and adaptability of the device and ensuring the normal operation of the device and the security of data.

[0025] 2. In the present invention, by integrating color and spatiotemporal context information into a real-time target tracking algorithm, the camera body can more accurately identify and track moving targets. The combination of color features and grayscale features improves the modeling accuracy of the target appearance, while the introduction of the spatiotemporal context model enhances the accuracy of target position prediction. This algorithm is not only suitable for complex and changeable scenes, but also can effectively cope with changes in target scale and improve tracking stability and robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a moving target tracking device proposed by the present invention;

[0027] Figure 2 It is a schematic diagram of the first structure in the present invention;

[0028] Figure 3 It is a second structural schematic diagram of the present invention;

[0029] Figure 4 for Figure 1 A schematic diagram of the structure enlargement in the middle;

[0030] Figure 5 for Figure 1 A magnified schematic diagram of the structure at B in the middle;

[0031] Figure 6 for Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0032] In the figure: 1. protective box; 2. support plate; 3. sealing plate; 4. rotation control motor; 5. camera body; 6. mounting plate; 7. first rotating shaft; 8. slide plate; 9. limit rod; 10. threaded rod; 11. fixing rod; 12. slide groove; 13. first connecting plate; 14. second connecting plate; 15. retractable control motor; 16. second rotating shaft; 17. belt; 18. first bevel gear; 19. second bevel gear; 20. third rotating shaft; 21. third connecting plate; 22. fourth connecting plate; 23. spring; 24. fifth connecting plate. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Embodiment 1

[0035] like Figure 1 - Figure 6 As shown, a moving target tracking device comprises a protection box 1, the interior of the protection box 1 is slidably connected to a support plate 2, a telescopic mechanism is arranged inside the protection box 1, the telescopic mechanism is used to control the support plate 2 to slide inside the protection box 1, the lower part of the support plate 2 is rotatably connected to a second connecting plate 14, the lower part of the second connecting plate 14 is fixedly connected to a mounting plate 6, the lower part of the mounting plate 6 is provided with a camera body 5 for tracking a moving target, the upper part of the mounting plate 6 is fixedly installed with a rotating control motor 4 for controlling the rotation of the camera body 5, the upper part of the protection box 1 is provided with an opening and closing mechanism, the opening and closing mechanism is used to control the rotation of the sealing plate 3 after the camera body 5 is stored in the protection box 1 to make the protection box 1 in a sealed state;

[0036] The telescopic mechanism includes a threaded rod 10 disposed inside the protection box 1, the threaded rod 10 and the protection box 1 are rotatably connected, the threaded rod 10 is threadedly connected to the support plate 2, and two groups of limit rods 9 are disposed inside the protection box 1 to limit the support plate 2;

[0037] The support plate 2 is slidably connected to a fixing rod 11, the fixing rod 11 is fixedly connected to the protection box 1, a slide plate 8 is fixedly connected to one side of the support plate 2, the slide plate 8 is slidably connected to a slide groove 12, and the slide groove 12 is opened inside the protection box 1;

[0038] A second rotating shaft 16 is rotatably connected to one side of the protection box 1. The second rotating shaft 16 penetrates the protection box 1 and extends to be fixedly connected to the threaded rod 10. A retracting and extending control motor 15 for controlling the rotation of the second rotating shaft 16 is fixedly installed on one side of the protection box 1 close to the second rotating shaft 16.

[0039] The lower part of the support plate 2 is rotatably connected to the third connecting plate 21, and the side of the third connecting plate 21 away from the support plate 2 is rotatably connected to the first connecting plate 13, and the side of the first connecting plate 13 away from the third connecting plate 21 is rotatably connected to the second connecting plate 14;

[0040] The lower part of the support plate 2 is rotatably connected to the fifth connecting plate 24, the lower part of the fifth connecting plate 24 is fixedly connected to the spring 23, the side of the spring 23 away from the fifth connecting plate 24 is rotatably connected to the fourth connecting plate 22, and the fourth connecting plate 22 is rotatably connected to the first connecting plate 13.

[0041] In this embodiment, when in use, when the moving target tracking device is maliciously damaged, the retracting and extending control motor 15 fixedly installed on one side of the protection box 1 will be started to rotate the second rotating shaft 16 set at its output end, and the second rotating shaft 16 will drive the fixedly connected threaded rod 10 to rotate. The rotation of the threaded rod 10 will cause the threaded support plate 2 to slide into the interior of the protection box 1. The fixed rod 11 slidably connected to the support plate 2 causes the threaded rod 10 to rotate and drive the support plate 2 to remain stable when sliding inside the protection box 1. The slide groove 12 opened inside the protection box 1 is slidably connected to the slide plate 8 fixedly connected to one side of the support plate 2, so that the support plate 2 slides and remains stable;

[0042] When the support plate 2 slides toward the inside of the protective box 1, the third connecting plate 21 will contact the lower part of the protective box 1, which will push the third connecting plate 21 to rotate. The rotation of the third connecting plate 21 will drive the first connecting plate 13 to rotate. The rotation of the first connecting plate 13 will drive the second connecting plate 14 to rotate. The rotation of the second connecting plate 14 will drive the mounting plate 6 fixedly connected at the bottom to rise, which will cause the mounting plate 6 to drive the camera body 5 to rise, so that the camera body 5 can be slid and stored in the inside of the protective box 1, and then the sealing plate 3 is driven by the opening and closing mechanism to make the protective box 1 in a sealed state, so as to protect the camera body 5. The rotation control motor 4 fixedly installed on the upper part of the mounting plate 6 is convenient for angle change when tracking a moving target.

[0043] Embodiment 2

[0044] like Figure 1 - Figure 6 As shown, the opening and closing mechanism includes a third rotating shaft 20 disposed on the upper part of the protection box 1, the third rotating shaft 20 is rotatably connected to the protection box 1, and a sealing plate 3 for keeping the protection box 1 in a closed state is fixedly connected to one side of the third rotating shaft 20;

[0045] The second rotating shaft 16 is connected to the belt 17, the belt 17 is connected to the first rotating shaft 7, the first rotating shaft 7 is connected to the protection box 1, the first rotating shaft 7 is fixedly connected to the first bevel gear 18, the first bevel gear 18 is meshedly connected to the second bevel gear 19, and the second bevel gear 19 is fixedly connected to the third rotating shaft 20;

[0046] The detection unit included in the camera body 5 continues to study and learn the change of target scale based on the real-time target tracking algorithm that integrates color and spatiotemporal context information, and combines the optimal scale learning method with the algorithm for real-time tracking;

[0047] The specific steps of the real-time target tracking algorithm that integrates color and spatiotemporal context information are:

[0048] Step 1: Use the adaptive dimension reduction color features and grayscale features of the target and its surrounding local context area to model the target appearance and obtain a context prior model;

[0049] Step 2: Based on the above, convert to the frequency domain to learn the spatial context model of the target and its surrounding background online, and introduce the conjugate complex number of the context prior model to improve the spatial context model;

[0050] Step 3: Calculate the confidence map, find the maximum response value, and predict the position of the target in the next frame.

[0051] In this embodiment, when the second rotating shaft 16 rotates, the first rotating shaft 7 is driven to rotate through the transmission connected belt 17. The rotation of the first rotating shaft 7 drives the fixedly connected first bevel gear 18 to rotate. The first bevel gear 18 causes the meshingly connected second bevel gear 19 to rotate. The second bevel gear 19 causes the fixedly connected third rotating shaft 20 to rotate. The third rotating shaft 20 drives the fixedly connected sealing plate 3 to flip over, so that the protective box 1 can be placed in a closed state, thereby improving the protection effect of the camera body 5 when the camera body 5 is stored.

[0052] The specific process of the TridentNet scale-variable object detection algorithm is as follows: multiple branches in the Trident block use the same parameters and different scaling ratios to generate feature maps of a specific scale. During the training process, each branch samples objects of a specified scale. Finally, the non-maximum suppression algorithm is used to calculate the detection results of multiple branches.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A moving target tracking device, comprising a protective box (1), characterized in that: The protection box (1) is slidably connected to a support plate (2) inside, and a telescopic mechanism is provided inside the protection box (1). The telescopic mechanism is used to control the support plate (2) to slide inside the protection box (1). The lower part of the support plate (2) is rotatably connected to a second connecting plate (14), and the lower part of the second connecting plate (14) is fixedly connected to a mounting plate (6). The lower part of the mounting plate (6) is provided with a camera body (5) for tracking a moving target, and the upper part of the mounting plate (6) is fixedly installed with a rotating control motor (4) for controlling the rotation of the camera body (5). The upper part of the protection box (1) is provided with an opening and closing mechanism, and the opening and closing mechanism is used to control the rotation of the sealing plate (3) after the camera body (5) is stored in the protection box (1) so that the protection box (1) is in a sealed state.

2. A moving target tracking device according to claim 1, characterized in that: The telescopic mechanism comprises a threaded rod (10) arranged inside the protection box (1), the threaded rod (10) and the protection box (1) are rotatably connected, the threaded rod (10) is threadedly connected to a support plate (2), and two groups of limit rods (9) are arranged inside the protection box (1) for limiting the support plate (2).

3. A moving target tracking device according to claim 1, characterized in that: The support plate (2) is slidably connected to a fixing rod (11), and the fixing rod (11) is fixedly connected to the protection box (1). One side of the support plate (2) is fixedly connected to a slide plate (8), and the slide plate (8) is slidably connected to a slide groove (12), and the slide groove (12) is opened inside the protection box (1).

4. A moving target tracking device according to claim 1, characterized in that: One side of the protection box (1) is rotatably connected to a second rotating shaft (16), the second rotating shaft (16) passes through the protection box (1) and extends to be fixedly connected to the threaded rod (10), and a retractable and extended control motor (15) for controlling the rotation of the second rotating shaft (16) is fixedly installed on one side of the protection box (1) close to the second rotating shaft (16).

5. A moving target tracking device according to claim 1, characterized in that: The lower part of the support plate (2) is rotatably connected to a third connecting plate (21); the side of the third connecting plate (21) away from the support plate (2) is rotatably connected to the first connecting plate (13); and the side of the first connecting plate (13) away from the third connecting plate (21) is rotatably connected to the second connecting plate (14).

6. A moving target tracking device according to claim 1, characterized in that: The lower part of the support plate (2) is rotatably connected to a fifth connecting plate (24), the lower part of the fifth connecting plate (24) is fixedly connected to a spring (23), the side of the spring (23) away from the fifth connecting plate (24) is rotatably connected to a fourth connecting plate (22), and the fourth connecting plate (22) is rotatably connected to the first connecting plate (13).

7. A moving target tracking device according to claim 6, characterized in that: The opening and closing mechanism comprises a third rotating shaft (20) arranged on the upper part of the protection box (1), the third rotating shaft (20) and the protection box (1) are rotationally connected, and a sealing plate (3) for keeping the protection box (1) in a closed state is fixedly connected to one side of the third rotating shaft (20).

8. A moving target tracking device according to claim 4, characterized in that: The second rotating shaft (16) is connected to a belt (17) in a transmission manner, and the belt (17) is connected to the first rotating shaft (7) in a transmission manner. The first rotating shaft (7) is connected to the protective box (1) in a rotational manner, and the first rotating shaft (7) is fixedly connected to a first bevel gear (18), and the first bevel gear (18) is meshingly connected to a second bevel gear (19), and the second bevel gear (19) is fixedly connected to a third rotating shaft (20).

9. A moving target tracking device according to claim 1, characterized in that: The detection unit included in the camera body (5) continues to study and learn the change of target scale based on the real-time target tracking algorithm that integrates color and spatiotemporal context information, and combines the optimal scale learning method with the algorithm to perform real-time tracking.

10. A moving target tracking device according to claim 9, characterized in that: The specific steps of the real-time target tracking algorithm that integrates color and spatiotemporal context information are as follows: Step 1: Use the adaptive dimension reduction color features and grayscale features of the target and its surrounding local context area to model the target appearance and obtain a context prior model; Step 2: Based on the above, convert to the frequency domain to learn the spatial context model of the target and its surrounding background online, and introduce the conjugate complex number of the context prior model to improve the spatial context model; Step 3: Calculate the confidence map, find the maximum response value, and predict the position of the target in the next frame.

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