Target tracking method, control device and target tracking system

Abstract

The invention relates to the technical field of unmanned aerial vehicle monitoring, and discloses a target tracking method, a control device and a target tracking system, and the method comprises the steps: receiving a first position of a to-be-tracked target sent by a detection device; in response to a tracking instruction for a to-be-tracked target, obtaining position and state information of the tracking unmanned aerial vehicle; determining a target tracking unmanned aerial vehicle according to the position and state information of the tracking unmanned aerial vehicle and the first position of the to-be-tracked target; and sending the first position of the to-be-tracked target to the target tracking unmanned aerial vehicle, so that the target tracking unmanned aerial vehicle tracks the to-be-tracked target. Through the above mode, the target to be tracked can be rapidly tracked through the target tracking unmanned aerial vehicle.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone monitoring technology, and specifically to a target tracking method, a control device, and a target tracking system. Background Art

[0002] With the widespread use of drones, while drones provide convenience to people, illegally flying drones also bring many safety risks, such as endangering public safety, snooping on privacy, and information leakage in key areas. Therefore, after monitoring illegally flying drones, it is necessary to track the drone pilots to obtain evidence of the drone pilots' illegal flight, which helps to promote drone pilots to comply with relevant laws and regulations.

[0003] At present, the evidence of illegal drone flying by pilots is mainly obtained through video surveillance systems. Specifically, when the detection equipment detects illegal drones and pilots, the data collected by the nearby video surveillance system is obtained according to the location of the pilot, and then the illegal drone pilots are tracked by manually viewing the surveillance video. This method is not only inefficient and requires a lot of manpower and material resources, but the video surveillance equipment of the video surveillance system is usually fixed in one position, and it is often necessary to use multiple video surveillance equipment to cooperate to complete the tracking of the drone pilot. In addition, due to the large differences in the installation angles and on-site environments of the video surveillance equipment, it is difficult to track the same target from the surveillance videos of different video surveillance equipment. Summary of the invention

[0004] In view of the above problems, the embodiments of the present application provide a target tracking method, a control device and a target tracking system, which are used to solve the problems of low efficiency, large amount of manpower and material resources, and high difficulty in target tracking in the prior art.

[0005] According to one aspect of an embodiment of the present application, a target tracking method is provided, the method comprising: receiving a first position of a target to be tracked sent by a detection device; obtaining a position and status information of a tracking drone in response to a tracking instruction for the target to be tracked; determining a target tracking drone based on the position, status information and the first position of the target to be tracked of the tracking drone; and sending the first position of the target to be tracked to a target tracking drone so that the target tracking drone tracks the target to be tracked.

[0006] In an optional manner, after sending the first position of the target to be tracked to the target tracking drone, the method also includes: receiving in real time the second position of the target to be tracked sent by the detection device; if the second position is different from the first position, updating the first position according to the second position, and sending the updated first position to the target tracking drone, so that the target tracking drone tracks the target to be tracked according to the updated first position.

[0007] In an optional method, a target tracking drone is determined based on the position, status information and the first position of the target to be tracked of the tracking drone, and specifically includes: if there are multiple tracking drones currently in an available state, the distance between the first position of the target to be tracked and the position of each tracking drone is calculated to obtain the tracking distance of each tracking drone currently in an available state; and the tracking drone with the shortest tracking distance is determined as the target tracking drone.

[0008] In an optional manner, a tracking drone with the shortest tracking distance is determined as a target tracking drone, specifically including: if there are multiple tracking drones with the shortest tracking distance, all of the multiple tracking drones with the shortest tracking distance are determined as candidate tracking drones; the flight status and remaining power of each candidate tracking drone are obtained according to the status information of each candidate tracking drone; the tracking capability information of each candidate tracking drone is determined according to the flight status and remaining power of each candidate tracking drone; the third position of the target to be tracked is obtained, and the third position is the position of the target to be tracked at a preset time from the current time point; the relative position information between the target to be tracked and each candidate tracking drone is calculated according to the first position, the third position and the position of each candidate tracking drone; the priority of each candidate tracking drone is calculated according to the tracking capability information and relative position information of each candidate tracking drone; and the tracking drone with the highest priority is determined as the target tracking drone.

[0009] In an optional manner, the relative position information between the target to be tracked and each candidate tracking UAV is calculated based on the first position, the third position and the position of each candidate tracking UAV, specifically including: calculating the distance between the first position and the position of each candidate tracking UAV to obtain the first distance corresponding to each candidate tracking UAV; calculating the distance between the third position and the position of each candidate tracking UAV to obtain the second distance corresponding to each candidate tracking UAV; determining the relative position information between the target to be tracked and each candidate tracking UAV based on the difference between the first distance and the second distance corresponding to each candidate tracking UAV.

[0010] In an optional manner, the tracking capability information includes a first weight value, and the relative position information includes a second weight value; the priority of each candidate tracking drone is calculated based on the tracking capability information and relative position information of each candidate tracking drone, specifically including: calculating the distance between the first position and the third position, and determining the moving distance of the target to be tracked within a preset time period; if the moving distance is greater than or equal to the preset distance, setting the first weight value to be less than the second weight value; if the moving distance is less than the preset distance, setting the first weight value to be greater than the second weight value; the priority of each candidate tracking drone is calculated based on the tracking capability information, the first weight value, the relative position information and the second weight value.

[0011] In an optional manner, the method also includes: receiving a video stream transmitted back in real time by the target tracking UAV to display the video stream; if the target tracking UAV reaches a first position, in response to a control instruction for the target tracking UAV, sending a control instruction to the target tracking UAV, the control instruction being used to adjust the shooting area of ​​the target tracking UAV so that the video stream includes an image of the target to be tracked; and storing the image of the target to be tracked in the video stream.

[0012] In an optional manner, the method also includes: periodically sending a first heartbeat message to the detection device and the target tracking drone, so that the detection device returns a second heartbeat message after receiving the first heartbeat message, and the target tracking drone returns a third heartbeat message after receiving the first heartbeat message; receiving the second heartbeat message returned by the detection device and the third heartbeat message returned by the target tracking drone; if the second heartbeat message is not received within a preset time, re-establishing a first communication channel corresponding to the detection device; if the third heartbeat message is not received within the preset time, re-establishing a second communication channel corresponding to the detection device; if the first communication channel or the second communication channel fails to be established, ending the tracking task for the target to be tracked, and prompting a tracking failure.

[0013] According to another aspect of an embodiment of the present application, a control device is provided, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement any of the target tracking methods described above.

[0014] According to another aspect of the embodiment of the present application, a target tracking system is provided, the system includes a detection device, the above-mentioned control device and a tracking drone; the control device is communicatively connected to the detection device and the tracking drone respectively; the detection device is used to detect the position of the target to be tracked, and send the position of the target to be tracked to the control device; the control device is used to receive the position of the target to be tracked, and obtain the position and status information of the tracking drone in response to the tracking instruction for the target to be tracked; the control device is also used to determine the target tracking drone based on the position, status information and position of the tracking drone, and send the position of the target to be tracked to the target tracking drone; the tracking drone is used to receive the position of the target to be tracked and track the target to be tracked.

[0015] The embodiment of the present application receives the first position of the target to be tracked sent by the detection device, and then responds to the tracking instruction for the target to be tracked, and determines the target tracking drone according to the position and status information of the tracking drone, so as to ensure that the target tracking drone can respond quickly and improve the speed at which the target tracking drone reaches the location of the target to be tracked. Finally, after the detection device detects the target to be tracked, the control device can automatically dispatch the tracking drone according to the first position of the target to be tracked in time, so that the target tracking drone automatically plans the route to track the target to be tracked, making the target tracking faster and the process simpler and easier to operate. In addition, the flexibility of the target tracking drone is fully utilized. When collecting evidence, all the features of the target to be tracked can be collected by only one target tracking drone, without the need for the cooperation of multiple video surveillance devices, and without the need to identify the same target to be tracked from the data of multiple video surveillance devices. The evidence collection is more convenient and more accurate. The target to be tracked can also be locked by the target tracking drone to effectively avoid the loss of the target.

[0016] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0018] Figure 1 An application scenario diagram of the target tracking method provided by an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram of a process flow of a target tracking method provided in the first embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram showing the relative positions of a target to be tracked and candidate tracking drones provided in an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram of a flow chart of a target tracking method provided in the second embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of a target tracking method according to a third embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of the structure of a target tracking device provided in an embodiment of the present application is shown;

[0024] Figure 7 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0026] With the development of drone technology, drones have been widely used in various industries, such as crop monitoring, variable fertilization and irrigation, fire monitoring, building design and planning, aerial photography, etc. Drones have brought great convenience to people, improving efficiency and reducing costs. However, illegally flying drones will bring many security risks, such as endangering public safety (especially when drones fly near airports, they will pose a threat to aviation safety), snooping on privacy (illegally monitoring or infringing on the privacy of others), and information leakage in key areas (especially when drones fly near government facilities or military bases, they will pose a risk to national security).

[0027] Therefore, in order to protect public safety, personal privacy, national security and maintain good aviation order, it is necessary to strictly manage and supervise drone flights. For example, when an illegal drone is detected, the illegal drone pilot can be tracked through a video surveillance system, and evidence of the illegal flight of the drone pilot can be obtained and provided to law enforcement agencies, so as to effectively deal with the illegal pilot and reduce illegal drone flights from the source.

[0028] However, in order to obtain evidence of illegal drone flight by a video surveillance system, it is necessary to call the video surveillance system to collect evidence of illegal drone flight and identify the illegal drone pilot by viewing the surveillance video. This method not only requires manual calling of the surveillance video of the video surveillance system for viewing, but also fails to automatically collect evidence of illegal drones based on the detection results of illegal drone flight, resulting in low efficiency and a large amount of manpower and material resources. In addition, when collecting evidence through the video surveillance system, multiple video surveillance devices need to be used to track the drone pilot. The installation angles and on-site environments of the video surveillance devices are quite different, which increases the difficulty of tracking the same target from the surveillance videos of different video surveillance devices.

[0029] Therefore, in order to track illegal drone pilots more quickly and accurately, the present application provides a target tracking method, which utilizes the flexible and efficient characteristics of drones. When the target to be tracked (for example, an illegal drone pilot) is detected, the position of the target to be tracked is sent to the tracking drone, so that the tracking drone can track the target to be tracked through the camera, sensor and other equipment on it. When it is necessary to track the illegal drone pilot, the detection device, under the control of the control device, monitors the illegal drone pilot, and the control device can automatically dispatch the tracking drone according to the position of the illegal drone pilot in a timely manner. The tracking drone can respond quickly and make full use of the flexibility of the tracking drone. When collecting evidence, only one tracking drone is needed to obtain all the features of the target to be tracked (for example, the facial features and body features of the drone pilot, etc.), without the need to track the same target through multiple video surveillance devices, effectively improving the efficiency of target tracking.

[0030] Specifically, when the control device detects an illegal drone pilot through the detection device, when the illegal drone pilot is detected, it first receives the position of the illegal drone pilot sent by the detection device, and then responds to the tracking instruction for the illegal drone pilot, obtains the position and status information of the tracking drone, and determines the target tracking drone based on the position, status information of the tracking drone and the position of the illegal drone pilot, and finally sends the position information of the illegal drone pilot to the target tracking drone, so that the target tracking drone tracks the illegal drone pilot.

[0031] The target tracking method disclosed in the embodiment of the present application can be used not only to track illegal drone pilots, but also to track targets such as animals and vehicles. The embodiment of the present application is only described by taking the illegal drone pilot as an example.

[0032] like Figure 1 As shown, Figure 1An application scenario diagram of a target tracking method provided in an embodiment of the present application is shown. An embodiment of the present application provides a target tracking system, which includes a detection device, a tracking drone, and a control device.

[0033] The control device is respectively communicated with the detection device and the tracking drone, and the communication connection can be achieved through wireless communication methods such as 5G or WIFI. On the one hand, the control device is used to connect with the detection device to control the detection device and receive the detection signal sent by the detection device. The control device identifies and displays the detection target according to the detection signal. On the other hand, the control device is also used to connect with the tracking drone to dispatch and control the tracking drone. By sending instructions to the tracking drone, the tracking drone is controlled to perform operations such as flying and shooting, and the shooting signal sent by the tracking drone is received for identification and display on the control device.

[0034] The detection equipment is used to detect the target to be tracked, usually including antennas or radars, etc. Under the control of the control device, it scans a specific area, identifies and locates the target to be tracked by scanning the wireless signal of the target to be tracked. It can track and locate the drone signal or the remote control signal of the drone pilot, and identify the position signal of the detector. The detection equipment can be installed at a high place or in open airspace in the monitoring area, or it can be a mobile device to ensure that it can cover a larger airspace range and accurately obtain the location of the target to be tracked.

[0035] Tracking drones are commonly used drone devices. They are used to track the target under the control and dispatch of the control device. They can be equipped with a navigation system (such as a GPS system) and an automatic flight system. After receiving the location of the target to be tracked, they automatically plan a route and fly to the target. The control device is used to obtain the location of the target to be tracked detected by the detection device, and dispatch the tracking drone to automatically track the target to be tracked.

[0036] Through the target tracking system proposed in the embodiment of the present application, the control device can dispatch the tracking drone in real time when receiving the position of the target to be tracked sent by the detection device, and send the position of the target to be tracked to the appropriate tracking drone. After receiving the tracking instruction, the tracking drone can automatically track the target to be tracked according to the position of the target to be tracked sent by the control device, and send the photographed information to the control device. The control device can collect evidence in a timely manner. In this way, the real-time and convenience of monitoring the target to be tracked are improved, and the monitoring efficiency is greatly improved.

[0037] Specifically, based on the above-mentioned target tracking system, the present application also provides a target tracking method, which is applied to the above-mentioned target tracking system. Specifically, the method runs on the control device and interacts with the detection device and the tracking drone through the control device to achieve detection and tracking of the target to be tracked.

[0038] like Figure 2 As shown, Figure 2 The flowchart of the target tracking method provided by the first embodiment of the present application is shown, and the method is executed by a control device. The control device can be a terminal device such as a mobile phone, a tablet, a computer, or a server device, such as a local server, a cloud server, etc. Figure 2 As shown, the method comprises the following steps:

[0039] Step S110: receiving a first position of a target to be tracked sent by a detection device.

[0040] Among them, the detection equipment is used to detect the drone activities in the airspace in real time to obtain the flight information of the drone, including the location of the drone (i.e. longitude and latitude), flight altitude, location of the drone pilot (i.e. longitude and latitude) and other data. The detection equipment can be a radar device, a GPS tracking device, a spectrum analyzer, etc. When the detection equipment detects an illegally flying drone in the airspace it monitors, it automatically obtains the flight information of the drone, identifies the first location of the drone pilot (the target to be tracked), and then reports the first location of the drone pilot to the control device.

[0041] After the control device receives the first position of the target to be tracked, the position of the target to be tracked can be displayed through a display device, which can be a display screen of the control device (such as a mobile phone, tablet, computer, etc.) itself, or other independent display devices (such as independent displays) that are connected to the control device in communication, that is, after receiving the first position of the target to be tracked, the control device sends the first position of the target to be tracked to the display device, so that the display device displays the position of the target to be tracked in the display interface. In addition, the control device can also send the flight information of the drone obtained by the detection device to the display device, so that the display device uses the drone icon to display the position of the drone in the display interface, so that the user can click the drone icon on the display interface and obtain the flight information of the drone from the pop-up drone details page.

[0042] Step S120: In response to the tracking instruction for the target to be tracked, the position and status information of the tracking drone is obtained.

[0043] Among them, the tracking instruction is used to track the target to be tracked, and the tracking instruction can be automatically generated by the control device. For example, assuming that the target to be tracked is an illegally flying drone pilot, when an illegally flying drone appears in the airspace monitored by the detection device, the danger level of the drone can be obtained, and when the danger level of the drone is relatively high (for example, when the drone has entered a no-fly zone such as an airport, government agency, or strategic facility), an instruction to track the drone pilot of the drone is automatically generated, that is, a tracking instruction for the target to be tracked (that is, the drone pilot of the drone) to automatically dispatch the tracking drone to track the target to be tracked.

[0044] The tracking instruction can also be generated according to the user's operation. For example, if the target to be tracked is an illegal drone pilot, a button (such as a "Catch Pilot" button) can be set in the drone's details page. When the user views the drone's details page, he or she can click the button to generate a tracking instruction for the target to be tracked. The control device responds to the tracking instruction to obtain the location and status information of the tracking drone, so as to automatically dispatch the tracking drone to track the target to be tracked. The status information of the tracking drone may include the flight status, remaining battery power, idle / non-idle status, etc. of the drone.

[0045] Step S130: determining a target tracking drone according to the position and state information of the tracking drone and the first position of the target to be tracked.

[0046] When determining the target tracking drone, if there is only one tracking drone managed by the control device, the tracking drone is directly determined as the target tracking drone. If there are multiple tracking drones managed by the control device, the target tracking drone can be determined based on the status information of the tracking drone. For example, first determine whether the tracking drone is in an available state based on the location and status information of the tracking drone, and then determine the target tracking drone from the drones in the available state.

[0047] It should be particularly pointed out that when determining whether a tracking drone is in an available state, it can be determined based on the location of the tracking drone or certain data in the status information. For example, when the target to be tracked is within the tracking range of the tracking drone (for example, the location of the tracking drone is taken as the center of the circle, and the area within 10 kilometers around is the tracking range of the tracking drone), it is determined that the tracking drone is in an available state; or, when the tracking drone is in an idle state (that is, the tracking drone is not currently performing a tracking task), it is determined that the tracking drone is in an available state. It can also be determined based on the location of the tracking drone and multiple status information. For example, when the target to be tracked is within the tracking range of the tracking drone and the tracking drone is in an idle state, it is determined that the tracking drone is in an available state; or, when the tracking drone is in an idle state and its remaining power is greater than a predetermined power (for example, 60% power), it is determined that the tracking drone is in an available state.

[0048] If there is only one tracking drone currently in an available state, the tracking drone is directly determined as the target tracking drone. If there are multiple tracking drones currently in an available state, a target tracking drone can be randomly determined from the multiple tracking drones, or the target tracking drone can be determined based on the distance between the tracking drone currently in an available state and the target to be tracked.

[0049] Specifically, step S130 may include the following steps (step S131 to step S132):

[0050] Step S131: If there are multiple tracking drones currently in an available state, the distance between the first position of the target to be tracked and the position of each tracking drone is calculated to obtain the tracking distance of each tracking drone currently in an available state.

[0051] Step S132: Determine the tracking drone with the shortest tracking distance as the target tracking drone.

[0052] Among them, Figure 3 As shown, Figure 3 The schematic diagram of the relative positions of the target to be tracked and the candidate tracking drones provided by the embodiment of the present application is shown. Assuming that the position C of the gray dot is the first position of the target to be tracked, and the currently available tracking drones are tracking drone A and tracking drone B, the distance L1 between tracking drone A and the first position C of the target to be tracked (i.e., the tracking distance of tracking drone A is L1), and the distance L2 between tracking drone B and the first position C of the target to be tracked (i.e., the tracking distance of tracking drone B is L2) can be obtained by calculation. Figure 3It can be seen that the distance L2 between the tracking drone B and the first position C of the target to be tracked is greater than the distance L1 between the tracking drone A and the first position C of the target to be tracked, which results in the tracking drone B taking more time to reach the first position C of the target to be tracked, while the tracking drone A takes less time to reach the first position C of the target to be tracked.

[0053] Therefore, when determining the target tracking drone, the tracking drone with a shorter tracking distance can be determined as the target tracking drone, so that the target tracking drone can reach the location of the target to be tracked more quickly, and the real-time performance of the target tracking is better, especially when tracking a movable target to be tracked, the loss of the target to be tracked can be effectively avoided.

[0054] Furthermore, when there is only one tracking drone with the shortest tracking distance, the tracking drone can be directly determined as the target tracking drone. If there are multiple tracking drones with the shortest tracking distance, one of the multiple tracking drones can be randomly selected as the target tracking drone. Of course, the priority of the tracking drone can also be determined in combination with the status information of the tracking drone, such as the remaining battery power of the tracking drone, whether it is in flight, etc., and the tracking drone with the highest priority can be determined as the target tracking drone. Specifically, step S132 can include the following steps (steps S133 to S139):

[0055] Step S133: If there are multiple tracking drones with the shortest tracking distance, all of the multiple tracking drones with the shortest tracking distance are determined as candidate tracking drones.

[0056] Step S134: acquiring the flight status and remaining power of each candidate tracking drone according to the status information of each candidate tracking drone.

[0057] Step S135: determining the tracking capability information of each candidate tracking drone according to the flight status and remaining power of each candidate tracking drone.

[0058] Among them, the flight status is used to characterize whether the tracking drone is currently in a flight state. For example, the flight status of a tracking drone that has completed a mission and is returning to the machine nest can be marked as flying, returning, etc.; the flight status of a tracking drone waiting for a mission in the machine nest can be marked as standing by, waiting, etc.; the flight status of a tracking drone that is currently performing a mission can be marked as in mission, tracking, etc. Compared with a tracking drone that is waiting for a mission in the machine nest, a tracking drone that has completed a mission and is returning to the machine nest can directly change its flight route to track the target to be tracked when it receives a new tracking mission, while a tracking drone that is waiting for a mission in the machine nest needs to take off for a certain period of time before tracking the target to be tracked. Therefore, a tracking drone that has completed a mission and is returning to the machine nest can reach the location of the target to be tracked more quickly.

[0059] The remaining power is used to characterize the endurance of the tracking drone, that is, the length of time the tracking drone can fly continuously. The more remaining power a tracking drone has, the longer it can fly continuously, and the farther it can fly. Especially when tracking a mobile target, since the position of the target may change at any time, the distance the tracking drone needs to fly to complete the tracking task is usually not fixed. This requires ensuring that the tracking drone has enough power to complete the tracking task. Therefore, the more remaining power a tracking drone has, the stronger its tracking ability will be.

[0060] Of course, the tracking capability information of the tracking drone can also be determined by combining other data in the status information of the tracking drone, such as the flight speed and body weight of the tracking drone, to jointly determine the tracking capability information of the tracking drone. In addition, different data have different degrees of influence on the tracking capability of the tracking drone. When determining the tracking capability information of the tracking drone, different weights can be set for different data to more accurately evaluate the tracking capability information of the tracking drone.

[0061] Step S136: obtaining a third position of the target to be tracked, where the third position is the position of the target to be tracked at a preset time distance from the current time point.

[0062] Step S137: Calculate the relative position information between the target to be tracked and each candidate tracking drone according to the first position, the third position and the position of each candidate tracking drone.

[0063] When determining the target tracking drone, the position of the target to be tracked at a preset time distance from the current deadlock point can also be obtained to determine the moving trajectory of the target to be tracked, and the subsequent moving direction of the target to be tracked can be predicted based on the moving trajectory. Figure 3As shown, assuming that the position D of the black dot is the first position of the target to be tracked, and the position C of the gray dot is the third position of the target to be tracked, it means that the target to be tracked was at the third position C before the preset time length from the current time point, and moved from the third position C to the first position D after the preset time length, and the target to be tracked may continue to move in the same direction.

[0064] The relative position information can be determined by the moving direction of the target to be tracked and the direction of the tracking drone relative to the target to be tracked. For example, if the moving direction of the target to be tracked is closer to the direction of a tracking drone relative to the target to be tracked, it can be determined that the target to be tracked is moving in the direction of the tracking drone. Since the target to be tracked may continue to move in the same direction, the tracking drone can track the target to be tracked more quickly.

[0065] Specifically, Figure 3 As shown, the trajectory vector of the target to be tracked can be determined according to the first position C and the second position D of the target to be tracked. Determine the azimuth vector of the tracking drone A according to the first position C of the target to be tracked and the position of the tracking drone A Determine the orientation vector of the tracking drone B according to the first position C of the target to be tracked and the position of the tracking drone B Then calculate the trajectory vector The direction of the tracking drone is closer to the direction of its azimuth vector. Specifically, the trajectory vector can be directly calculated and the position vector of tracking drone A The angle e between them, the trajectory vector and the position vector of the tracking drone B The smaller the angle, the closer the directions of the two vectors are. Alternatively, the cosine values ​​of the angle e and the angle f are calculated respectively. The closer the cosine value is to 1, the closer the directions of the two vectors are.

[0066] Furthermore, when the target to be tracked moves toward a certain tracking drone, the distance between the target to be tracked and the tracking drone will be shortened, and the distance between the tracking drone and the target to be tracked will be shortened more when the target to be tracked moves closer to the tracking drone. Therefore, in order to more conveniently obtain the relative position information between the target to be tracked and each candidate tracking drone, step S137 may include the following steps (steps S137a to S137c):

[0067] Step S137a: Calculate the distance between the first position and the position of each candidate tracking drone to obtain the first distance corresponding to each candidate tracking drone.

[0068] Step S137b: Calculate the distance between the third position and the position of each candidate tracking drone to obtain a second distance corresponding to each candidate tracking drone.

[0069] Step S137c: Determine the relative position information of the target to be tracked and each candidate tracking drone according to the difference between the first distance and the second distance corresponding to each candidate tracking drone.

[0070] The first distance is the distance between the target to be tracked and each candidate tracking drone at the current time point, and the second distance is the distance between the target to be tracked and each candidate tracking drone at a preset time from the current time point. By calculating the difference between the first distance and the second distance, it can be determined whether the distance between the target to be tracked and each candidate tracking drone is shortened or extended. Specifically, when the difference between the first distance and the second distance is smaller, the tracking drone can track the target to be tracked faster, for example, Figure 3 As shown, after the target to be tracked moves from the third position C to the first position D, the distance between the tracking drone A and the target to be tracked changes from L1 to L, and the distance between the tracking drone B and the target to be tracked changes from L2 to L, and the difference between L and L2 is smaller than the difference between L and L1. Therefore, it can be judged that the moving direction of the target to be tracked is more inclined to the tracking drone B.

[0071] In the above steps S137a to S137c, the distance between the target to be tracked and each candidate tracking UAV before and after the movement is calculated, and the relative position information of the target to be tracked and each candidate tracking UAV is determined according to the distance difference before and after the movement. The acquisition of relative position information is more convenient, which can speed up the determination process of the target tracking UAV, thereby improving the real-time performance of the target tracking method.

[0072] After step S137, step S138 is executed: the priority of each candidate tracking drone is calculated according to the tracking capability information and relative position information of each candidate tracking drone.

[0073] Among them, the priority of each candidate tracking UAV is calculated according to the tracking capability information and relative position information of each candidate tracking UAV. The tracking UAV with a higher priority can track the target to be tracked faster. The tracking capability information and relative position information can be directly converted into specific parameters and directly added to obtain the priority of each candidate tracking UAV. Weights can also be set for the tracking capability information and relative position information to more accurately calculate the priority of each candidate tracking UAV.

[0074] In addition, the targets to be tracked in different scenarios have different characteristics. Assuming that the target to be tracked is a drone pilot who illegally flies a drone, when the drone is flying in an open area, the drone pilot usually controls the drone in a fixed position. When the drone is flying in an area with many obstacles, the drone pilot usually moves along the flight trajectory of the drone to more conveniently observe the flight status of the drone. Therefore, when calculating the priority of each candidate tracking drone, different weights can be set for the tracking capability information and the relative position information according to the characteristics of the target to be tracked. For example, for a target to be tracked that moves more frequently, a higher weight can be set for the relative position information, and for a target to be tracked with a fixed position, a higher weight can be set for the tracking capability information.

[0075] Specifically, the tracking capability information includes a first weight value, the relative position information includes a second weight value, and step S138 may include the following steps (steps S138a to S138d):

[0076] Step S138a: Calculate the distance between the first position and the third position to determine the moving distance of the target to be tracked within a preset time period.

[0077] The moving distance of the target to be tracked within the preset time period is obtained by calculating the distance between the position of the target to be tracked at the current time point and the position at a preset time period from the current time point.

[0078] Step S138b: If the moving distance is greater than or equal to the preset distance, the first weight value is set to be smaller than the second weight value.

[0079] Step S138c: If the moving distance is less than the preset distance, the first weight value is set to be greater than the second weight value.

[0080] Among them, if the moving distance is relatively large, it means that the position of the target to be tracked changes frequently, and the second weight value included in the relative position information can be set to be relatively high to make the candidate tracking drone located in the moving direction of the target to be tracked have a higher priority; if the moving distance is relatively small, it means that the position of the target to be tracked basically does not change much, and the first weight value included in the tracking capability information can be set to be relatively high.

[0081] Specifically, when adjusting the first weight value and the second weight value, the sum of the first weight value and the second weight value can be kept unchanged (for example, the sum of the first weight value and the second weight value is always equal to 1), and the first weight value and the second weight value are adjusted according to the ratio between the moving distance and the preset distance. For example, when the moving distance is greater than the preset distance, if the ratio of the moving distance to the preset distance is greater, the second weight value is increased more, so that when calculating the priority of each candidate tracking drone, the relative position information can occupy a higher weight; when the moving distance is less than the preset distance, if the ratio of the moving distance to the preset distance is smaller, the first weight value is increased more, so that when calculating the priority of each candidate tracking drone, the tracking capability information can occupy a higher weight.

[0082] Step S138d: Calculate the priority of each candidate tracking drone based on the tracking capability information, the first weight value, the relative position information and the second weight value.

[0083] Among them, the product of the tracking capability information and the first weight value, and the product of the relative position information and the second weight value can be calculated first, and finally the priority of each candidate tracking drone is obtained by calculating these two products through mathematical operations (for example, addition, multiplication, etc.).

[0084] In the above steps S138a to S138d, the characteristics of the target to be tracked (i.e., whether the target to be tracked is frequently moving or has a fixed position) are determined by calculating the moving distance of the target to be tracked within a preset time period, and the first weight value and the second weight value are adjusted according to the characteristics of the target to be tracked, so that the priority of each candidate tracking drone is more accurate.

[0085] After step S138, step S139 is executed: the tracking drone with the highest priority is determined as the target tracking drone.

[0086] Among them, the higher the priority of the tracking drone, the better it can perform the task of tracking the target to be tracked (for example, the higher the priority of the tracking drone, the faster it can reach the location of the target to be tracked, etc.), so the tracking drone with the highest priority is determined as the target tracking drone.

[0087] In the above steps S133 to S139, the tracking capability information of each candidate tracking drone is first determined by tracking the flight status of the drone and the remaining circuit, and then the relative position information between the target to be tracked and each candidate tracking drone is calculated according to the first position, the third position and the position of each candidate tracking drone. Finally, the priority of each candidate tracking drone is calculated according to the tracking capability information and the relative position information. The priority of each candidate tracking drone is calculated by tracking multiple aspects of data of the drone, which effectively improves the accuracy of the priority, thereby making the target tracking drone determined according to the priority more capable of tracking the target to be tracked, thereby indirectly improving the efficiency of target tracking.

[0088] After step S130 , step S140 is executed: the first position of the target to be tracked is sent to the target tracking drone, so that the target tracking drone tracks the target to be tracked.

[0089] The control device sends the first position of the target to be tracked to the target tracking drone, so that the target tracking drone automatically takes off and navigates to the position of the target to be tracked, and tracks the target to be tracked. In addition, when tracking the target to be tracked, the target tracking drone can also turn on the camera device mounted thereon to record the image of the target to be tracked through the video stream captured by the camera device, and collect the features of the target to be tracked.

[0090] In the above embodiment, by receiving the first position of the target to be tracked sent by the detection device, and then responding to the tracking instruction for the target to be tracked, the target tracking drone is determined according to the position and status information of the tracking drone, so as to ensure that the target tracking drone can respond quickly and improve the speed at which the target tracking drone reaches the location of the target to be tracked. Finally, after the detection device detects the target to be tracked, the control device can automatically dispatch the tracking drone according to the first position of the target to be tracked in time, so that the target tracking drone automatically plans the route to track the target to be tracked, making the target tracking faster and the process simpler and easier to operate. In addition, the flexibility of the target tracking drone is fully utilized. When collecting evidence, all the features of the target to be tracked can be collected by only one target tracking drone, without the need for multiple video surveillance devices to cooperate, and without the need to identify the same target to be tracked from the data of multiple video surveillance devices. The evidence collection is more convenient and more accurate. The target to be tracked can also be locked by the target tracking drone to effectively avoid the loss of the target.

[0091] Furthermore, if the target to be tracked can change its position, the target to be tracked (human or animal, etc.) or the operator of the target to be tracked (driver of a vehicle, etc.) will change its position when it realizes that it is being tracked to avoid being tracked. Assuming that the target to be tracked is an illegal drone pilot, in order to avoid being tracked, it will constantly change its position to avoid being tracked, or will quickly move away from the scene when it finds that it is being tracked. Therefore, in order to better track the target to be tracked, such as Figure 4 As shown, Figure 4 The flowchart of the target tracking method provided by the second embodiment of the present application is shown. After step S140, the method further includes the following steps:

[0092] Step S150: receiving in real time the second position of the target to be tracked sent by the detection device.

[0093] Step S160: If the second position is different from the first position, the first position is updated according to the second position, and the updated first position is sent to the target tracking drone, so that the target tracking drone tracks the target to be tracked according to the updated first position.

[0094] Among them, the position of the target to be tracked (i.e., the second position) is obtained in real time through the detection device. When the second position is different from the first position, it means that the target to be tracked has moved and the position has changed. At this time, the destination of the target tracking drone needs to be updated so that the target tracking drone can successfully track the target to be tracked. Specifically, the first position can be updated according to the second position, and the updated first position can be sent to the target tracking drone. When the second position is the same as the first position, it means that the position of the target to be tracked has not changed, and the target tracking drone can successfully track the target to be tracked by continuing to fly to the first position.

[0095] In the above embodiment, the second position of the target to be tracked is acquired in real time, and when the position of the target to be tracked changes, the first position is updated in time and sent to the target tracking drone, so that the target tracking drone replans the route according to the updated first position, effectively avoiding the loss of the target to be tracked and improving the probability of successfully tracking the target to be tracked. In addition, the first position is updated and sent to the target tracking drone only when the position of the target to be tracked changes, instead of sending the second position to the target tracking drone in real time, which can avoid the target tracking drone from frequently replanning the route and save the computing resources of the target tracking drone.

[0096] Furthermore, in order to more conveniently obtain the features of the target to be tracked and save the features of the target to be tracked, such as Figure 5 As shown, Figure 5 A schematic flow chart of a target tracking method provided in the third embodiment of the present application is shown, and the method further includes the following steps:

[0097] Step S170: receiving the video stream transmitted back in real time by the target tracking UAV to display the video stream.

[0098] The target tracking drone may be equipped with a camera (e.g., a high-definition camera) to obtain images. When the target tracking drone receives the first position, it automatically plans the route and turns on the camera it carries, and transmits back the captured video stream in real time. The control device receives the video stream transmitted back in real time by the target tracking drone, and can display the video stream on a display device in real time, so that the user can watch the video stream in real time.

[0099] Step S180: If the target tracking UAV reaches the first position, in response to the control instruction for the target tracking UAV, a control instruction is sent to the target tracking UAV, where the control instruction is used to adjust the shooting area of ​​the target tracking UAV so that the video stream includes the image of the target to be tracked.

[0100] Among them, when the target tracking drone arrives at the first position, the user can watch the video stream to determine whether the features of the target to be tracked are successfully collected. If the image sent back by the target tracking drone does not contain the image of the target to be tracked, the control device can send control instructions to the target tracking drone (for example, turn left, turn right, back, forward, lens up, lens down, etc.) to adjust the shooting area of ​​the target tracking drone, so that the target to be tracked appears in the shooting area of ​​the target tracking drone, and then obtain the image of the target to be tracked.

[0101] In addition, when it is necessary to obtain certain specific features of the target to be tracked (such as a human face), even if the target to be tracked has appeared in the shooting area of ​​the target tracking drone, control instructions can be sent to the target tracking drone to adjust the shooting angle of the target tracking drone, thereby successfully capturing clear images of certain specific parts of the target to be tracked.

[0102] Step S190: storing the image of the target to be tracked in the video stream.

[0103] The collected images of the target to be tracked are saved, for example, the images of the illegal drone pilots are saved as evidence of illegal drone flight, so as to facilitate the subsequent investigation by law enforcement agencies. When storing the images of the target to be tracked, the entire video stream can be saved, or pictures and videos including the target to be tracked can be intercepted from the video stream and saved, and finally the video stream or the intercepted pictures and videos are uploaded to the server (which can be a local server or a cloud server). In addition, the images of the target to be tracked can be encrypted and transmitted to the cloud storage to ensure the security and integrity of the data.

[0104] The above embodiment ensures that a clear image of the target to be tracked can be obtained by receiving the video stream sent back in real time by the target tracking drone and sending control instructions to the target tracking drone, and the user can watch the video stream in real time on the display device and take screenshots or record at any time during the viewing process, which is conducive to completely saving the image of the target to be tracked. Finally, the image of the target to be tracked in the video stream is stored for subsequent use.

[0105] In addition, when the target to be tracked is an illegal drone pilot, the method can automatically identify the illegally flying drone and track the drone pilot, record the drone pilot's image and the drone's flight data (for example, time, location, flight trajectory, etc.) to form a complete chain of evidence, automate evidence collection, reduce manual intervention, and improve the efficiency and accuracy of evidence collection. Moreover, it can also generate corresponding illegal behavior reports to provide clear evidence to law enforcement agencies, which helps to improve law enforcement efficiency.

[0106] Furthermore, in order to ensure the stability of communication, the method includes the following steps:

[0107] Step S210: Periodically sending the first heartbeat information to the detection device and the target tracking drone, so that the detection device returns the second heartbeat information after receiving the first heartbeat information, and the target tracking drone returns the third heartbeat information after receiving the first heartbeat information.

[0108] Step S220: Receive the second heartbeat information returned by the detection device and the third heartbeat information returned by the target tracking drone.

[0109] Step S230: If the second heartbeat information is not received within the preset time, re-establishing the first communication channel corresponding to the detection device.

[0110] Step S240: If the third heartbeat information is not received within the preset time, re-establishing the second communication channel corresponding to the detection device.

[0111] Step S250: If the establishment of the first communication channel or the second communication channel fails, the tracking task for the target to be tracked is terminated, and a prompt indicating tracking failure is given.

[0112] In the above embodiment, the control device periodically sends the first heartbeat information to the detection device and the target tracking drone to verify whether the detection device and the target tracking drone are operating normally, and re-establishes the communication channel when an abnormality occurs in the detection device or the target tracking drone, so as to ensure the stability of the communication between the control device and the detection device and the target tracking drone. When the communication channel fails to be established, the tracking task for the target to be tracked is terminated in time to avoid the detection device or the target tracking drone being out of control, thereby ensuring the stability of target tracking.

[0113] According to another aspect of the embodiment of the present application, a target tracking device is also provided. Figure 6 As shown, Figure 6 A schematic structural diagram of a target tracking device provided in an embodiment of the present application is shown. The target tracking device 1 includes: a receiving module 11, an acquiring module 12, a determining module 13 and a sending module 14.

[0114] The receiving module 11 is used to receive the first position of the target to be tracked sent by the detection device. The acquiring module 12 is used to obtain the position and status information of the tracking drone in response to the tracking instruction for the target to be tracked. The determining module 13 is used to determine the target tracking drone according to the position, status information of the tracking drone and the first position of the target to be tracked. The sending module 14 is used to send the first position of the target to be tracked to the target tracking drone so that the target tracking drone tracks the target to be tracked.

[0115] In the above embodiment, by receiving the first position of the target to be tracked sent by the detection device, and then responding to the tracking instruction for the target to be tracked, the target tracking drone is determined according to the position and status information of the tracking drone, so as to ensure that the target tracking drone can respond quickly and improve the speed at which the target tracking drone reaches the location of the target to be tracked. Finally, after the detection device detects the target to be tracked, the control device can automatically dispatch the tracking drone according to the first position of the target to be tracked in time, so that the target tracking drone automatically plans the route to track the target to be tracked, making the target tracking faster and the process simpler and easier to operate. In addition, the flexibility of the target tracking drone is fully utilized. When collecting evidence, all the features of the target to be tracked can be collected by only one target tracking drone, without the need for multiple video surveillance devices to cooperate, and without the need to identify the same target to be tracked from the data of multiple video surveillance devices. The evidence collection is more convenient and more accurate. The target to be tracked can also be locked by the target tracking drone to effectively avoid the loss of the target.

[0116] Figure 7 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown, and the specific embodiment of the present application does not limit the specific implementation of the control device.

[0117] like Figure 7 As shown, the control device 2 may include: a processor (processor) 21 and a memory (memory) 22.

[0118] The memory 22 is used to store a computer program 23. The memory 22 may include a high-speed RAM memory, or may also include a non-volatile memory, such as at least one disk memory. The computer program 23 may include computer executable instructions.

[0119] The processor 21 is used to execute the computer program 23 to implement the above-mentioned target tracking method embodiment.

[0120] The processor 21 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the control device 2 may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0121] The embodiment of the present application also provides a target tracking system, which includes a detection device, the control device described in the above embodiment, and a tracking drone, wherein the control device is communicatively connected to the detection device and the tracking drone, respectively. The detection device is used to detect the position of the target to be tracked, and send the position of the target to be tracked to the control device. The control device is used to receive the position of the target to be tracked, and in response to the tracking instruction for the target to be tracked, obtain the position and status information of the tracking drone. The control device is also used to determine the target tracking drone based on the position of the tracking drone. Status information and the position of the target to be tracked, and send the position of the target to be tracked to the target tracking drone. The tracking drone is used to receive the position of the target to be tracked and track the target to be tracked.

[0122] In the above embodiment, by receiving the first position of the target to be tracked sent by the detection device, and then responding to the tracking instruction for the target to be tracked, the target tracking drone is determined according to the position and status information of the tracking drone, so as to ensure that the target tracking drone can respond quickly and improve the speed at which the target tracking drone reaches the location of the target to be tracked. Finally, after the detection device detects the target to be tracked, the control device can automatically dispatch the tracking drone according to the first position of the target to be tracked in time, so that the target tracking drone automatically plans the route to track the target to be tracked, making the target tracking faster and the process simpler and easier to operate. In addition, the flexibility of the target tracking drone is fully utilized. When collecting evidence, all the features of the target to be tracked can be collected by only one target tracking drone, without the need for multiple video surveillance devices to cooperate, and without the need to identify the same target to be tracked from the data of multiple video surveillance devices. The evidence collection is more convenient and more accurate. The target to be tracked can also be locked by the target tracking drone to effectively avoid the loss of the target.

[0123] An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned target tracking method embodiment is implemented.

[0124] An embodiment of the present application provides a computer program, which can be executed by a processor to implement the above-mentioned target tracking method embodiment.

[0125] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned target tracking method embodiment is implemented.

[0126] In several embodiments provided in the present application, if any function is implemented in the form of a software function module / unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, part or all of the technical solution of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server and other control devices) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (RandomAccess Memory, RAM), disk or optical disk and other media that can store computer program code.

[0127] The algorithm or display provided here are not inherently related to any specific computer, virtual system or other equipment. Various general systems can also be used together with the teaching based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application described here, and the above description of specific languages ​​is to disclose the best mode of implementation of the present application.

[0128] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the claims that list several devices, several units or modules in these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0129] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A target tracking method, characterized in that: The method comprises: receiving a first position of a target to be tracked sent by a detection device; In response to a tracking instruction for the target to be tracked, obtaining the position and status information of the tracking drone; Determine a target tracking drone according to the position and state information of the tracking drone and the first position of the target to be tracked; The first position of the target to be tracked is sent to the target tracking drone, so that the target tracking drone tracks the target to be tracked.

2. The target tracking method according to claim 1, characterized in that: After sending the first position of the target to be tracked to the target tracking drone, the method further includes: Receiving in real time the second position of the target to be tracked sent by the detection device; If the second position is different from the first position, the first position is updated according to the second position, and the updated first position is sent to the target tracking drone, so that the target tracking drone tracks the target to be tracked according to the updated first position.

3. The target tracking method according to claim 1, characterized in that: The determining the target tracking drone according to the position, state information of the tracking drone and the first position of the target to be tracked specifically includes: If there are multiple tracking drones currently in an available state, the distance between the first position of the target to be tracked and the position of each tracking drone is calculated to obtain the tracking distance of each tracking drone currently in an available state; The tracking drone with the shortest tracking distance is determined as the target tracking drone.

4. The target tracking method according to claim 3, characterized in that: The step of determining the tracking drone with the shortest tracking distance as the target tracking drone specifically includes: If there are multiple tracking drones with the shortest tracking distance, all of the multiple tracking drones with the shortest tracking distance are determined as candidate tracking drones; Acquire the flight status and remaining power of each candidate tracking drone according to the status information of each candidate tracking drone; Determining the tracking capability information of each candidate tracking drone according to the flight status and the remaining power of each candidate tracking drone; Acquire a third position of the target to be tracked, where the third position is the position of the target to be tracked at a preset time from the current time point; Calculating relative position information between the target to be tracked and each candidate tracking drone according to the first position, the third position and the position of each candidate tracking drone; Calculating the priority of each candidate tracking drone according to the tracking capability information and the relative position information of each candidate tracking drone; The tracking drone with the highest priority is determined as the target tracking drone.

5. The target tracking method according to claim 4, characterized in that: The calculating the relative position information between the target to be tracked and each candidate tracking drone according to the first position, the third position and the position of each candidate tracking drone specifically includes: Calculate the distance between the first position and the position of each candidate tracking drone to obtain a first distance corresponding to each candidate tracking drone; Calculating the distance between the third position and the position of each candidate tracking drone to obtain a second distance corresponding to each candidate tracking drone; The relative position information of the target to be tracked and each candidate tracking drone is determined according to the difference between the first distance and the second distance corresponding to each candidate tracking drone.

6. The target tracking method according to claim 4, characterized in that: The tracking capability information includes a first weight value, and the relative position information includes a second weight value; The calculating the priority of each candidate tracking drone according to the tracking capability information and the relative position information of each candidate tracking drone specifically includes: Calculating the distance between the first position and the third position to determine the moving distance of the target to be tracked within the preset time period; If the moving distance is greater than or equal to a preset distance, setting the first weight value to be smaller than the second weight value; If the moving distance is less than the preset distance, setting the first weight value to be greater than the second weight value; The priority of each candidate tracking drone is calculated based on the tracking capability information, the first weight value, the relative position information and the second weight value.

7. The target tracking method according to any one of claims 1 to 6, characterized in that: The method further comprises: Receiving the video stream transmitted back in real time by the target tracking UAV to display the video stream; If the target tracking drone reaches the first position, in response to the control instruction for the target tracking drone, the control instruction is sent to the target tracking drone, wherein the control instruction is used to adjust the shooting area of ​​the target tracking drone so that the video stream includes the image of the target to be tracked; The image of the target to be tracked in the video stream is stored.

8. The target tracking method according to any one of claims 1 to 6, characterized in that: The method further comprises: Periodically sending a first heartbeat message to the detection device and the target tracking drone, so that the detection device returns a second heartbeat message after receiving the first heartbeat message, and the target tracking drone returns a third heartbeat message after receiving the first heartbeat message; Receiving the second heartbeat information returned by the detection device and the third heartbeat information returned by the target tracking drone; If the second heartbeat information is not received within a preset time, re-establishing the first communication channel corresponding to the detection device; If the third heartbeat information is not received within the preset time, re-establishing the second communication channel corresponding to the detection device; If the establishment of the first communication channel or the second communication channel fails, the tracking task for the target to be tracked is terminated, and a prompt indicating tracking failure is given.

9. A control device, comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the target tracking method according to any one of claims 1 to 8.

10. A target tracking system, characterized in that: The system comprises a detection device, a control device as claimed in claim 9, and a tracking drone; The control device is communicatively connected with the detection device and the tracking drone respectively; The detection device is used to detect the position of the target to be tracked, and send the position of the target to be tracked to the control device; The control device is used to receive the position of the target to be tracked, and in response to a tracking instruction for the target to be tracked, obtain the position and status information of the tracking drone; The control device is also used to determine a target tracking drone according to the position and state information of the tracking drone and the position of the target to be tracked, and send the position of the target to be tracked to the target tracking drone; The tracking drone is used to receive the position of the target to be tracked and track the target to be tracked.

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