Automatic tracking and shooting method and automatic tracking and shooting device for barrier net confrontation movement

Abstract

The invention discloses an automatic tracking and shooting method for separation net confrontation movement, and the method comprises the steps: recognizing human body targets in a real-time shooting image of an automatic tracking and shooting device based on a target recognition algorithm, obtaining a target frame of each human body target, and obtaining a first target frame set; calculating foot point coordinates of each target frame in the first target frame set; based on the foot point coordinates of each target frame, the target frames with the foot point coordinates located above the net are filtered out from the first target frame set, and a second target frame set is obtained; calculating the area of each target frame in the second target frame set, and identifying second positions of a preset number of target frames with the maximum area in the real-time shot picture; when the second position is located in the preset area of the left and right edges of the real-time shooting picture, the automatic tracking shooting device rotates by a preset angle in the corresponding direction. According to the method, the athletes on the concerned side can be effectively tracked and shot while the complete competition picture is shot.

Description

[0001] This application is a divisional application of invention patent application 2025105878754 filed on May 8, 2025. Technical Field

[0002] The embodiments of the present application relate to the technical field of motion intelligent shooting, and more particularly to an automatic tracking shooting method for resisting motion with a mesh. Background Art

[0003] In the field of sports photography, the usual technical solutions are all related to large-scale field sports with full-court running, such as basketball, football, and ice hockey. In these sports, the photographer will conduct special tracking of one of the players, and the running distance is usually large. The rotation of automatic tracking is relatively frequent and the angle is relatively large, so the technology is complex. However, in net-separated confrontation sports, such as badminton, volleyball, tennis, or the recent rise of pickleball, the players' sports field is relatively limited, and the photographer usually only needs to shoot the players or teams on one side. Therefore, the current existing technology uses single-point fixed-angle shooting or multi-camera shooting to shoot badminton games, or tracks and shoots designated players through face recognition. CN112354166A discloses a badminton sports capture system and capture method, that is, by analyzing the tracking signal of the face to control the servo gimbal to capture the athlete. However, this method must shoot the players from the front or side, and the characteristic of net-separated sports is that the athletes on both sides move towards each other. Therefore, if shooting from the front, the camera must be set up on the opponent's side of the court and at a sufficient height; if shooting from the side, it is impossible to capture the opponent's movement at all, lacking the sense of reality of the competitive game. Therefore, a technical solution is needed that can be easily set up, can capture the complete game scene, and can effectively track and shoot the athletes on the side of concern. Summary of the invention

[0004] In view of this, the present application provides an automatic tracking and shooting method for net-separated confrontation sports, and the shooting equipment can be set up on one side of the target to be tracked, so that the movement of the target to be tracked can be tracked and shot while the entire competition venue can be shot.

[0005] In a first aspect of the present application, a method for automatic tracking shooting of a net-separated counter-movement is provided. The method is performed in an automatic tracking shooting device, which is installed behind a field on one side where a target to be tracked is located, and the method comprises:

[0006] Based on the target recognition algorithm, human targets in the real-time shooting picture of the automatic tracking shooting device are identified, and a target frame of each human target is obtained to obtain a first target frame set;

[0007] Calculate the foot point coordinates of each target frame in the first target frame set;

[0008] Based on the foot point coordinates of each target box, filter out the target boxes in the first target box set whose foot point coordinates are above the net to obtain the second target box set;

[0009] Based on the foot point coordinates of each target box in the second target box set, identify the first positions of the number of target boxes of the target to be tracked closest to the lower part of the real-time shooting screen;

[0010] Take the first position as the tracking center position. When the tracking center position is in the preset area at the left and right edges of the real-time shooting screen, the automatic tracking shooting device rotates a preset angle in the corresponding direction.

[0011] According to the embodiments of the present application, the net-separated confrontation sport is a single-person confrontation mode, the preset number is 1, and the first position is the foot point coordinates of the target box of the target to be tracked.

[0012] According to the embodiments of the present application, the net-separated confrontation sport is a team confrontation mode, the preset number is the number of team members, and the first position is the average value of the foot point coordinates of the target boxes of the preset number of targets closest to the lower part of the screen. Preferably, when the total number of all target boxes in the second target box set is less than the number of team members, the first position is the average value of the foot point coordinates of all target boxes.

[0013] According to the embodiments of the present application, when calculating the foot point coordinates of each target box in the first target box set, if only the upper half of the target box is displayed, the foot point coordinates of the target box are predicted by the average value of the aspect ratios of other target boxes.

[0014] In the second aspect of the present application, another automatic tracking shooting method for net-separated confrontation sports is provided. This method is executed in an automatic tracking shooting device, and the automatic tracking shooting device is installed behind the field on the side where the target to be tracked is located and is suitable for horizontal rotation movement. The method includes:

[0015] Based on the target recognition algorithm, identify the human targets in the real-time shooting screen of the automatic tracking shooting device, obtain the target box of each human target, and obtain the first target box set;

[0016] Calculate the foot point coordinates of each target box in the first target box set;

[0017] Based on the foot point coordinates of each target box, filter out the target boxes in the first target box set whose foot point coordinates are above the net to obtain the second target box set;

[0018] Calculate the area of each target box in the second target box set, and identify the second positions of the number of target boxes of the target to be tracked with the largest area in the real-time shooting screen;

[0019] Take the second position as the tracking center position. When the tracking center position is within the preset area at the left and right edges of the real-time captured image, the automatic tracking shooting device rotates by a preset angle in the corresponding direction.

[0020] According to an embodiment of the present application, the net-separated confrontation sport is a single-person confrontation mode, the preset quantity is 1, and the second position is the foot point coordinates of the target box of the target to be tracked.

[0021] According to an embodiment of the present application, the net-separated confrontation sport is a team confrontation mode, the preset quantity is the number of team members, and the second position is the average value of the foot point coordinates of the target boxes of the preset quantity of targets with the largest area. Preferably, when the total number of target boxes in the second target box set is less than the number of team members, the second position is the average value of the foot point coordinates of all target boxes.

[0022] According to an embodiment of the present application, when calculating the foot point coordinates of each target box in the first target box set, if the target box only shows the upper half, the foot point coordinates of the target box are predicted by the average value of the aspect ratios of the other target boxes.

[0023] According to an embodiment of the present application, when calculating the area of each target box in the second target box set, if the target box only shows the upper half, the area of the target box is predicted by the average value of the aspect ratios of the other target boxes.

[0024] In the third aspect of the present application, an automatic tracking shooting device is provided, including a shooting module, an analysis module, and a rotation module. The shooting module and the rotation module are physically connected. The rotation module is suitable for horizontal rotation. The shooting module is suitable for continuously acquiring a real-time captured image and sending the real-time captured image to the analysis module; the analysis module is suitable for executing the method of the first aspect or the second aspect of the present application and sending a rotation instruction to the rotation module: the rotation module is suitable for changing the angle of the shooting module according to the rotation instruction. Preferably, the automatic tracking shooting device is installed directly behind the side of the field where the target to be tracked is located. When the rotation module rotates, the maximum rotation angle is limited to the difference between the arctangent of the quotient of half of the field width divided by the distance between the automatic tracking shooting device and the bottom line of the side of the field where the target to be tracked is located, and half of the field of view angle of the automatic tracking device.

[0025] In the fourth aspect of the present application, an automatic tracking shooting system is provided, including:

[0026] An intelligent terminal, suitable for continuously acquiring a real-time captured image, executing the method of the first aspect or the second aspect of the present application, and sending a rotation instruction to the intelligent cloud platform;

[0027] An intelligent cloud platform, suitable for changing the angle of the intelligent terminal according to the rotation instruction.

[0028] In a fifth aspect of the present application, there is provided an electronic device including a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program, the method according to the first aspect or the second aspect of the present application is implemented.

[0029] In a sixth aspect of the present application, there is provided a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method according to the first aspect or the second aspect of the present application is implemented.

[0030] The automatic tracking and shooting method for net-separated confrontation sports provided by the embodiments of the present application identifies human targets in the real-time captured images through a target recognition algorithm, obtains target frames and calculates the foot point coordinates, filters the target frames above the net based on the foot point coordinates, and identifies the positions of several target frames closest to the camera in the image based on the target frame parameters in the filtered target frame set, and realizes automatic tracking of the targets based on the change of the positions.

[0031] It should be understood that the content described in the summary of the invention section is not intended to limit the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In combination with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages and aspects of the embodiments of the present application will become more apparent. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0033] Figure 1 is a flowchart of the automatic tracking and shooting method for net-separated confrontation sports according to the embodiments of the present application;

[0034] Figure 2 is a schematic diagram of the recognition result of a target recognition algorithm according to the embodiments of the present application;

[0035] Figure 3 is a flowchart of the tracking center position calculation according to the embodiments of the present application;

[0036] Figure 4 is a block diagram of the automatic tracking and shooting device 400 according to the embodiments of the present application;

[0037] Figure 5 is a schematic diagram of the rotation angle calculation of the automatic tracking and shooting device 400 according to the embodiments of the present application;

[0038] Figure 6 is a schematic diagram of the structure of a terminal device or a server suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0040] In addition, the term "and / or" in this text is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0041] Secondly, in the embodiments in this text, the coordinate system is established in a common way in the field of computer vision, that is, the origin of the coordinate system is at the upper left corner of the screen, the horizontal direction is the x-axis, and the vertical direction is the y-axis. Those of ordinary skill in the art should be aware that other similar embodiments obtained by other coordinate system establishment methods will have opposite embodiments in the description of specific direction changes and numerical increases and decreases, and these embodiments can be obtained without creative efforts and all fall within the protection scope of this application.

[0042] Figure 1 An automatic tracking shooting method for net-separated confrontation sports according to an embodiment of this application is executed in an automatic tracking shooting device 400, and the automatic tracking shooting device 400 is installed at the rear of the side of the venue where the target to be tracked is located. The sports scenario targeted by this application is net-separated confrontation sports, such as badminton, volleyball, tennis, pickleball, etc. The venue for net-separated confrontation sports is a rectangular venue with the line where the net is located as the axis of symmetry, and the two competing sides each occupy one side of the venue. As described in the background art, the tracking shooting in the prior art usually uses the method of face recognition for tracking. Therefore, the device must be installed at a position where the face of the target to be tracked can be photographed. In this application, the automatic tracking shooting device 400 is installed at the rear of the side of the venue where the target to be tracked is located, which can not only reduce the installation height but also photograph the entire venue at the same time. Meanwhile, preferably, the automatic tracking shooting device 400 is also suitable for vertical rotation movement and side tilt and roll movement to achieve a better tracking effect on the target. In this application, the method includes:

[0043] S101: Based on the target recognition algorithm, identify the human targets in the real-time shooting screen of the automatic tracking shooting device 400, obtain the target box of each human target, and obtain the first target box set.

[0044] Among them, the target recognition algorithm is used to identify and locate the position information of the human body in the image. In this application, the specific selection of the target recognition algorithm is not limited: the YOLOv8 (You Only Look Once version 8) model can be used, or other recognition algorithms such as CNN (Convolutional Neural Network) and ViT (Vision Transformer) can be used.

[0045] In S101, the target boxes of all human body targets in the real-time captured image are recognized to obtain the first set of target boxes. In a possible implementation, the target boxes recognized by the target recognition algorithm are represented by four parameters (x, y, w, h), where x and y represent the horizontal and vertical coordinates of the center point of the target box respectively; w represents the width of the target box, and h represents the height of the target box.

[0046] S102: Calculate the foot point coordinates of each target box in the first set of target boxes.

[0047] Among them, the foot point of the target box refers to the position of the foot of the target in the target box. Figure 2 It is a schematic diagram of the recognition result of a target recognition algorithm. As Figure 2 shown, in a possible implementation, a target box 202 is recognized in the real-time captured image 201, and four parameters of the target box 202 are given: the width is w1, the height is h1, and the coordinates of the center point 203 are (x1, y 1） . The midpoint 204 of the bottom edge of the target box is approximately used as the foot point, that is, the foot point coordinates are (x1, y1 + h1 / 2); in another possible implementation, the error value σ of the target box can be introduced. The error value is the mean value statistically calculated from multiple frames of stationary targets, generally 5% of the height of the target box. Then, the point 205 at the position of σ height above the midpoint 204 of the bottom edge of the target box is used as the foot point, that is, the foot point coordinates are (x1, y1 + h1 / 2 - σ).

[0048] In Figure 2 , only the upper half of the second target box 206 appears in the real-time captured image 201. In a possible implementation, by calculating the average value of the aspect ratios of all other complete target boxes, the aspect ratio of the second target box 206 is predicted, so as to predict the foot point position of the second target box 206. In an example as Figure 2 shown, the aspect ratios of the four complete target boxes are w1 / h1, w2 / h2, w3 / h3, w4 / h4 respectively, and their geometric mean is ; then the predicted aspect ratio of the second target box 206 is . If the center point coordinates of the second target box 206 are shown as (x2, y 2） in the real-time captured image 201, then the predicted actual foot point position of the second target box 206 is 。

[0049] S103: Filter out the target boxes in the first target box set whose foot point coordinates are above the net based on the foot point coordinates of each of the target boxes, to obtain a second target box set;

[0050] Among them, in a possible implementation, accept the dotting or line drawing of the user on the shooting screen, record the position of the net, and exclude all target boxes whose coordinates fall above the net line. Specifically, the specific implementation of determining the coordinates falling outside the net line can adopt the quadratic function substitution method. Let the equation of the net line be ax + by + c = 0, then set the function f(x, y) = ax + by, substitute the foot point coordinates of each of the target boxes into f(x, y), if the function value is less than 0, then it is determined that the foot point coordinates fall above the line.

[0051] In another possible implementation, when installing the automatic tracking shooting device 400, prompt and monitor the user to adjust the shooting angle of the device until the position of the net in the picture is placed at a preset position on the screen; after starting shooting, filter out the target boxes in the first target box set whose foot point coordinates are above the preset position, to obtain a second target box set. In a specific implementation, the preset position can be located at the central horizontal line of the screen.

[0052] After step S103, the present application calculates a preset number of targets closest to the shooting device through an algorithm and tracks them.

[0053] In a possible implementation, by judging the position of the foot point coordinates of the target box, it is judged whether the target in the target box is closer to the shooting device.

[0054] S1041: Based on the foot point coordinates of each of the target boxes in the second target box set, identify the first position of a preset number of target boxes closest to the lower part of the real-time shooting picture, and the preset number is the number of targets to be tracked.

[0055] Among them, the larger the vertical coordinate of the foot point of the target box, the more it is judged that the target box is closer to the lower part of the picture; according to the relationship between the shooting device and the shooting target in the shooting picture, the closer the target box is to the lower part of the picture, the more it means that the target in the target box is closer to the shooting device in reality.

[0056] S1051: Use the first position as the tracking center position.

[0057] In another possible implementation, by judging the area size of the target box, it is judged whether the target in the target box is closer to the screen.

[0058] S1042: Calculate the area of each target box in the second target box set, and identify the second positions of a preset number of target boxes with the largest areas in the real-time captured image. The preset number is the number of targets to be tracked;

[0059] Among them, the area of the target box is the product of the width (w) and height (h) of the target box; according to the perspective principle, the larger the area of the target box, the closer the target in the target box is to the shooting device in reality.

[0060] S1052: Use the second position as the tracking center position.

[0061] After determining the tracking center position, by tracking and judging the real-time tracking center position, the shooting angle of the automatic tracking shooting device 400 is adjusted in a timely manner.

[0062] S106: When the tracking center position is located in a preset area at the left and right edges of the real-time captured image, the automatic tracking shooting device 400 rotates a preset angle in the corresponding direction.

[0063] When the tracking center position is located at the left and right edges of the real-time captured image, it means that the target to be tracked has left the center position of the screen and moved to the edge of the image. At this time, the automatic tracking shooting device 400 will rotate a preset angle to the left or right accordingly. Specifically, in a possible implementation, when the tracking center position is located in the left 1 / 4 area of the real-time captured image, control the automatic tracking shooting device 400 to rotate to the left, and the rotation angle is set to 1 / 4 of the viewing angle of the automatic tracking shooting device 400; when the tracking center position is located in the right 1 / 4 area of the real-time captured image, control the automatic tracking shooting device 400 to rotate to the right, and the rotation angle is set to 1 / 4 of the viewing angle of the automatic tracking shooting device 400. For example, if the viewing angle of the iPhone camera is about 60°, then when it is detected that the tracking center position is located in the left 1 / 4 area of the real-time captured image, control the automatic tracking shooting device 400 to rotate 15° to the left.

[0064] Figure 3 It is a flowchart for calculating the coordinates of the tracking center position according to an embodiment of the present application. As Figure 3 shown, the net confrontation sports can be classified according to the number of confrontations into two types: single-person confrontation mode and team confrontation mode. The single-person confrontation mode includes, but is not limited to, singles matches of badminton, tennis, and pickleball; the team confrontation mode includes, but is not limited to, doubles matches of badminton, tennis, and pickleball, and multi-person confrontation matches such as volleyball and sepak takraw.

[0065] In the single-person confrontation mode, there is only 1 target to be tracked. In the second target box set filtered by step S103:

[0066] If there are more than one target, it indicates that there are unfiltered opponent players or off-court interference targets among them. Therefore, detect one target closest to the automatic tracking shooting device 400, and use the foot point coordinates thereof as the coordinates of the tracking center position. Among them, detect one target closest to the automatic tracking shooting device 400 by the method described in step S1041 or S1042;

[0067] If there is only one target in the second target box set, it can be considered that this target is the target to be tracked, and directly use the foot point coordinates of the target box where this target is located as the coordinates of the tracking center position;

[0068] If there is no target in the second target box set, it indicates that a target loss has occurred during the tracking process. Considering that players tend to return to the center of the court during the game, therefore, at this time, restore the shooting angle of the automatic tracking shooting device 400 to make it return to the middle position, that is, center return.

[0069] In the multi-player confrontation mode, there are multiple targets to be tracked. For example, in various doubles matches, two targets need to be tracked simultaneously; in volleyball matches, five targets need to be tracked simultaneously. Considering that players usually run and gather around the ball during the game, therefore, select the average value of the foot point coordinates of the targets to be tracked as the coordinates of the tracking center position. Specifically, in the second target box set filtered through step S103:

[0070] If the number of target boxes in the second target box set exceeds the number of team members N, it indicates that there are unfiltered opponent players or off-court interference targets among them. Therefore, detect N targets closest to the automatic tracking shooting device 400, and use the average value of their foot point coordinates as the coordinates of the tracking center position. Among them, detect N targets closest to the automatic tracking shooting device 400 by the method described in step S1041 or S1042;

[0071] If there are only N targets in the second target box set, or the number is less than N but not zero, it can be considered that all these targets are valid targets to be tracked, and directly use the average value of the foot point coordinates of the target boxes where these targets are located as the coordinates of the tracking center position;

[0072] If there is no target in the second target box set, it indicates that a target loss has occurred during the tracking process. Considering that players tend to return to the center of the court during the game, therefore, at this time, restore the shooting angle of the automatic tracking shooting device 400 to make it return to the middle position, that is, center return.

[0073] The method of the embodiment of the present application is described above. Below, the device of the embodiment of the present application is provided.

[0074] It is understandable that the device provided in the embodiments of the present application includes a corresponding hardware structure, software unit, or a combination of hardware structure and software structure to implement the functions in the above method embodiments. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different device implementation methods in different usage scenarios to implement the foregoing method embodiments, and different implementation methods of the device should not be considered to exceed the scope of the embodiments of the present application.

[0075] The embodiments of the present application can divide the device into functional units. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one functional unit. The above integrated module can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0076] Figure 4 FIG. is a block diagram of an automatic tracking shooting device 400 according to an embodiment of the present application. As Figure 4 shown, the automatic tracking shooting device 400 includes a shooting module 401, an analysis module 402, and a rotation module 403. The automatic tracking shooting device 400 is used to implement the foregoing automatic shooting tracking method.

[0077] Optionally, the automatic tracking shooting device 400 can be an independent device, or a component included in an independent device, or a combination of multiple different independent devices. In a possible implementation, the shooting module 401 is implemented as an independent intelligent terminal or camera, the analysis module 402 is implemented as another independent intelligent terminal or intelligent hardware, and the rotation module 403 is implemented as a pan-tilt or rotatable bracket. In another possible implementation, the shooting module 401 is implemented as a camera module in an intelligent terminal, the analysis module 402 is implemented as a computing module in the same intelligent terminal, and the rotation module 403 is implemented as an intelligent pan-tilt or rotatable bracket. In yet another possible implementation, the shooting module 401 is implemented as a camera module in an integrated intelligent imaging device, the analysis module 402 is implemented as a computing module in the same integrated intelligent imaging device, and the rotation module 403 is implemented as a motion mechanism in the same integrated intelligent imaging device.

[0078] Among them, the shooting module 401 is physically connected to the rotation module 403. The shooting module 401 is adapted to continuously obtain real-time shooting images and send the real-time shooting images to the analysis module 402. Optionally, the shooting module 401 may not have an active information sending function, but the analysis module 402 actively obtains real-time shooting images from the shooting module 401. The analysis module 402 is adapted to execute the method in the embodiment of the present application based on the real-time shooting images Figure 1 or Figure 2 to perform real-time calculation and judgment on the tracking center position, and send a rotation instruction to the rotation module 403 according to the judgment condition. The rotation module 403 is adapted to rotate horizontally, that is, rotate around the vertical axis (z-axis). The rotation module 403 is adapted to change the angle of the shooting module 401 according to the rotation instruction.

[0079] As described in the method of the embodiment Figure 1 previously, the automatic tracking shooting device 400 is adapted to be installed behind the field on the side where the target to be tracked is located. Preferably, the automatic tracking shooting device 400 is installed directly behind the field on the side where the target to be tracked is located, that is, on the extension line of the center line of the field on the side where the target to be tracked is located.

[0080] In a possible implementation manner, the rotation module limits the maximum rotation angle during rotation. During a game, there are occasionally scenarios where players leave the field to pick up the ball, change the ball, take a break, or receive instructions from the coach on the sidelines, etc., and at this time, it is not necessary to continue tracking the players who have left the field. Therefore, the embodiment of the present application limits the maximum rotation angle to prevent the automatic tracking shooting device 400 from rotating at too large an angle, so as to prevent image jitter or dizziness, and at the same time reduce the acquisition of irrelevant images.

[0081] Figure 5 is a schematic diagram for calculating the rotation angle of the automatic tracking shooting device 400 according to the embodiment of the present application. In a possible implementation manner, the rectangle ABCD is the entire field of the net confrontation sport, and the lower half is the half where the target to be tracked is located. The automatic tracking shooting device 400 is installed at point O, and point O is on the extension line of the center line of the field backward and the distance from the bottom line is h. In the initial state, the field of view of the automatic tracking shooting device 400 is within the range of ∠EOF, and ∠EOF is the field of view angle of the automatic tracking shooting device 400. The field of view angles of different camera devices or lenses are different, which can be directly obtained through the interface provided by the camera device, or can be obtained by looking up the table by reading the model of the camera device.

[0082] In a possible implementation, the maximum rotation angle of the automatic tracking shooting device 400 is set at the angle of the line segment OC, that is, the rotation angle is ∠EOC. At this time, the entire right side of the venue is within the camera's field of view, and there is no need to continue moving to the right. Similarly, the processing method for the left side of the venue is completely symmetric, which will not be elaborated here. Let the width of the venue be w, the distance between the automatic tracking shooting device 400 and the bottom line be h, and the field of view angle ∠EOF of the automatic tracking shooting device 400 be α. Through simple calculations in plane geometry, it can be obtained that ∠EOC = arctan(w / 2h) - α / 2, that is, the maximum rotation angle is the difference between the arctangent of the quotient of half of the venue width divided by the distance between the automatic tracking shooting device 400 and the bottom line on the side where the target to be tracked is located, and half of the field of view angle of the automatic tracking device.

[0083] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the described modules can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

[0084] Figure 6 The figure shows a schematic structural diagram of a terminal device or a server suitable for implementing the embodiments of the present application.

[0085] As Figure 6 shown, the terminal device or the server includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage section 608 into the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the terminal device or the server are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0086] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. The drive 610 is also connected to the I / O interface 605 as required. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as required, so that the computer program read from it can be installed into the storage section 608 as required.

[0087] In particular, according to an embodiment of the present application, the above method flow steps can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above functions defined in the system of the present application are executed.

[0088] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. And in the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, and the foregoing module, segment of a program, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in a different order than that marked in the accompanying drawings. For example, two consecutive boxes shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0090] The units or modules described in the embodiments of the present application can be implemented in software or in hardware. The described units or modules can also be provided in a processor. Among them, the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0091] On the other hand, the present application also provides a computer-readable storage medium, which can be included in the electronic device described in the foregoing embodiments; or can exist separately without being assembled into the electronic device. The foregoing computer-readable storage medium stores one or more programs, and when the foregoing programs are executed by one or more processors, they implement the methods described in the present application.

[0092] The above description is only the preferred embodiments of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the foregoing inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions described in the present application.

Claims

1. An automatic tracking and shooting method for net confrontation sports, which is executed in an automatic tracking and shooting device. The automatic tracking and shooting device is installed behind the venue on the side where the target to be tracked is located. It is characterized in that, The method includes: Based on a target recognition algorithm, identify human targets in the real-time captured image of the automatic tracking shooting device, obtain the target box of each human target, and obtain a first set of target boxes; Calculate the foot point coordinates of each target box in the first set of target boxes; Based on the foot point coordinates of each target box, filter out the target boxes in the first set of target boxes whose foot point coordinates are above the net, and obtain a second set of target boxes; Calculate the area of each target box in the second set of target boxes, and identify the second positions of a preset number of target boxes with the largest areas in the real-time captured image. The preset number is the number of targets to be tracked, and the second position is the average value of the foot point coordinates of the preset number of target boxes with the largest areas; Use the second position as the tracking center position; when the tracking center position is in a preset area at the left and right edges of the real-time captured image, the automatic tracking shooting device rotates by a preset angle in the corresponding direction.

2. The method according to claim 1, characterized in that, When the net confrontation sport is in a single-person confrontation mode, the preset number is 1, and the second position is the foot point coordinates of the target box of the target to be tracked.

3. The method according to claim 1, characterized in that, When the net confrontation sport is in a team confrontation mode, the preset number is the number of team members. When the total number of all target boxes in the second set of target boxes is less than the number of team members, the second position is the average value of the foot point coordinates of all target boxes.

4. The method according to claim 1, wherein Calculating the foot point coordinates of each target box in the first set of target boxes includes: When only the upper half of the target box is shown, predict the foot point coordinates of the target box based on the average value of the aspect ratios of other target boxes.

5. An automatic tracking shooting device, characterized in that, It includes a shooting module, an analysis module, and a rotation module. The shooting module is physically connected to the rotation module. The rotation module is suitable for horizontal rotation. The shooting module is suitable for continuously obtaining a real-time captured image and sending the real-time captured image to the analysis module; the analysis module is suitable for executing the method according to any one of claims 1-4, and sending a rotation instruction to the rotation module: the rotation module is suitable for changing the angle of the shooting module according to the rotation instruction.

6. The automatic tracking shooting device according to claim 5, wherein, The automatic tracking shooting device is installed directly behind the side of the field where the target to be tracked is located. When the rotation module rotates horizontally, the maximum rotation angle is limited to the difference between the arctangent of the quotient of half of the field width divided by the distance between the automatic tracking shooting device and the bottom line of the side of the field where the target to be tracked is located, and half of the field of view angle of the automatic tracking shooting device.

7. An automatic tracking and shooting system, characterized in that, It includes: An intelligent terminal, suitable for continuously obtaining a real-time captured image, executing the method according to any one of claims 1-4, and sending a rotation instruction to the intelligent cloud platform; An intelligent cloud platform, suitable for changing the angle of the intelligent terminal according to the rotation instruction.

8. An electronic device, comprising a memory and a processor, wherein a computer program is stored on the memory, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1-4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1-4.

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