Target tracking method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of sensors, in particular to a target tracking method and device, equipment and a storage medium, and the method comprises the steps: obtaining a detection signal for a target region at a target moment; extracting a point cloud parameter of each object in the target area from the detection signal; determining a target object in a moving state from the objects according to the point cloud parameters of the objects, and determining position information of the target object according to the point cloud parameters of the target object; adjusting the emission direction of the next moment based on the position information to obtain a detection signal after the emission direction is adjusted; and tracking the target object according to the detection signal after the emission direction is adjusted. The target object and the position information of the target object are identified according to the point cloud parameters, and the emission direction of the detection signals is adjusted according to the position information, so that the detection signals are emitted towards the direction of the target object, the intensity of echo signals of the target object is enhanced, and detection and tracking of the target object are facilitated.

Description

Technical Field

[0001] The present application relates to the field of sensors, and more specifically, to a target tracking method, apparatus, device, and storage medium. Background Art

[0002] Millimeter-wave radar or lidar are both sensors that can obtain 3D information of targets in space. However, in complex application environments, in addition to the target to be tracked, there may also be a large number of interfering objects, such as ceiling chandeliers and air conditioners. This results in weak echo signal strength of the target, which is not conducive to target detection and tracking. Summary of the Invention

[0003] The present application provides a target tracking method, system, device, equipment and storage medium to at least solve the technical problem of weak echo signal intensity of the target body.

[0004] According to a first aspect of an embodiment of the present application, a target tracking method is provided, comprising:

[0005] Obtaining a detection signal for a target area at a target time;

[0006] extracting point cloud parameters of each object in the target area from the detection signal;

[0007] determining a target object in a moving state from among the objects according to the point cloud parameters of the objects and determining position information of the target object according to the point cloud parameters of the target object;

[0008] Adjusting the transmission direction at the next moment based on the position information to obtain a detection signal with the transmission direction adjusted;

[0009] The target object is tracked according to the detection signal with the emission direction adjusted.

[0010] According to a second aspect of an embodiment of the present application, an electronic device is provided, comprising a control module and a detection module, wherein the detection module is used to transmit a detection signal, the controller is used to obtain a reflected detection signal, and track a target using the target tracking method described above.

[0011] According to a third aspect of an embodiment of the present application, there is provided a target tracking device, comprising an acquisition module for acquiring a detection signal for a target area at a target moment;

[0012] A point cloud module, configured to extract point cloud parameters of each object in the target area from the detection signal;

[0013] a target module, configured to determine a target object in a moving state from among the objects according to the point cloud parameters of the objects, and determine position information of the target object according to the point cloud parameters of the target object;

[0014] The tracking module is used to adjust the transmission direction at the next moment based on the position information to obtain a detection signal after the transmission direction is adjusted, and track the target object according to the detection signal after the transmission direction is adjusted.

[0015] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, storing a computer program that can be loaded by a processor and execute the above-mentioned method.

[0016] In an embodiment of the present application, the point cloud parameters of each object in the target area are obtained through the detection signal, and then the target object and the position information of the target object are identified based on the point cloud parameters. Finally, the emission direction of the detection signal is adjusted according to the position information, so that the detection signal is emitted in the direction of the target object, which helps to enhance the intensity of the echo signal of the target object and facilitates the detection and tracking of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of an application environment of a target tracking method in an embodiment.

[0018] Figure 2 is a flowchart of a target tracking method in an embodiment.

[0019] Figure 3 A coordinate system representing the pitch angle of a target tracking method in an embodiment.

[0020] Figure 4 A coordinate system representing horizontal angles in a target tracking method in an embodiment.

[0021] Figure 5 Schematic diagram of an application of a target tracking method in an embodiment.

[0022] Figure 6 The present invention is a flowchart of a target object determination method of a target tracking method according to an embodiment.

[0023] Figure 7 The present invention is a flowchart of a target tracking method for tracking a target object in an embodiment.

[0024] Figure 8 is a structural block diagram of an electronic device in an embodiment.

[0025] Figure 9 It is a structural block diagram of a target tracking device in an embodiment. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present application, an embodiment of a target tracking method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] The target tracking method provided in this application can be applied to Figure 1 The application environment shown includes a sensor device 001 and a server 002. The sensor device 001 communicates with the server 002 via a network. In one embodiment, the sensor device 001 detects objects in the space in which it is located, generates a detection signal, and then transmits the detection signal to the server 002. The server 002 determines the target object to be tracked in the space in which the sensor device 001 is located based on the detection signal, and issues a control instruction to the sensor device 001 based on the location of the target object. After receiving the control instruction, the sensor device 001 adjusts the emission direction of the detection beam so that the detection beam emitted by the sensor device 001 can be emitted toward the target object.

[0030] In another embodiment, after sensing objects within its space and generating a detection signal, the sensing device 001 automatically determines the target object to be tracked. The sensing device 001 then adjusts the direction of its detection beam based on the target object's location to track the target object. The sensing device 001 can upload information such as the target object's location and movement to the server 002, allowing users to query the server 002 for tracking information related to the target object.

[0031] Among them, the sensing device 001 can be but is not limited to various devices with target detection functions, such as millimeter wave radar, laser radar, etc., and the server 002 can be implemented as an independent server or a server cluster composed of multiple servers.

[0032] As quality of life improves, more and more users are choosing to use smart home devices for a more convenient experience. When using smart home devices, detection devices are often used to detect the user's location, movements, and other information to control the corresponding smart home devices. For example, if a detection device detects that the user is in the living room, it will control the living room lights to turn on, without the user having to manually turn on the lights. During the user detection process, the detection device needs to track the user as they move.

[0033] Taking millimeter-wave radar or lidar as an example, the radar will emit a detection signal when detecting. The detection signal is reflected after contacting the object. The radar then receives these reflected echo signals, thereby being able to know the distance between the object and the radar, as well as information such as the pitch angle, and thus the location of the object. Existing radar detection methods include emitting detection signals throughout the house. This method causes a lot of interference in the echo signal, such as ceiling chandeliers, air conditioners, etc., which is not conducive to tracking and detecting users. There is also a method of detecting by setting threshold conditions. For example, when the radar detects that the movement speed of an object is greater than the speed threshold, the range of the radar transmitting the detection signal is increased, and vice versa, the range of the detection signal is reduced.

[0034] The above detection method is difficult to transmit detection signals to the target object to be tracked in a targeted manner, resulting in a weak intensity of the return signal of the target object, which is not conducive to the detection and tracking of the target object.

[0035] Based on this, this application provides a target tracking method that can be applied to Figure 1 The sensor device 001 in the implementation environment is shown. For ease of understanding, the millimeter wave radar is used as the sensor device and the user is used as the target to be tracked. Figure 2 As shown, the target tracking method includes:

[0036] S101: Acquire a detection signal for a target area at a target time.

[0037] The target time can be the current time or a previous time. In one embodiment, in order to more accurately track the user, a detection signal for the target area at the current time is obtained. Specifically, the current time and the previous time both refer to real-life time.

[0038] Among them, the target area refers to the area where the millimeter-wave radar is located. In one embodiment, the target area specifically refers to the area within the detectable range of the millimeter-wave radar. Specifically, after the millimeter-wave radar is installed in a certain position, the detectable area around the millimeter-wave radar is determined, and thus the target area can be determined. For example, after the millimeter-wave radar is installed in the living room, the living room is the target area. In addition, for some millimeter-wave radars, they have a detection limit range. For example, the detection signal of the millimeter-wave radar cannot reach objects 10 meters or 50 meters away from the millimeter-wave radar. Therefore, when determining the target area, the detection limit range of the millimeter-wave radar can also be taken into consideration, so that after the target area is determined, the millimeter-wave radar can detect every position in the target area.

[0039] It should be noted that some millimeter-wave radars may not be able to achieve 360-degree detection. This means that the millimeter-wave radar cannot simultaneously transmit detection signals in all directions. In this case, the target area can also be the area where the millimeter-wave radar transmits the detection signal. For example, when the millimeter-wave radar is facing the center of the living room, the detection signal can only reach the center of the living room, thereby detecting objects in the center of the living room. In this case, the target area is the center of the living room.

[0040] In this embodiment, the detection signal refers to the signal generated by the millimeter-wave radar when detecting an object within the target area. In other words, the detection signal can be used to calculate the state of the object detected by the millimeter-wave radar. In other embodiments, the detection device used may be an infrared sensor, a Hall effect sensor, a camera, etc., in which case the detection signal is the detection data of the corresponding detection device. This embodiment does not specifically limit this.

[0041] S102: Extracting point cloud parameters of each object in the target area from the detection signal.

[0042] It should be noted that the target area contains many objects, such as furniture, pets, and humans. For ease of understanding, all detectable objects are referred to as objects. The detection signal of millimeter-wave radar contains many point cloud parameters. A point cloud, a collection of point data on a product's surface obtained by measuring instruments in reverse engineering, is also called a point cloud. Typically, a 3D coordinate measuring machine (CMM) produces a relatively small number of points with large spacing between points, which is called a sparse point cloud. A 3D laser scanner or photographic scanner produces a larger number of points and a denser density, which is called a dense point cloud.

[0043] In other words, when a millimeter-wave radar detects an object, the emitted detection signal contacts a certain location on the object and is reflected. The reflected location represents a point cloud of the object. The detection signal can be used to extract or calculate data such as the object's speed, distance from the millimeter-wave radar, and angle between the object and the radar. This data about a point cloud obtained through the detection signal is called point cloud parameters.

[0044] S103 , determining a target object in a moving state from among the objects according to the point cloud parameters of the objects, and determining position information of the target object according to the point cloud parameters of the target object.

[0045] Because point cloud parameters include data such as each object's speed, distance from the millimeter-wave radar, and angle between the object and the radar, the object's movement state can be determined based on its point cloud parameters. The moving object is then considered the target object and its position information is calculated.

[0046] It should be noted that the mobile state not only refers to the movement of the human body, but can also include a rotating fan, fluttering curtains, etc. In other words, the mobile state referred to in this embodiment refers to a state of motion, or a non-stationary state. At the same time, it should be noted that since the millimeter wave radar detects an area, that is, a range, it may detect multiple targets in a mobile state at the same time. All objects in a mobile state can then be determined as target objects. Each target object may correspond to multiple point cloud parameters. Therefore, when determining the position information of the target object, the position information can be calculated using one of the point cloud parameters of the target object, or the position information can be calculated using multiple point cloud parameters of the target object. For example, when a human body walks into the target area, multiple positions of the human body will reflect the detection signal of the millimeter wave radar. At this time, the detection signal will contain multiple point cloud parameters corresponding to the human body. When determining the position information of the human body, all point cloud parameters are combined to determine the position information of the human body. The method of calculating the position information is not specifically limited in this embodiment.

[0047] S104: Adjust the transmission direction at the next moment based on the position information to obtain a detection signal after the transmission direction is adjusted.

[0048] Once the target object's location is known, its position within the target area or relative to the millimeter-wave radar can be determined. This allows the millimeter-wave radar's signal transmission direction to be adjusted based on the target object's location. Position information includes distance and orientation. Specifically, orientation can be measured as the pitch angle relative to the millimeter-wave radar.

[0049] S105 : Tracking the target object according to the detection signal with the emission direction adjusted.

[0050] After the emission direction of the millimeter-wave radar is adjusted, the detection signal obtained after the adjustment can still detect the location information of the target object, thereby achieving tracking of the target object, so that the detection signal emitted by the millimeter-wave radar is more emitted toward the target object, enhancing the intensity of the echo signal related to the target object.

[0051] Through the above steps, the point cloud parameters of each object in the target area are obtained through the detection signal, and then the target object and the position information of the target object are identified based on the point cloud parameters. Finally, the emission direction of the detection signal is adjusted according to the position information, so that the detection signal is emitted in the direction of the target object, which helps to enhance the intensity of the echo signal of the target object and is beneficial to the detection and tracking of the target object.

[0052] In another embodiment of the present application, the detection signal includes at least one feature point corresponding to each object, and the feature point includes a point parameter, which is used to characterize the speed of the feature point.

[0053] Among them, the feature point is also a point cloud, each feature point includes electrical parameters, and the point parameters can reflect the speed of the feature point.

[0054] In one embodiment, determining a target object in a moving state from among the objects based on point cloud parameters of the objects includes:

[0055] The target object is determined from the objects according to the speed of the feature points represented by the point parameters corresponding to the objects.

[0056] Specifically, the target object is determined from among the various objects based on the speed reflected by the parameters of each point. Specifically, the target object can be determined by setting a speed threshold. For example, a speed threshold can be preset. If the speed of a feature point represented by the point parameters of an object exceeds the speed threshold, the object is determined as the target object.

[0057] In another embodiment, determining a target object in a moving state from among the objects based on point cloud parameters of the objects includes:

[0058] The target object is determined from the objects according to the speed of the feature points reflected by the point parameters corresponding to the objects and the number of the feature points corresponding to the objects.

[0059] For objects with multiple feature points, you can add filtering conditions to identify the target object. For example, an object can only be identified as a target object if the speed reflected by half or all of its feature points exceeds the speed threshold.

[0060] Through the above steps, the target object is determined by utilizing the speed of the feature point reflected by the point parameters, which helps to reduce the calculation pressure and facilitates the determination of the object to be tracked.

[0061] In another embodiment of the present application, determining a target object from each object based on the speed of the feature point reflected by the point parameters corresponding to each object and the number of the feature points corresponding to the object includes:

[0062] If the speed data in the point parameter exceeds a preset speed threshold, it is determined whether the number of point parameters whose speed data exceeds the speed threshold exceeds a preset number threshold.

[0063] If so, the set of feature points corresponding to the point parameters is determined as the target object; if not, the detection signal of the millimeter-wave radar at the next moment is obtained again.

[0064] In one embodiment, the speed threshold can be set according to actual conditions, and this embodiment does not specifically limit this. For example, if you need to track a child, you can set the speed threshold higher, and if you need to track an elderly person, you can set the speed threshold lower.

[0065] Through the above steps, when determining the target object, not only the speed data in the point parameters is considered, but also the number of point parameters exceeding the speed threshold is considered, so as to improve the accuracy of determining the target object.

[0066] In another embodiment of the present application, the point cloud parameters include at least one feature point, the feature point includes point parameters, and the point parameters include a pitch angle.

[0067] The pitch angle refers to the vertical angle of the object relative to the millimeter wave radar. Figure 3As shown, after projecting the millimeter-wave radar and the object onto the numerical wall, a two-dimensional YZ coordinate system is constructed horizontally and vertically, with the millimeter-wave radar's position as the origin. The Z-axis value represents the object's height in real space. When the object's Z-axis value is greater than the millimeter-wave radar's, it indicates that the object's height in real space is higher than the millimeter-wave radar; otherwise, it is lower. When a line is drawn between the millimeter-wave radar and the object, the angle between this line and the Y-axis is the pitch angle θ.

[0068] Determine the location information of the target object based on the point cloud parameters of the target object, including:

[0069] Calculate the average of the pitch angles in the point parameters of all feature points in the point cloud parameters of the target object, and use the average as the position information.

[0070] In one embodiment, when tracking a target object, the target object's altitude is of primary interest. Therefore, when calculating the target object's position, the average of the pitch angles is used as the position information. This allows the position information to reflect the angle between the target object and the millimeter-wave radar in the vertical plane. This allows the millimeter-wave radar's signal transmission direction to be adjusted so that the detection signal after the adjustment includes the target object's point cloud parameters.

[0071] In one embodiment, the point cloud parameters of the target object include multiple feature points and thus multiple point parameters. Each feature point represents a different position of the target object, so the position information is determined by calculating the mean. Specifically, the mean is calculated by summing the pitch angles and then calculating the average value.

[0072] Through the above steps, the position information of the target object is determined by calculating the mean, which helps to improve the accuracy of the position information, thereby ensuring that the detection signal after the emission direction is adjusted contains complete point cloud parameters of the target object.

[0073] In another embodiment of the present application, adjusting the transmission direction at the next moment based on the location information includes:

[0074] If the detection device that transmits the detection signal adjusts the transmission direction for the first time, the transmission direction at the next moment is adjusted according to the average value in the position information.

[0075] In one embodiment, when adjusting the transmission direction for the first time, it is verified that the detection signal obtained at the current moment is transmitted in the default initial transmission direction. In a specific real-time scenario, the default initial transmission direction is 0 degrees, so the transmission direction can be directly adjusted according to the average value in the position information.

[0076] If the detection device that transmits the detection signal is not adjusting the transmission direction for the first time, the current transmission direction of the detection signal is obtained, the pitch angle of the current transmission direction is subtracted from the mean to obtain an adjustment angle value, and the transmission direction is adjusted according to the adjustment angle value.

[0077] Among them, unlike the first adjustment, this adjustment is not the first time, which proves that the emission direction has been adjusted before. Therefore, the emission direction needs to be adjusted according to the difference between the current emission direction and the mean.

[0078] Through the above steps, when adjusting the emission direction, whether it is the first adjustment is considered, and different adjustment plans are made for the first adjustment and non-first adjustment, so that the adjusted emission direction can be relative to the actual position of the target object, thereby improving the tracking accuracy.

[0079] In another embodiment of the present application, the method further comprises:

[0080] Adjust the emission direction up or down along the vertical direction.

[0081] In one embodiment, the transmission direction is adjusted vertically. For example, when the target object is higher than the millimeter-wave radar in real space, the transmission direction is adjusted upward in the vertical direction, and the adjustment angle is determined by the average of the current transmission direction of the millimeter-wave radar and the calculated value. When the target object is lower than the millimeter-wave radar in real space, the transmission direction is adjusted downward in the vertical direction so that the target object is located in the middle of the millimeter-wave radar's detection range.

[0082] Through the above steps, the transmission direction is adjusted along the vertical direction, which, on the one hand, simplifies the calculation process and reduces the occupation of computing resources; on the other hand, it reduces the requirements for the adjustment structure of the millimeter-wave radar, making the adjustment structure of the millimeter-wave radar more simplified.

[0083] In another embodiment of the present application, the point parameters further include distance and horizontal angle, wherein the distance is the distance between the feature point and the detection signal emission point.

[0084] In one embodiment, if Figure 4 As shown in FIG, after the millimeter-wave radar and the object are projected onto the ground, a two-dimensional coordinate system is constructed with the millimeter-wave radar as the origin, and the horizontal angle φ between the millimeter-wave radar and the object can be obtained.

[0085] In one embodiment, the distance refers to the straight-line distance between the millimeter-wave radar and the object, which can be calculated by the millimeter-wave radar. For example, the millimeter-wave radar calculates the interval between the transmitted signal and the received signal, and combines this with the propagation speed of the signal to obtain the distance.

[0086] The method also includes:

[0087] The horizontal and vertical coordinates of the feature points in the preset coordinate system are calculated based on the distance, horizontal angle and pitch angle corresponding to the feature points, so as to track the target object based on the horizontal and vertical coordinates, wherein the preset coordinate system takes the detection device that emits the detection signal as the origin.

[0088] In one embodiment, the distance R, the horizontal angle φ, and the pitch angle θ constitute polar coordinates (R, φ, θ) in space. The preset coordinate system refers to a rectangular coordinate system with the millimeter-wave radar as the original location. After obtaining the horizontal and vertical coordinates of the rectangular coordinate system, the target object can be further tracked. In other words, in some embodiments, the transmission direction is adjusted not only in the vertical direction but also in the horizontal direction based on the horizontal and vertical coordinates. For example, when the horizontal and vertical coordinates belong to the first quadrant of the preset coordinate system, the millimeter-wave radar rotates to the left, and when the horizontal and vertical coordinates belong to the fourth quadrant of the preset coordinate system, the millimeter-wave radar rotates to the right.

[0089] Through the above steps, the horizontal and vertical coordinates of the feature points are calculated according to the distance, horizontal angle and pitch angle of the feature points, so that the target object is tracked in the horizontal direction, thereby improving the tracking accuracy.

[0090] In another embodiment of the present application, calculating the horizontal coordinate and vertical coordinate of the feature point in a preset coordinate system according to the distance, horizontal angle, and pitch angle corresponding to the feature point includes:

[0091] Use trigonometric functions to calculate the distance, horizontal angle and pitch angle to obtain the horizontal and vertical coordinates.

[0092] In one embodiment, the calculation formula is as follows:

[0093] X=R*cosθ*si nφ;

[0094] Y=R*cosθ*cosφ;

[0095] Where X is the horizontal coordinate, Y is the vertical coordinate, R is the distance, θ is the pitch angle, and φ is the horizontal angle.

[0096] By using the above steps and trigonometric functions to calculate the horizontal and vertical coordinates, it is helpful to save computing resources.

[0097] In another embodiment of the present application, after determining the target object in a moving state from among the objects based on the point cloud parameters of the objects, the method further includes:

[0098] When there are multiple target objects, the emission direction is adjusted alternately according to the position information of each target object to track the multiple target objects.

[0099] That is to say, when there are multiple target objects that need to be tracked, the emission direction of the millimeter-wave radar is adjusted alternately. For example, if the target object 1 to be tracked is located on the upper side of the millimeter-wave radar and the target object 2 is located on the lower side, the millimeter-wave radar first adjusts the emission direction upward, and after obtaining the detection signal of the target object 1, adjusts the emission direction downward to obtain the detection signal of the target object 2, and repeats the cycle.

[0100] Through the above steps, multiple target objects can be tracked, thereby improving the tracking effect.

[0101] For ease of understanding, we will take millimeter-wave radar tracking of users as an example to provide an overall explanation. Figure 5-7 As shown, at time t, the millimeter-wave radar transmits a detection signal in the horizontal direction and obtains an echo signal (that is, the default initial transmission direction θt = 0°). The detection signal at time t is determined based on the detection signal and the echo signal. It can be determined from the detection signal that a person has entered the scanning area (that is, entered the target area). Then, based on the point cloud parameters of each object (including distance, horizontal angle, and pitch angle), the coordinate point (Xi, Yi, θ) of each object in the preset coordinate system is calculated, where θ is the pitch angle of the object relative to the millimeter-wave radar.

[0102] Determine whether any object's velocity exceeds the threshold VT. If so, the corresponding point cloud is considered a moving point cloud. Also, determine whether the number of moving point clouds is greater than K. If so, identify the corresponding object as the target and calculate the average pitch angle of the target object at the current moment. Otherwise, reacquire the millimeter-wave radar detection signal.

[0103] After the target object is determined and the average pitch angle of the target object is obtained, the current transmission direction θt of the millimeter-wave radar is updated to θt+1 according to the pitch angle. Therefore, at time t+1, the transmission direction of the millimeter-wave radar is θt+1, realizing the tracking of the user.

[0104] This embodiment also provides an electronic device, such as Figure 8 As shown, it includes a control module and a detection module, the detection module is used to transmit a detection signal, the controller is used to obtain the reflected detection signal, and uses the above-mentioned target tracking method to track the target.

[0105] The control module can be a server with computing capabilities or a chip with computing capabilities. In one embodiment, the control module is integrated with the detection module. The detection module can be a structure capable of detecting an object and determining its position and movement speed. In one embodiment, the electronic device is, for example, a millimeter-wave radar or other sensor, which is not specifically limited in this embodiment.

[0106] Through the above content, the electronic device can identify the target object and the location information of the target object based on the point cloud parameters, and adjust the emission direction of the detection module according to the location information, so that the detection signals emitted by the detection module are all directed towards the target object, which helps to enhance the intensity of the echo signal of the target object and facilitates the detection and tracking of the target object.

[0107] This embodiment also provides a target tracking device, such as Figure 9 As shown, it includes an acquisition module 1, which is used to obtain a detection signal for a target area at a target time;

[0108] Point cloud module 2, used to extract point cloud parameters of each object in the target area from the detection signal;

[0109] A target module 3 is configured to determine a target object in a moving state from among the objects based on the point cloud parameters of the objects and determine the position information of the target object based on the point cloud parameters of the target object;

[0110] The tracking module 4 is configured to adjust the emission direction at the next moment based on the position information to obtain a detection signal after the emission direction is adjusted, and track the target object according to the detection signal after the emission direction is adjusted.

[0111] Optionally, the detection signal includes at least one feature point corresponding to each object, the feature point includes a point parameter, and the point parameter is used to characterize the speed of the feature point;

[0112] The target module 3 includes a speed unit, which is used to determine the target object from each object based on the speed of the feature points represented by the point parameters corresponding to each object, or to determine the target object from each object based on the speed of the feature points reflected by the point parameters corresponding to each object and the number of feature points corresponding to the object.

[0113] Optionally, the speed unit includes a speed subunit for determining whether the number of point parameters whose speed data exceeds the speed threshold exceeds a preset number threshold if the speed data in the point parameter exceeds a preset speed threshold;

[0114] If so, the set of feature points corresponding to the point parameters is determined as the target object.

[0115] Optionally, the point cloud parameters include at least one feature point, the feature point includes point parameters, and the point parameters include a pitch angle;

[0116] The target module 3 includes a calculation unit for calculating the average of the pitch angles in the point parameters of all feature points in the point cloud parameters of the target object, and using the average as position information.

[0117] Optionally, the tracking module 4 includes a tracking unit, which is used to adjust the transmission direction at the next moment according to the mean value in the position information if the detection device that transmits the detection signal adjusts the transmission direction for the first time; if the detection device that transmits the detection signal does not adjust the transmission direction for the first time, obtain the current transmission direction of the detection signal, subtract the pitch angle of the current transmission direction from the mean value to obtain the adjustment angle value, and adjust the transmission direction according to the adjustment angle value.

[0118] Optionally, the device further includes an adjustment module for adjusting the emission direction upward or downward in a vertical direction.

[0119] Optionally, the point parameters further include distance and horizontal angle, wherein the distance is the distance between the feature point and the detection signal emission point;

[0120] The device also includes a coordinate module for calculating the horizontal and vertical coordinates of the feature point in a preset coordinate system based on the distance, horizontal angle and pitch angle corresponding to the feature point, so as to track the target object based on the horizontal and vertical coordinates, wherein the preset coordinate system takes the detection device that emits the detection signal as the origin.

[0121] Optionally, the coordinate module includes a coordinate unit for calculating the distance, the horizontal angle and the pitch angle using trigonometric functions to obtain the abscissa and the ordinate.

[0122] Optionally, the device further includes a control module for alternately adjusting the emission direction according to position information of each target object to track the multiple target objects when there are multiple target objects.

[0123] Through the above, after acquiring the detection signal, the point cloud module 2 can extract the point cloud parameters of each object. The target module 3 can determine the target object and its location information based on the point cloud parameters. Finally, the tracking module 4 adjusts the emission direction of the detection signal based on the location information, so that the detection signal is emitted in the direction of the target object. This helps to enhance the strength of the target object's echo signal, facilitating its detection and tracking.

[0124] An embodiment of the present application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the above-described method.

[0125] The description of the above embodiments of the electronic device and storage medium is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the electronic device and storage medium embodiments of this application, please refer to the description of the method embodiment of this application for understanding.

[0126] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0127] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0129] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0130] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0131] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution 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 causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0132] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A target tracking method, characterized in that: include: Obtaining a detection signal for a target area at a target time; extracting point cloud parameters of each object in the target area from the detection signal; determining a target object in a moving state from among the objects according to the point cloud parameters of the objects and determining position information of the target object according to the point cloud parameters of the target object; Adjusting the transmission direction at the next moment based on the position information to obtain a detection signal with the transmission direction adjusted; The target object is tracked according to the detection signal with the emission direction adjusted.

2. The target tracking method according to claim 1, characterized in that: The detection signal includes at least one feature point corresponding to each of the objects, and the feature point includes a point parameter, and the point parameter is used to characterize the speed of the feature point; Determining a target object in a moving state from among the objects according to the point cloud parameters of the objects includes: Determine the target object from each of the objects according to the speed of the feature points represented by the point parameters corresponding to each of the objects, Alternatively, the target object is determined from each of the objects based on the speed of the feature points reflected by the point parameters corresponding to each of the objects and the number of the feature points corresponding to the objects.

3. The target tracking method according to claim 2, characterized in that: The determining the target object from each of the objects according to the speed of the feature point reflected by the point parameters corresponding to each of the objects and the number of the feature points corresponding to the object includes: If the speed data in the point parameters exceeds a preset speed threshold, determining whether the number of point parameters whose speed data exceeds the speed threshold exceeds a preset number threshold; If so, the set of feature points corresponding to the point parameters is determined as the target object.

4. The target tracking method according to claim 1, wherein: The point cloud parameters include at least one feature point, the feature point includes point parameters, and the point parameters include a pitch angle; The determining the position information of the target object according to the point cloud parameters of the target object includes: An average of the pitch angles in the point parameters of all the feature points in the point cloud parameters of the target object is calculated, and the average is used as the position information.

5. The target tracking method according to claim 4, characterized in that: The adjusting the transmission direction at the next moment based on the position information includes: If the detection device that transmits the detection signal adjusts the transmission direction for the first time, adjusting the transmission direction at the next moment according to the mean value in the position information; If the detection device that transmits the detection signal is not adjusting the transmission direction for the first time, the current transmission direction of the detection signal is obtained, the pitch angle of the current transmission direction is subtracted from the mean to obtain an adjustment angle value, and the transmission direction is adjusted according to the adjustment angle value.

6. The target tracking method according to claim 5, characterized in that: The method further comprises: The emission direction is adjusted upward or downward in a vertical direction.

7. The target tracking method according to claim 4, characterized in that: The point parameters also include distance and horizontal angle, wherein the distance is the distance between the feature point and the detection signal emission point; The method further comprises: The horizontal coordinate and vertical coordinate of the feature point in a preset coordinate system are calculated according to the distance, horizontal angle and pitch angle corresponding to the feature point, so as to track the target object according to the horizontal coordinate and vertical coordinate, wherein the preset coordinate system takes the detection device that emits the detection signal as the origin.

8. The target tracking method according to claim 7, characterized in that: The calculating the horizontal coordinate and the vertical coordinate of the feature point in a preset coordinate system according to the distance, the horizontal angle, and the pitch angle corresponding to the feature point includes: The distance, horizontal angle and pitch angle are calculated using trigonometric functions to obtain the abscissa and ordinate.

9. The target tracking method according to any one of claims 1 to 8, characterized in that: After determining the target object in a moving state from among the objects based on the point cloud parameters of the objects, the method further includes: When there are multiple target objects, the emission direction is adjusted alternately according to the position information of each target object to track the multiple target objects.

10. An electronic device, characterized in that: It includes a control module and a detection module, the detection module is used to transmit a detection signal, the controller is used to obtain the reflected detection signal, and uses the target tracking method according to any one of claims 1 to 9 to track the target.

11. A target tracking device, characterized in that: It includes an acquisition module for acquiring a detection signal for a target area at a target time; A point cloud module, configured to extract point cloud parameters of each object in the target area from the detection signal; a target module, configured to determine a target object in a moving state from among the objects according to the point cloud parameters of the objects, and determine position information of the target object according to the point cloud parameters of the target object; The tracking module is used to adjust the transmission direction at the next moment based on the position information to obtain a detection signal after the transmission direction is adjusted, and track the target object according to the detection signal after the transmission direction is adjusted.

12. A computer-readable storage medium, characterized in that The device stores a computer program that can be loaded by a processor and execute the method according to any one of claims 1 to 9.

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