Platform quick response method and device based on target tracking, equipment and medium

Abstract

The invention discloses a platform quick response method and device based on target tracking, equipment and a medium, and relates to the technical field of platform speed control, and the method comprises the steps: obtaining an angle deviation between a target and a platform; acquiring the speed of the target; judging whether the speed of the target is greater than a preset speed threshold; if yes, Axgt; as, the speed of the platform is determined based on (Ax + As), and the speed of the platform is in positive correlation with (Ax + As); if not, judging that the result is Axlt; as, the speed of the platform is determined based on the (Ax-As), and the speed of the platform is positively correlated with the (Ax-As); wherein Ax is the angle deviation, and As is the dead zone angle. The method comprises the following steps: when a target passes through a dead zone boundary (Axgt; (Ax + As) is adopted to calculate the speed of the platform when the target moves in the high-speed negative direction (Axlt; and (Ax-As) calculation speed is adopted when-As is smaller than-As, so that the platform has higher response speed, and the response delay of the platform is effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of platform speed control, and particularly relates to a platform fast response method and device based on target tracking, equipment and medium. BACKGROUND

[0002] In the field of rotating target tracking, there is a typical application scenario: through an angle sensor, a position signal (0-360°) of a moving target on a circumferential track is collected in real time, and a driving control platform is controlled to follow the target to rotate coaxially. The movement of the target has strong randomness, including acceleration, deceleration, stillness, uniform speed, and sudden turning (sudden rotation) in a forward or reverse direction.

[0003] The current widely used position closed-loop control algorithm is based on the real-time angle deviation between the target and the platform to calculate the control amount. Specifically, the control amount is determined by the following formula:

[0004] Necessity of dead zone setting: in order to avoid platform jitter caused by sensor measurement noise and mechanical vibration, an angle dead zone must be set near the static position. When the angle deviation is less than the dead zone threshold, the platform maintains zero speed output.

[0005] Limitation of traditional control method: the traditional method adopts a linear relationship, and the speed of the platform is determined based on the deviation value between the angle deviation and the dead zone threshold, which leads to a sharp decay of the platform speed at the boundary of the dead zone.

[0006] Therefore, the following technical problems are caused: when the angle deviation of the target is at the boundary of the dead zone, no matter how fast the target is, the speed of the platform is too low due to the deviation value between the angle deviation and the dead zone threshold tending to zero, which leads to a serious lag of the response of the platform. SUMMARY

[0007] Embodiments of the present application provide a platform fast response method and device based on target tracking, and equipment and medium, which are aimed at solving the problem that the response of the platform is slow when the target moves at high speed near the boundary of the dead zone.

[0008] In a first aspect, embodiments of the present application provide a platform fast response method based on target tracking, which comprises:

[0009] obtaining an angle deviation between a target and a platform;

[0010] obtaining a speed of the target;

[0011] determining whether the speed of the target is greater than a preset speed threshold;

[0012] if the speed of the target is greater than the preset speed threshold, and Ax>As, determining the speed of the platform based on (Ax+As), wherein the speed of the platform is positively correlated with (Ax+As);

[0013] If the speed of the target is greater than a preset speed threshold, and Ax<-As, the speed of the platform is determined based on (Ax-As), and the speed of the platform is positively correlated with (Ax-As);

[0014] Wherein, Ax is the angle deviation, and As is a preset dead zone angle.

[0015] A further technical solution is that the angle deviation between the target and the platform is obtained, comprising:

[0016] The position angle of the target and the position angle of the platform are collected;

[0017] The difference between the position angle of the target and the position angle of the platform is calculated to obtain the angle deviation.

[0018] A further technical solution is that the speed of the target is obtained, comprising:

[0019] The speed Vx of the target is calculated through the formula Vx=(Lx (n) -Lx (n-1) ) / dt;

[0020] Wherein, Lx (n) is the position of the target at the nth sampling point, Lx (n-1) is the position of the target at the (n-1)th sampling point, and dt is the sampling interval.

[0021] A further technical solution is that the speed of the platform is determined based on (Ax+As), comprising:

[0022] The speed Vk of the platform is determined through the formula Vk=K*(Ax+As);

[0023] The speed of the platform is determined based on (Ax-As), comprising:

[0024] The speed Vk of the platform is determined through the formula Vk=K*(Ax-As), wherein K is a preset parameter.

[0025] A further technical solution is that the method further comprises:

[0026] If the speed of the target is not greater than a preset speed threshold, and Ax>As, the speed of the platform is determined based on (Ax-As), and the speed of the platform is positively correlated with (Ax-As);

[0027] If the speed of the target is not greater than a preset speed threshold, and Ax<-As, the speed of the platform is determined based on (Ax+As), and the speed of the platform is positively correlated with (Ax+As).

[0028] A further technical solution is that determining the platform speed based on (Ax-As) includes:

[0029] The velocity Vk of the platform is determined by the formula Vk=K*(Ax-As);

[0030] The determination of the platform speed based on (Ax+As) includes:

[0031] The speed Vk of the platform is determined by the formula Vk=K*(Ax+As), where K is a preset parameter.

[0032] A further technical solution is that the method further includes:

[0033] If -As≤Ax≤As, the speed of the platform is controlled to be zero.

[0034] Secondly, embodiments of the present invention also provide a platform rapid response device based on target tracking, which includes a unit for performing the above-described method.

[0035] Thirdly, embodiments of the present invention also provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0036] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0037] This invention provides a platform rapid response method, apparatus, device, and medium based on target tracking. The method includes: acquiring the angular deviation between a target and a platform; acquiring the speed of the target; determining whether the speed of the target is greater than a preset speed threshold; if the speed of the target is greater than the preset speed threshold and Ax > As, determining the speed of the platform based on (Ax + As), where the speed of the platform is positively correlated with (Ax + As); if the speed of the target is greater than the preset speed threshold and Ax < -As, determining the speed of the platform based on (Ax - As), where the speed of the platform is positively correlated with (Ax - As); wherein Ax is the angular deviation, and As is a preset dead zone angle. As can be seen, when the target speed is detected to exceed the preset threshold, the present invention innovatively reconstructs the algebraic combination relationship between the angle deviation (Ax) and the dead zone angle (As). When the target crosses the dead zone boundary at high speed in a positive direction (Ax>As), the platform speed is calculated using (Ax+As), and when the target moves at high speed in a negative direction (Ax<-As), the speed is calculated using (Ax-As). This results in a platform with a high response speed and effectively reduces response latency. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0039] Figure 1 A flowchart of a platform fast response method based on target tracking provided by the embodiment of the present application is shown in the figure.

[0040] Figure 2 A control principle diagram when the speed of the target is greater than the preset speed threshold provided by the embodiment of the present application is shown in the figure.

[0041] Figure 3 A control principle diagram when the speed of the target is not greater than the preset speed threshold provided by the embodiment of the present application is shown in the figure.

[0042] Figure 4 A schematic block diagram of a computer device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present application.

[0044] It should be understood that the terms "comprising" and "including" as used in the specification and the appended claims indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0045] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0046] It should be further understood that the term "and / or" as used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0047] As used in the specification and the appended claims, the term “if’ can be interpreted as meaning “when,” or “upon,” or “in response to determining,” or “in response to detecting” depending on the context. Similarly, the phrase “if it is determined” or “if [the recited condition or event] is detected” can be interpreted as meaning “upon determining” or “in response to determining” or “upon detecting [the recited condition or event]” or “in response to detecting [the recited condition or event],” depending on the context.

[0048] Referring to Figure 1 , the embodiment of the present application provides a target tracking-based platform fast response method, which comprises the following steps:

[0049] S1, obtaining an angle deviation between a target and a platform.

[0050] In specific implementation, the selection of the target is not specifically limited in the present application. In the present application, the angle deviation between the target and the platform is collected every preset sampling interval. The sampling interval can be set by those skilled in the art, and the present application does not specifically limit it.

[0051] For example, in some preferred embodiments, the above step “obtaining an angle deviation between a target and a platform” specifically comprises the following steps: collecting a position angle of the target and a position angle of the platform; and calculating a difference value between the position angle of the target and the position angle of the platform to obtain the angle deviation.

[0052] In specific implementation, the position angles of the target and the platform are collected every preset sampling interval, and the difference value is calculated, to ensure the dynamic accuracy of the angle deviation (Ax). For example, in a target variable-speed rotation scenario, continuous position sampling can capture the instantaneous angle separation state, avoiding distortion of Ax caused by single sampling delay. The core value lies in that the angle deviation, as the core input of the control algorithm, directly determines the effectiveness of the platform speed calculation.

[0053] S2, obtaining a speed of the target.

[0054] In specific implementation, the speed of the target is collected every preset sampling interval. The sampling interval can be set by those skilled in the art, and the present application does not specifically limit it.

[0055] For example, in some preferred embodiments, the above step “obtaining a speed of the target” specifically comprises the following steps: calculating the speed Vx of the target by the formula Vx = (Lx (n) -Lx (n-1) ) / dt, where Lx (n) is the position of the target at the nth sampling point (i.e., the position of the target corresponding to the current sampling point), Lx (n-1)is the position of the target at the (n-1)th sampling point (i.e. the position of the target corresponding to the last sampling point of the current sampling point), and dt is a sampling interval.

[0056] In the present application, the velocity of the target is calculated by Vx=(Lx (n) -Lx (n-1) , which can achieve accurate collection of the velocity of the target.

[0057] S3, judging whether the velocity of the target is greater than a preset velocity threshold.

[0058] In specific implementation, the velocity threshold can be set by those skilled in the art, and the present application is not specifically limited. After confirming the velocity of the target, it is further judged whether the velocity of the target is greater than a preset velocity threshold.

[0059] S4, if the velocity of the target is greater than a preset velocity threshold, and Ax>As, the velocity of the platform is determined based on (Ax+As), and the velocity of the platform is positively related to (Ax+As), wherein Ax is the angle deviation, and As is a preset dead zone angle.

[0060] In specific implementation, As is a preset dead zone angle. When the velocity of the target is greater than a preset velocity threshold, and Ax>As, the velocity of the platform is determined based on (Ax+As), and the velocity of the platform is positively related to (Ax+As).

[0061] For example, in some preferred embodiments, referring to Figure 2 , the above step of "determining the velocity of the platform based on (Ax+As)" specifically includes the following step: determining the velocity Vk of the platform by the formula Vk=K*(Ax+As), wherein K is a preset parameter.

[0062] In the present application, when the velocity of the target is greater than a preset velocity threshold, and Ax>As, the velocity Vk of the platform is determined by the formula Vk=K*(Ax+As), so that the output velocity of the platform is significantly greater than that of the traditional method. For example, when the target is at high speed and crosses the dead zone boundary in the positive direction, the velocity of the platform is suddenly reduced due to (Ax-As) tending to zero in the traditional method; while (Ax+As) still outputs an effective velocity value (≥2K·As) when Ax approaches As, forcing the platform to chase the target at a higher speed, directly shortening the response time of the dead zone boundary.

[0063] S5, if the velocity of the target is greater than a preset velocity threshold, and Ax<-As, the velocity of the platform is determined based on (Ax-As), and the velocity of the platform is positively related to (Ax-As).

[0064] In the embodiment, when the speed of the target is greater than the preset speed threshold and Ax<-As, the speed of the platform is determined based on (Ax-As), and the speed of the platform is positively related to (Ax-As).

[0065] For example, in some preferred embodiments, referring to Figure 2 The step of determining the speed of the platform based on (Ax-As) specifically includes the following step: determining the speed Vk of the platform by the formula Vk=K*(Ax-As), wherein K is a preset parameter.

[0066] In the embodiment, when the speed of the target is greater than the preset speed threshold and Ax<-As, the speed Vk of the platform is determined by the formula Vk=K*(Ax-As), so that the output speed of the platform is significantly greater than that in the conventional method. For example, when the target moves at a high speed in the negative direction and crosses the dead zone boundary, the speed of the platform in the conventional method suddenly decreases due to (Ax+As) approaching zero; while (Ax-As) still outputs an effective speed value when Ax approaches -As, so as to force the platform to chase the target at a higher speed and directly shorten the response time of the dead zone boundary.

[0067] The embodiment of the present application provides a target tracking-based fast response method of a platform, which comprises the following steps: acquiring an angle deviation between a target and a platform; acquiring a speed of the target; judging whether the speed of the target is greater than a preset speed threshold; if the speed of the target is greater than the preset speed threshold and Ax>As, determining the speed of the platform based on (Ax+As), and the speed of the platform is positively related to (Ax+As); if the speed of the target is greater than the preset speed threshold and Ax<-As, determining the speed of the platform based on (Ax-As), and the speed of the platform is positively related to (Ax-As); wherein Ax is the angle deviation, and As is a preset dead zone angle. It can be seen that, when the speed of the target exceeds the preset threshold, the present application innovatively reconstructs the combination relationship of the angle deviation (Ax) and the dead zone angle (As) - (Ax+As) is used to calculate the speed of the platform when the target moves at a high speed in the positive direction and crosses the dead zone boundary (Ax>As), and (Ax-As) is used to calculate the speed when the target moves at a high speed in the negative direction (Ax<-As), so that the platform has a higher response speed and the response delay is effectively reduced.

[0068] In some preferred embodiments, the method further comprises the following steps: if the speed of the target is not greater than the preset speed threshold and Ax>As, determining the speed of the platform based on (Ax-As), and the speed of the platform is positively related to (Ax-As); if the speed of the target is not greater than the preset speed threshold and Ax<-As, determining the speed of the platform based on (Ax+As), and the speed of the platform is positively related to (Ax+As).

[0069] In a specific implementation, if the speed of the target is not greater than a preset speed threshold, indicating that the speed of the target is slow, a traditional method is used to control the platform. Specifically, when the speed of the target is not greater than the preset speed threshold, and Ax>As, the speed of the platform is determined based on (Ax-As), and the speed of the platform is positively correlated with (Ax-As); when the speed of the target is not greater than the preset speed threshold, and Ax<-As, the speed of the platform is determined based on (Ax+As), and the speed of the platform is positively correlated with (Ax+As).

[0070] For example, refer to Figure 3 In some preferred embodiments, the step of "determining the speed of the platform based on (Ax-As)" specifically includes the following steps: determining the speed Vk of the platform by the formula Vk=K*(Ax-As), wherein K is a preset parameter. The step of "determining the speed of the platform based on (Ax+As)" specifically includes the following steps: determining the speed Vk of the platform by the formula Vk=K*(Ax+As), wherein K is a preset parameter.

[0071] Further, in some preferred embodiments, the method further includes the following step: if -As≤Ax≤As, controlling the speed of the platform to be zero.

[0072] In a specific implementation, the speed of the platform is forced to be zero within the dead zone range (-As≤Ax≤As), solving the problem of static error and vibration interference. For example, when the target is dithered within ±As due to sensor noise, the scheme cuts off the disturbance propagation path through zero-speed output, significantly improving the static stability of the system.

[0073] Corresponding to the above target tracking-based platform fast response method, the application also provides a target tracking-based platform fast response device. The target tracking-based platform fast response device includes units for executing the above target tracking-based platform fast response method, and the target tracking-based platform fast response device can be configured in a desktop computer, a tablet computer, a laptop computer, and the like. Specifically, the target tracking-based platform fast response device includes:

[0074] A first acquisition unit is configured to acquire an angle deviation between a target and a platform.

[0075] A second acquisition unit is configured to acquire a speed of the target.

[0076] A judgment unit is configured to judge whether the speed of the target is greater than a preset speed threshold.

[0077] The first determining unit is configured to determine the speed of the platform based on (Ax+As) if the speed of the target is greater than a preset speed threshold and Ax>As, and the speed of the platform is positively related to (Ax+As);

[0078] The second determining unit is configured to determine the speed of the platform based on (Ax-As) if the speed of the target is greater than a preset speed threshold and Ax<-As, and the speed of the platform is positively related to (Ax-As);

[0079] Wherein, Ax is the angle deviation, and As is a preset dead zone angle.

[0080] In some preferred embodiments, the angle deviation between the target and the platform is obtained by:

[0081] The position angle of the target and the position angle of the platform are acquired;

[0082] The difference between the position angle of the target and the position angle of the platform is calculated to obtain the angle deviation.

[0083] In some preferred embodiments, the speed of the target is obtained by:

[0084] The speed Vx of the target is calculated by the formula Vx=(Lx (n) -Lx (n-1) ) / dt;

[0085] Wherein, Lx (n) is the position of the target at the nth sampling point, Lx (n-1) is the position of the target at the (n-1)th sampling point, and dt is the sampling interval.

[0086] In some preferred embodiments, the speed of the platform is determined based on (Ax+As) by:

[0087] The speed Vk of the platform is determined by the formula Vk=K*(Ax+As);

[0088] The speed of the platform is determined based on (Ax-As) by:

[0089] The speed Vk of the platform is determined by the formula Vk=K*(Ax-As), wherein K is a preset parameter.

[0090] In some preferred embodiments, the target tracking based platform fast response device further comprises:

[0091] a third determining unit, configured to determine the speed of the platform based on (Ax-As) if the speed of the target is not greater than a preset speed threshold and Ax>As, wherein the speed of the platform is positively related to (Ax-As);

[0092] a fourth determining unit, configured to determine the speed of the platform based on (Ax+As) if the speed of the target is not greater than a preset speed threshold and Ax<-As, wherein the speed of the platform is positively related to (Ax+As).

[0093] In some preferred embodiments, the determining the speed of the platform based on (Ax-As) comprises:

[0094] determining the speed Vk of the platform by a formula Vk=K*(Ax-As);

[0095] the determining the speed of the platform based on (Ax+As) comprises:

[0096] determining the speed Vk of the platform by a formula Vk=K*(Ax+As), wherein K is a preset parameter.

[0097] In some preferred embodiments, the platform fast response device based on target tracking further comprises:

[0098] a fifth determining unit, configured to control the speed of the platform to be zero if -As≤Ax≤As.

[0099] It should be noted that the specific implementation process of the above platform fast response device based on target tracking and each unit can be clearly understood by those skilled in the art, which can be referred to the corresponding description in the foregoing method embodiments. For the convenience and brevity of description, it will not be repeated here.

[0100] The above platform fast response device based on target tracking can be implemented in the form of a computer program, which can run on a computer device as shown in Figure 4 .

[0101] Please refer to Figure 4 , Figure 4 is a schematic block diagram of a computer device provided by an embodiment of the present application. The computer device 500 can be a terminal or a server, wherein the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device and other electronic devices with communication functions. The server can be a stand-alone server or a server cluster composed of multiple servers.

[0102] The computer device 500 comprises a processor 502, a memory and a network interface 505 connected through a system bus 501, wherein the memory can comprise a non-volatile storage medium 503 and an internal memory 504.

[0103] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, can cause the processor 502 to perform a target tracking based platform fast response method.

[0104] The processor 502 is configured to provide computing and control capabilities to support the operation of the entire computer device 500.

[0105] The internal memory 504 provides an environment for the execution of the computer program 5032 in the non-volatile storage medium 503, which, when executed by the processor 502, can cause the processor 502 to perform a target tracking based platform fast response method.

[0106] The network interface 505 is configured to perform network communication with other devices. Those skilled in the art can understand that the above structure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 500 to which the scheme of the present application is applied. The specific computer device 500 can comprise more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] The processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:

[0108] Obtaining an angle deviation between the target and the platform;

[0109] Obtaining the speed of the target;

[0110] Determining whether the speed of the target is greater than a preset speed threshold;

[0111] If the speed of the target is greater than the preset speed threshold, and Ax>As, determining the speed of the platform based on (Ax+As), wherein the speed of the platform is positively correlated with (Ax+As);

[0112] If the speed of the target is greater than the preset speed threshold, and Ax<-As, determining the speed of the platform based on (Ax-As), wherein the speed of the platform is positively correlated with (Ax-As);

[0113] Wherein, Ax is the angle deviation, and As is a preset dead zone angle.

[0114] In some preferred embodiments, the obtaining of the angle deviation between the target and the platform comprises:

[0115] acquiring a position angle of the target and a position angle of the platform;

[0116] calculating a difference between the position angle of the target and the position angle of the platform to obtain the angle deviation.

[0117] In some preferred embodiments, the acquiring the speed of the target comprises:

[0118] calculating the speed Vx of the target through a formula Vx=(Lx (n) -Lx (n-1) ) / dt;

[0119] wherein, Lx (n) is a position of the target at an nth sampling point, Lx (n-1) is a position of the target at an (n-1)th sampling point, and dt is a sampling interval.

[0120] In some preferred embodiments, the determining the speed of the platform based on (Ax+As) comprises:

[0121] determining the speed Vk of the platform through a formula Vk=K*(Ax+As);

[0122] the determining the speed of the platform based on (Ax-As) comprises:

[0123] determining the speed Vk of the platform through a formula Vk=K*(Ax-As), wherein K is a preset parameter.

[0124] In some preferred embodiments, the method further comprises:

[0125] if the speed of the target is not greater than a preset speed threshold and Ax>As, determining the speed of the platform based on (Ax-As), and the speed of the platform is positively related to (Ax-As);

[0126] if the speed of the target is not greater than a preset speed threshold and Ax<-As, determining the speed of the platform based on (Ax+As), and the speed of the platform is positively related to (Ax+As).

[0127] In some preferred embodiments, the determining the speed of the platform based on (Ax-As) comprises:

[0128] determining the speed Vk of the platform through a formula Vk=K*(Ax-As);

[0129] the determining the speed of the platform based on (Ax+As) comprises:

[0130] A speed Vk of the platform is determined by a formula Vk=K*(Ax+As), where K is a preset parameter.

[0131] In some preferred embodiments, the method further comprises:

[0132] If -As≤Ax≤As, the speed of the platform is controlled to be zero.

[0133] It should be understood that, in the embodiments of the present application, the processor 502 can be a central processing unit (CPU), and the processor 502 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0134] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the above-mentioned embodiments.

[0135] Therefore, the present application further provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program. The computer program is executed by a processor to make the processor perform the following steps:

[0136] An angle deviation between the target and the platform is obtained;

[0137] A speed of the target is obtained;

[0138] It is determined whether the speed of the target is greater than a preset speed threshold;

[0139] If the speed of the target is greater than the preset speed threshold, and Ax>As, a speed of the platform is determined based on (Ax+As), and the speed of the platform is positively related to (Ax+As);

[0140] If the speed of the target is greater than the preset speed threshold, and Ax<-As, a speed of the platform is determined based on (Ax-As), and the speed of the platform is positively related to (Ax-As);

[0141] wherein, Ax is the angle deviation, and As is a preset dead zone angle.

[0142] In some preferred embodiments, the angle deviation between the target and the platform is obtained by:

[0143] obtaining a position angle of the target and a position angle of the platform;

[0144] calculating a difference between the position angle of the target and the position angle of the platform to obtain the angle deviation.

[0145] In some preferred embodiments, the speed of the target is obtained by:

[0146] calculating the speed Vx of the target by a formula Vx = (Lx (n) -Lx (n-1) ) / dt;

[0147] wherein, Lx (n) is a position of the target at an nth sampling point, Lx (n-1) is a position of the target at an (n-1)th sampling point, and dt is a sampling interval.

[0148] In some preferred embodiments, the speed of the platform is determined based on (Ax+As) by:

[0149] determining the speed Vk of the platform by a formula Vk = K*(Ax+As);

[0150] the speed of the platform is determined based on (Ax-As) by:

[0151] determining the speed Vk of the platform by a formula Vk = K*(Ax-As), wherein K is a preset parameter.

[0152] In some preferred embodiments, the method further comprises:

[0153] if the speed of the target is not greater than a preset speed threshold and Ax>As, the speed of the platform is determined based on (Ax-As), and the speed of the platform is positively correlated with (Ax-As);

[0154] if the speed of the target is not greater than a preset speed threshold and Ax<-As, the speed of the platform is determined based on (Ax+As), and the speed of the platform is positively correlated with (Ax+As).

[0155] In some preferred embodiments, the speed of the platform is determined based on (Ax-As) by:

[0156] determining the speed Vk of the platform by a formula Vk=K*(Ax-As);

[0157] determining the speed of the platform based on (Ax+As), comprising:

[0158] determining the speed Vk of the platform by a formula Vk=K*(Ax+As), wherein K is a preset parameter.

[0159] In some preferred embodiments, the method further comprises:

[0160] if -As≤Ax≤As, controlling the speed of the platform to be zero.

[0161] The storage medium is a physical, non-transient storage medium, for example, can be a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a magnetic disk or an optical disk, and various physical storage media that can store program codes. The computer readable storage medium can be non-volatile or volatile.

[0162] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0163] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed.

[0164] The steps in the method of the embodiments of the present application can be adjusted, combined and deleted in sequence according to actual needs. The units in the device of the embodiments of the present application can be combined, divided and deleted according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0165] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art that contributes to the present application, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application.

[0166] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0167] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, these modifications and variations of the present application also belong to the scope of the claims of the present application and its equivalent technologies, and the present application also intends to include these modifications and variations.

[0168] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A platform rapid response method based on target tracking, characterized in that, include: Obtain the angular deviation between the target and the platform; Obtain the speed of the target; Determine whether the speed of the target is greater than a preset speed threshold; If the speed of the target is greater than a preset speed threshold and Ax > As, the speed of the platform is determined based on (Ax + As), and the speed of the platform is positively correlated with (Ax + As); If the speed of the target is greater than a preset speed threshold and Ax < -As, the speed of the platform is determined based on (Ax - As), and the speed of the platform is positively correlated with (Ax - As); Where Ax is the angle deviation and As is the preset dead zone angle.

2. The platform rapid response method based on target tracking according to claim 1, characterized in that, The acquisition of the angular deviation between the target and the platform includes: Collect the position and angle of the target and the position and angle of the platform; The difference between the position angle of the target and the position angle of the platform is calculated to obtain the angle deviation.

3. The platform rapid response method based on target tracking according to claim 1, characterized in that, The speed at which the target is acquired includes: Using the formula Vx=(Lx) (n) -Lx (n-1) ) / dt, calculate the velocity Vx of the target; Among them, Lx (n) Lx represents the position of the target at the nth sampling point. (n-1) dt represents the position of the target at the (n-1)th sampling point, and dt represents the sampling interval.

4. The platform rapid response method based on target tracking according to claim 1, characterized in that, The determination of the platform speed based on (Ax+As) includes: The velocity Vk of the platform is determined by the formula Vk=K*(Ax+As); The determination of the platform speed based on (Ax-As) includes: The speed Vk of the platform is determined by the formula Vk=K*(Ax-As), where K is a preset parameter.

5. The platform rapid response method based on target tracking according to claim 1, characterized in that, The method further includes: If the speed of the target is not greater than a preset speed threshold and Ax > As, the speed of the platform is determined based on (Ax - As), and the speed of the platform is positively correlated with (Ax - As); If the speed of the target is not greater than a preset speed threshold and Ax < -As, the speed of the platform is determined based on (Ax + As), and the speed of the platform is positively correlated with (Ax + As).

6. The platform rapid response method based on target tracking according to claim 5, characterized in that, The determination of the platform speed based on (Ax-As) includes: The velocity Vk of the platform is determined by the formula Vk=K*(Ax-As); The determination of the platform speed based on (Ax+As) includes: The speed Vk of the platform is determined by the formula Vk=K*(Ax+As), where K is a preset parameter.

7. The platform rapid response method based on target tracking according to claim 1, characterized in that, The method further includes: If -As≤Ax≤As, the speed of the platform is controlled to be zero.

8. A platform rapid response device based on target tracking, characterized in that, Includes a unit for performing the method as described in any one of claims 1-7.

9. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1-7.

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