Motion camera with thermal infrared module and main angle shooting method

Abstract

The invention discloses a motion camera with a thermal infrared module and a main angle shooting method, and relates to the technical field of motion cameras, the motion camera comprises an input unit, a thermal infrared imaging module, a visible light motion camera, a holder driving unit and a control unit; the shooting method comprises the following steps: receiving an instruction of selecting a protagonist by a user, and acquiring thermal infrared characteristics and coordinate information of the protagonist; determining the position of the main angle in the view finding range, and driving the visible light camera through the holder to keep the main angle in a specified area; tracking and shooting by taking the thermal infrared characteristic as a reference; thermal infrared and visible light information is fused to determine the motion state of a main angle, and different shooting ranges are switched based on the motion speed; according to the invention, thermal infrared feature tracking is adopted and is not influenced by ambient light, and the tracking stability is high; the shooting range is automatically adapted, manual adjustment is not needed, and the shooting effect and the user experience in a complex motion scene are improved.

Description

Action camera with thermal infrared module and subject shooting method Technical Field

[0001] This invention relates to the field of action camera technology, and more particularly to an action camera with a thermal infrared module and a method for shooting the subject. Background Technology

[0002] Current action camera technology primarily relies on visible light cameras for target tracking. However, visible light cameras perform poorly under complex lighting conditions (such as backlight, strong light, low light, or nighttime environments) and are easily affected by factors such as occlusion and target deformation. Furthermore, existing technologies mostly adjust the target shooting range using fixed presets or manual adjustments, lacking the ability to adaptively adjust according to the target's movement, resulting in less than ideal shooting results.

[0003] Traditional visible light camera tracking algorithms, such as optical flow and feature point matching, experience a significant drop in tracking accuracy when illumination changes drastically or when the contrast between the target and the background is low. For example, when the target is in a backlit environment or partially occluded, target features in the visible light image may not be accurately identified, leading to tracking failure. Even with advanced deep learning algorithms, these methods still struggle to guarantee robustness in situations with poor visible light image quality.

[0004] In existing technologies, some systems attempt to introduce infrared sensors to assist visible light cameras in target tracking. However, these systems often only use infrared sensors as supplementary lighting or auxiliary detection methods, failing to fully utilize the advantages of infrared images in target feature extraction. For example, although Chinese invention application CN120455835A proposes a tracking and shooting method based on an infrared thermal imaging system, it mainly confirms the presence of a human body through infrared images and then switches to a visible light camera for focusing and shooting, failing to achieve collaborative work between thermal infrared and visible light cameras.

[0005] Existing action cameras mostly adjust their shooting range using fixed presets or manual adjustments, lacking the ability to intelligently adjust based on the target's motion state. For example, although Chinese invention application CN119136044A proposes an "image display method based on gimbal camera control," its logic for adjusting the shooting angle is mainly based on the gimbal's limiting pose, rather than adaptively adjusting according to the target's motion state.

[0006] Traditional gimbal control systems mostly employ fixed-parameter PID control, lacking the ability to respond in real time to the target's motion state. Even with more advanced control algorithms, such as model predictive control (MPC) or disturbance observer (DOB), a closed-loop control is not formed with target motion state recognition, making it impossible to achieve adaptive adjustment of the shooting range. Summary of the Invention

[0007] To overcome the shortcomings mentioned above, this invention aims to provide an action camera with a thermal infrared module and a method for shooting the subject. It tracks the target using thermal infrared features, determines the target position by combining visible light information, and dynamically adjusts the shooting range according to the target's motion state. This solves the problems of unstable tracking and unintelligent shooting range adjustment in existing action cameras with gimbals and adjustable focus.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a motion camera with a thermal infrared module, comprising: an input unit for receiving an input command from a user to select a subject for shooting; a thermal infrared imaging module for acquiring thermal infrared images of the shooting scene, extracting and outputting the thermal infrared features and coordinate information of the selected subject; a visible light motion camera for acquiring visible light images of the shooting scene; a gimbal drive unit connected to the visible light motion camera for driving the visible light motion camera to adjust the shooting direction and angle; and a control unit electrically connected to the input unit, the thermal infrared imaging module, the visible light motion camera, and the gimbal drive unit, respectively; the control unit is configured to: in response to the input command, acquire the thermal infrared features of the subject output by the thermal infrared imaging module. The system acquires external features and coordinate information; determines the real-time position of the subject within the field of view of the visible light motion camera based on the coordinate information; sends a control signal to the gimbal drive unit to drive the visible light motion camera to point in the target direction, so that the selected subject remains continuously within the designated area of ​​the field of view; uses the thermal infrared features as a tracking reference to control the visible light motion camera to perform real-time tracking and shooting of the selected subject; the control unit is also configured to: synchronously acquire the thermal infrared information of the subject output by the thermal infrared imaging module and the visible light information of the subject output by the visible light motion camera; determine the motion state of the selected subject based on the fusion analysis of the thermal infrared information and the visible light information; and adjust the shooting range of the visible light motion camera based on the motion state.

[0009] As a further aspect of the present invention: the motion state includes a first state and a second state, with a preset first speed threshold; the first state is a state where the protagonist's motion speed does not exceed the first speed threshold, and the second state is a state where the protagonist's motion speed exceeds the first speed threshold; the control unit is further configured to: when the protagonist is identified as being in the first state, control the visible light motion camera to take pictures within a first shooting range; when the protagonist is identified as being in the second state, control the visible light motion camera to switch to a second shooting range to take pictures, wherein the coverage area of ​​the second shooting range is greater than that of the first shooting range.

[0010] As a further aspect of the present invention, it also includes a storage unit, which is electrically connected to the control unit and is used to pre-store shooting range parameters, first speed threshold parameters, and thermal infrared feature templates of the main subject corresponding to different motion states.

[0011] As a further aspect of the present invention: the thermal infrared features include at least one of the thermal radiation intensity distribution features of the subject and the thermal contour morphology features; the coordinate information is the pixel coordinates of the subject target area in the thermal infrared image, and the control unit converts the pixel coordinates into relative position coordinates within the field of view of the visible light motion camera through intrinsic parameter conversion.

[0012] To achieve the above objectives, the present invention provides the following technical solution: a protagonist shooting method based on the above-mentioned action camera, the protagonist shooting method comprising the following steps: S1: receiving an input command from a user to select a protagonist for shooting through an input unit; S2: responding to the input command, extracting the thermal infrared features and coordinate information of the selected protagonist from the thermal infrared image of the shooting scene acquired by the thermal infrared imaging module and transmitting it to the control unit; S3: the control unit determines the real-time position of the protagonist within the framing range of the visible light action camera based on the coordinate information; S4: the control unit sends a control signal to the gimbal drive unit, the gimbal drive unit drives the visible light action camera to adjust the shooting direction and angle, so that the selected protagonist remains within a specified area of ​​the framing range; S5: the control unit controls the visible light action camera to perform real-time follow shooting of the selected protagonist using the thermal infrared features as a tracking reference; S6: during the follow shooting process, the control unit simultaneously acquires the protagonist's thermal infrared information output by the thermal infrared imaging module and the protagonist's visible light information output by the visible light action camera, and determines the protagonist's motion state after fusion analysis; S7: the control unit adjusts the shooting range of the visible light action camera based on the protagonist's motion state.

[0013] As a further aspect of the present invention: In step S4, the control unit first calculates the deviation between the real-time position of the protagonist and the specified area of ​​the framing range; then sends a control signal to the gimbal drive unit; after receiving the signal, the gimbal drive unit drives the visible light motion camera to rotate at corresponding angles in the horizontal and vertical directions, so that the protagonist moves to the specified area and remains there.

[0014] As a further aspect of the present invention: In step S5, the step of using thermal infrared features as the tracking reference is as follows: extract the thermal infrared features of all targets in the thermal infrared image of the shooting scene in real time, match them with the pre-stored thermal infrared feature template of the main character, and when the matching degree is higher than a preset threshold, determine it as the tracking target and continuously update its coordinate information.

[0015] As a further aspect of the present invention: in step S6, the fusion analysis step is as follows: calculate the displacement of the protagonist based on multiple consecutive frames of thermal infrared images, and obtain the instantaneous movement speed of the protagonist by combining the frame rate of the thermal infrared imaging module; identify the limb movement pattern of the protagonist through visible light images, correct the instantaneous movement speed, and finally determine the movement state of the protagonist.

[0016] As a further aspect of the present invention: In step S7, when the protagonist is identified as being in a first state where the movement speed does not exceed a first speed threshold, the visible light motion camera is controlled to shoot within a first shooting range; when the protagonist is identified as being in a second state where the movement speed exceeds the first speed threshold, the visible light motion camera is controlled to switch to a second shooting range that is greater than the first shooting range.

[0017] As a further aspect of the present invention: In step S7, the shooting range is adjusted by controlling the electronically controlled zoom module of the visible light action camera: the first shooting range corresponds to a preset first zoom factor, the second shooting range corresponds to a preset second zoom factor, and the second zoom factor is less than the first zoom factor.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a circuit diagram of the present invention; Figure 2 is a flowchart of the method of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please refer to Figure 1-2. The action camera with a thermal infrared module includes an input unit 2, a thermal infrared imaging module 3, a visible light action camera 1, a gimbal drive unit 6, and a control unit 4.

[0023] The input unit is used to receive input commands from the user to select the subject for shooting. For example, it can take the form of a touch button, a voice receiving module, or a wireless communication module (such as connecting to a mobile app to receive commands). The user can select the subject in the image by tapping the screen, specifying the subject with a voice command, or remotely selecting the subject through a mobile app. In some embodiments, the input unit is, for example, a touch screen display, which allows the user to select the subject from the displayed image containing the target.

[0024] The thermal infrared imaging module is used to acquire thermal infrared images of the shooting scene, extract and output the thermal infrared features and coordinate information of the selected subject. The module has a thermal infrared sensor that captures the thermal radiation signals of objects in the scene and converts them into thermal infrared images. After image preprocessing algorithms (such as noise reduction and enhancement), the thermal infrared features and coordinate information of the selected subject are extracted. Thermal infrared features include thermal radiation intensity distribution characteristics and thermal contour morphology characteristics. These features are unaffected by visible light and have strong environmental adaptability. The coordinate information refers to the pixel coordinates of the subject in the thermal infrared image.

[0025] Visible light action cameras are used to capture visible light images of a shooting scene, enabling visual capture of the subject. In addition to a visible light sensor (such as a CMOS sensor), a visible light action camera also features an electronically controlled zoom module for adjusting the shooting range.

[0026] The gimbal drive unit is connected to a visible light action camera and is used to drive the camera to adjust its shooting direction and angle. The gimbal drive unit uses, for example, a stepper motor or servo motor to drive the visible light action camera to rotate in the horizontal and vertical directions, achieving precise adjustment of the shooting direction and angle. Horizontal and vertical rotation adjustment is also called yaw adjustment and pitch adjustment. When the gimbal drive unit only includes adjustment in these two directions, it is also called a two-axis gimbal. In other embodiments, the gimbal drive unit is not limited to adjusting in the aforementioned two directions but can also perform adjustments in other directions, thus enabling the gimbal drive unit to constitute a multi-axis gimbal, such as a three-axis gimbal.

[0027] The control unit is electrically connected to the input unit, the thermal infrared imaging module, the visible light motion camera, and the gimbal drive unit, respectively, and is used to receive signals transmitted by each module, process them, and send control commands.

[0028] The control unit is configured to: respond to the user's input command to select the main character, acquire the main character's thermal infrared features and coordinate information output by the thermal infrared imaging module; combine the installation position relationship between the thermal infrared imaging module and the visible light motion camera, focal length and other parameters to perform intrinsic parameter conversion, converting the pixel coordinates in the thermal infrared image into relative position coordinates within the field of view of the visible light motion camera, thereby determining the main character's real-time position within the field of view; compare the main character's real-time position with a preset designated area, calculate the position deviation, and send a control signal to the gimbal drive unit, causing the gimbal drive unit to drive the visible light motion camera to adjust its direction and angle, so that the main character remains continuously within the designated area; the designated area is, for example, the center area of ​​the field of view; simultaneously, store the extracted main character's thermal infrared features as a tracking reference template, and subsequently perform follow-up shooting on the main character by matching the target's thermal infrared features in the thermal infrared image with the reference template in real time.

[0029] To achieve adaptive and intelligent adjustment of the shooting range, the control unit is also configured to: synchronously acquire the thermal infrared information of the main character, including real-time thermal contour changes and displacement information, output by the thermal infrared imaging module, and the visible light information of the main character, including limb movement patterns, output by the visible light motion camera; determine the motion state of the main character after fusion analysis; and adjust the shooting range of the visible light motion camera based on the motion state.

[0030] In this embodiment, by using thermal infrared features as the tracking reference, it is unaffected by changes in ambient light or background interference. Even in scenarios such as nighttime, backlighting, and complex backgrounds, it can accurately identify and track the subject, effectively solving the problem of target loss in existing visible light tracking. The shooting range is automatically adjusted based on the subject's movement, eliminating the need for manual user operation. When the subject moves quickly, the shooting range is expanded to prevent the subject from moving out of the frame; when the speed is slow, the range is narrowed to focus on the subject's details, improving the realism of the captured image. The user only needs to input a simple command to select the subject; subsequent tracking and shooting range adjustment are all handled automatically by the device. This is suitable for outdoor sports, extreme sports, and other scenarios where manual operation is impossible, enhancing the user experience.

[0031] In some embodiments, the area of ​​the central region is, for example, 1 / 36 to 1 / 2 of the total area of ​​the field of view. Preferably, it is any value between 1 / 9 and 1 / 4.

[0032] In some embodiments, the area of ​​the central region relative to the total area of ​​the viewfinder is variable. For example, when shooting with the first shooting range described below, the area of ​​the central region is controlled to vary to 1 / 9 of the total area of ​​the viewfinder; when shooting with the second shooting range, the area of ​​the central region is controlled to vary to 1 / 9 of the total area of ​​the viewfinder.

[0033] In some embodiments, a first speed threshold is preset to divide the motion state into a first state and a second state; when the subject is identified as being in the first state, the visible light motion camera is controlled to shoot within a first shooting range; when the subject is identified as being in the second state, the camera is controlled to switch to a second shooting range. The coverage area of ​​the second shooting range is larger than that of the first shooting range.

[0034] The first state is when the protagonist's movement speed does not exceed the first speed threshold, such as when the protagonist is walking, standing at a slow speed, or stopped.

[0035] The second state is when the protagonist's speed exceeds the first speed threshold, such as when the protagonist is running or cycling at high speed.

[0036] The first speed threshold is, for example, a speed value between 3.5 km / h and 5.5 km / h, such as 3.5 km / h, 4.0 km / h, 4.5 km / h, 5 km / h, 5.1 km / h, etc., used to define two different states.

[0037] When the user is in the first state of slow speed or stationary, controlling the visible light motion camera to shoot within a smaller first shooting range is more conducive to focusing on the details of the main character; when the user is in the second state of fast speed, controlling the visible light motion camera to shoot within a larger second shooting range is more conducive to fully capturing the main character's movement trajectory and the surrounding environment, capturing the tension of the action.

[0038] In some embodiments, the first speed threshold is adjustable and can be adjusted by the user according to actual needs, such as by inputting the corresponding value through the aforementioned input unit.

[0039] In some embodiments, the action camera further includes a storage unit 5, which is electrically connected to the control unit and is used to pre-store shooting range parameters, first speed threshold parameters, and thermal infrared feature templates of the subject corresponding to different motion states. The control unit can quickly retrieve data from the storage unit.

[0040] Shooting range parameters corresponding to different motion states, such as the zoom factor corresponding to the first shooting range and the zoom factor corresponding to the second shooting range.

[0041] In this embodiment, the present invention also provides a protagonist shooting method based on the above-mentioned action camera. The protagonist shooting method includes the following steps: S1: receiving an input command from a user to select a protagonist to shoot through an input unit; S2: responding to the input command, extracting the thermal infrared features and coordinate information of the selected protagonist from the thermal infrared image of the shooting scene acquired by the thermal infrared imaging module and transmitting it to the control unit; S3: the control unit determines the real-time position of the protagonist in the field of view of the visible light action camera based on the coordinate information; S4: the control unit sends a control signal to the gimbal drive unit, and the gimbal drive unit drives the visible light action camera to adjust the shooting direction and angle so that the selected protagonist is kept in the designated area of ​​the field of view; S5: the control unit controls the visible light action camera to perform real-time follow shooting of the selected protagonist using the thermal infrared features as a tracking reference; S6: during the follow shooting process, the control unit simultaneously acquires the protagonist's thermal infrared information output by the thermal infrared imaging module and the protagonist's visible light information output by the visible light action camera, and determines the protagonist's motion state after fusion analysis; S7: the control unit adjusts the shooting range of the visible light action camera based on the protagonist's motion state.

[0042] In some embodiments, in step S4, the control unit first calculates the deviation between the real-time position of the protagonist and the specified area (such as the center area) of the framing range; then sends a control signal to the gimbal drive unit; after receiving the signal, the gimbal drive unit drives the visible light motion camera to rotate at corresponding angles in the horizontal and vertical directions, so that the protagonist moves to the specified area and stays there.

[0043] In some embodiments, in step S5, the step of using thermal infrared features as the tracking reference is as follows: extract the thermal infrared features of all targets in the thermal infrared image of the shooting scene in real time, match them with the pre-stored thermal infrared feature template of the main character, and when the matching degree is higher than a preset threshold (e.g., 90%), determine it as the tracking target and continuously update its coordinate information.

[0044] In some embodiments, in step S6, the fusion analysis step is as follows: calculate the displacement of the protagonist based on multiple consecutive frames of thermal infrared images, and obtain the instantaneous movement speed of the protagonist by combining the frame rate of the thermal infrared imaging module; identify the limb movement pattern of the protagonist through visible light images, correct the instantaneous movement speed, and finally determine the movement state of the protagonist.

[0045] The frame rate of the thermal infrared imaging module is, for example, 30 frames per second. The protagonist's limb movements correspond to small limb swings when walking and large limb swings when running. Instantaneous motion speed is corrected, for example, to eliminate displacement errors caused by limb swings.

[0046] In some embodiments, in step S6, the fusion analysis step is as follows: calculate the displacement of the protagonist based on multiple consecutive frames of thermal infrared images, and obtain the first motion speed of the protagonist by combining the frame rate of the thermal infrared imaging module; calculate the second motion speed by the limb movement features of the protagonist in the visible light image and the inter-frame displacement; perform weighted fusion of the first motion speed and the second motion speed to obtain the final motion speed of the protagonist; and determine the motion state based on the final motion speed.

[0047] For example, if the calculated first movement speed does not exceed the first speed threshold, the limb movement characteristics of the protagonist in the visible light image are identified as small limb swing amplitude, and the calculated second movement speed exceeds the first speed threshold, the limb movement characteristics of the protagonist in the visible light image are used as a reference to make the calculation weight change to favor the first movement speed. For example, the weight of the first movement speed is adjusted to any weight value between 0.6 and 0.8, and the weight of the second movement speed is adjusted to any weight value between 0.2 and 0.4.

[0048] For example, if the calculated first movement speed does not exceed the first speed threshold, the limb movement feature of the protagonist in the visible light image is identified as having a large limb swing amplitude, and the calculated second movement speed exceeds the first speed threshold, the limb movement feature of the protagonist in the visible light image is used as a reference to make the calculation weight change to favor the first movement speed. For example, the weight of the first movement speed is adjusted to any weight value between 0.2 and 0.4, and the weight of the second movement speed is adjusted to any weight value between 0.6 and 0.8.

[0049] For example, when the calculated first movement speed does not exceed the first speed threshold, the limb movement characteristics of the protagonist in the visible light image are identified as small limb swing amplitude, and the calculated second movement speed does not exceed the first speed threshold, the limb movement characteristics of the protagonist in the visible light image are used as a reference to adjust the calculation weight to balance the first movement speed and the second movement speed. For example, the weight of the first movement speed is adjusted to 0.5, and the weight of the second movement speed is adjusted to 0.5.

[0050] In some embodiments, when a storage unit is present: In step S2, the control unit also stores the extracted thermal infrared features as a tracking reference template in the storage unit; In step S3, the control unit calls the camera intrinsic parameter data pre-stored in the storage unit, and converts the pixel coordinates of the main character in the thermal infrared image into relative position coordinates within the field of view of the visible light motion camera through the intrinsic parameters, thereby determining the real-time position of the main character within the field of view; In step S5, the control unit controls the thermal infrared imaging module to continuously acquire thermal infrared images, extract the thermal infrared features of all targets in the image in real time, and match them with the thermal infrared feature template of the main character in the storage unit; When the matching degree is higher than a preset threshold, for example, when the matching degree is higher than 90%, it is determined as a tracking target, its coordinate information is continuously updated, and the shooting direction of the visible light motion camera is adjusted through the gimbal drive unit to follow and shoot the main character in real time.

[0051] In some embodiments, in step S7, when the protagonist is identified as being in a first state where the movement speed does not exceed a first speed threshold, the visible light motion camera is controlled to shoot within a first shooting range; when the protagonist is identified as being in a second state where the movement speed exceeds the first speed threshold, the visible light motion camera is controlled to switch to a second shooting range that is greater than the first shooting range.

[0052] In some embodiments, in step S7, the adjustment of the shooting range is achieved by controlling the electronically controlled zoom module of the visible light action camera: the first shooting range corresponds to a preset first zoom factor, the second shooting range corresponds to a preset second zoom factor, and the second zoom factor is less than the first zoom factor.

[0053] In some embodiments, when a storage unit is present: in step S7, the shooting range parameters pre-stored in the storage unit are called. When the protagonist is in a first state, the electronically controlled zoom module of the visible light action camera is controlled to switch to a first zoom level to shoot with a first shooting range; when the protagonist is in a second state, the electronically controlled zoom module is controlled to switch to a second zoom level to shoot with a second shooting range; when the protagonist's movement state changes from the second state to the first state (e.g., from running to walking), the visible light action camera is controlled to automatically switch back to the first shooting range.

[0054] In some embodiments, in step S7, when the protagonist switches from the second state to the first state, the control unit controls the visible light motion camera to gradually narrow the shooting range to the first shooting range; when the protagonist switches from the first state to the second state, the control unit controls the visible light motion camera to gradually expand the shooting range to the second shooting range to avoid sudden changes in the shooting scene.

[0055] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An action camera with a thermal infrared module, characterized in that, include: The input unit is used to receive input commands from the user who has selected the subject to be photographed. The thermal infrared imaging module is used to acquire thermal infrared images of the shooting scene, extract and output the thermal infrared features and coordinate information of the selected subject; A visible light action camera is used to acquire visible light images of the shooting scene; a gimbal drive unit is connected to the visible light action camera and is used to drive the visible light action camera to adjust the shooting direction and angle; a control unit is electrically connected to the input unit, the thermal infrared imaging module, the visible light action camera, and the gimbal drive unit respectively; the control unit is configured to: respond to the input command, acquire the thermal infrared features and coordinate information of the subject output by the thermal infrared imaging module; determine the real-time position of the subject within the field of view of the visible light action camera based on the coordinate information; send a control signal to the gimbal drive unit to drive the visible light action camera to point in the target direction, so that the selected subject remains continuously within the specified area of ​​the field of view; control the visible light action camera to perform real-time tracking and shooting of the selected subject using the thermal infrared features as a tracking reference; the control unit is also configured to: synchronously acquire the thermal infrared information of the subject output by the thermal infrared imaging module and the visible light information of the subject output by the visible light action camera, determine the motion state of the selected subject based on the fusion analysis of the thermal infrared information and the visible light information; and adjust the shooting range of the visible light action camera based on the motion state.

2. The action camera according to claim 1, characterized in that, The motion state includes a first state and a second state, with a preset first speed threshold; the first state is when the protagonist's motion speed does not exceed the first speed threshold, and the second state is when the protagonist's motion speed exceeds the first speed threshold; the control unit is further configured to: when the protagonist is identified as being in the first state, control the visible light motion camera to take pictures within a first shooting range; when the protagonist is identified as being in the second state, control the visible light motion camera to switch to a second shooting range to take pictures, wherein the coverage area of ​​the second shooting range is larger than that of the first shooting range.

3. The action camera according to claim 2, characterized in that, It also includes a storage unit, which is electrically connected to the control unit and is used to pre-store the shooting range parameters, the first speed threshold parameters, and the thermal infrared feature template of the main character corresponding to different motion states.

4. The action camera according to claim 1, characterized in that, The thermal infrared features include at least one of the thermal radiation intensity distribution features of the subject and the thermal contour morphology features; the coordinate information is the pixel coordinates of the subject target area in the thermal infrared image, and the control unit converts the pixel coordinates into relative position coordinates within the field of view of the visible light motion camera through intrinsic parameter conversion.

5. A method for shooting a main character using a sports camera according to any one of claims 1-4, characterized in that, Main character shooting method Includes the following steps: S1: Receives input instructions from the user to select the subject to be photographed via the input unit; S2: In response to the input command, the thermal infrared features and coordinate information of the selected protagonist are extracted from the thermal infrared image of the shooting scene acquired by the thermal infrared imaging module and transmitted to the control unit; S3: The control unit determines the real-time position of the protagonist within the field of view of the visible light motion camera based on the coordinate information; S4: The control unit sends a control signal to the gimbal drive unit, which drives the visible light motion camera to adjust the shooting direction and angle so that the selected protagonist remains within the designated area of ​​the field of view; S5: The control unit uses the thermal infrared features as a tracking reference to control the visible light motion camera to perform real-time tracking shooting of the selected protagonist; S6: During the tracking shooting process, the control unit simultaneously acquires the thermal infrared information of the protagonist output by the thermal infrared imaging module and the visible light information of the protagonist output by the visible light motion camera, and determines the movement state of the protagonist after fusion analysis; S7: The control unit adjusts the shooting range of the visible light action camera based on the protagonist's motion state.

6. The method for filming the main character according to claim 5, characterized in that, In step S4, the control unit first calculates the deviation between the real-time position of the protagonist and the specified area of ​​the framing range; then it sends a control signal to the gimbal drive unit; after receiving the signal, the gimbal drive unit drives the visible light motion camera to rotate at corresponding angles in the horizontal and vertical directions, so that the protagonist moves to the specified area and stays there.

7. The method for filming the main character according to claim 5, characterized in that, In step S5, the step of using thermal infrared features as the tracking benchmark is as follows: extract the thermal infrared features of all targets in the thermal infrared image of the shooting scene in real time, match them with the pre-stored thermal infrared feature template of the main character, and when the matching degree is higher than a preset threshold, determine it as the tracking target and continuously update its coordinate information.

8. The method for filming the main character according to claim 5, characterized in that, In step S6, the fusion analysis steps are as follows: calculate the displacement of the protagonist based on multiple consecutive frames of thermal infrared images, and obtain the instantaneous motion speed of the protagonist by combining the frame rate of the thermal infrared imaging module. By recognizing the protagonist's limb movements using visible light images, the instantaneous movement speed is corrected to ultimately determine the protagonist's movement state.

9. The method for filming the main character according to claim 5, characterized in that, In step S7, when the protagonist is identified as being in a first state where the movement speed does not exceed a first speed threshold, the visible light motion camera is controlled to shoot within a first shooting range; when the protagonist is identified as being in a second state where the movement speed exceeds the first speed threshold, the visible light motion camera is controlled to switch to a second shooting range that is greater than the first shooting range.

10. The method for filming the main character according to claim 9, characterized in that, In step S7, the shooting range is adjusted by controlling the electronic zoom module of the visible light action camera: the first shooting range corresponds to a preset first zoom factor, the second shooting range corresponds to a preset second zoom factor, and the second zoom factor is less than the first zoom factor.

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