TWI627591B - Tracking device of image switching and method - Google Patents

Abstract

A method for tracking image switching is used to solve the problem that the second tracking component needs to manually adjust its focal length when switching, which consumes a lot of time and cost. The method includes: tracking and shooting an object with one of the two tracking elements to generate a tracking image, wherein the tracking image has a focus; and the processing module analyzes the tracking image according to an image recognition method. The object is scanned by a side distance meter on a vertical line of the object, so that a beam projected by the range finder and an indicator is respectively delivered to an intersection of the target to generate a focus information. And when one of the tracking elements is switched to another tracking element, the other tracking element focuses according to the focus information.

Description

Image switching tracking device and method

The present invention relates to a tracking device and method for image switching, and more particularly to a tracking device that can be re-focused without switching to a tracking component when switching from one tracking component to another tracking component. Apparatus and method.

When the conventional tracking device tracks a target, it is tracked by techniques such as full-color image or thermal image. However, the full-color image technology is easy to reduce the target because it is limited by the environment. The clarity, so in the case of bad weather, the target cannot be accurately tracked. On the other hand, thermal imaging technology can avoid the influence of weather factors by detecting the thermal energy of the target. However, when the heat source generated by the target is insufficient, even if the thermal imaging technology cannot sense it, it cannot be achieved. The purpose of the target tracking.

Therefore, in order to solve the different shortcomings of the two technologies, such as full-color image and thermal image, another conventional tracking device is equipped with the above two technologies for tracking, but when switching between full-color image technology and thermal image technology It will cause an offset in the focal length and cause an error. Therefore, it is necessary to manually re-adjust its focal length, which is costly.

In view of this, the conventional tracking device does have the need to improve.

In order to solve the above problems, the present invention provides a tracking device and method for image switching, which can be provided with two tracking elements, and the two tracking elements are switched from one tracking element to another. There is no need to refocus when aiming the component.

The image switching tracking device of the present invention comprises: a loading stage; a displacement mechanism, a rotating member coupled to the loading stage, the displacement mechanism for rotating along an X-axis direction and lifting along a Y-axis direction a tracking component pivotally connected to the displacement mechanism for tracking and tracking an object by one of the two tracking components to generate a tracking image having a focus in the tracking image, the tracking component being The distance measuring device and the indicator device are arranged to be located at the target object; and a processing module is coupled to the displacement mechanism and the tracking component, and the processing module analyzes whether the tracking image has the image according to an image recognition method. If the analysis result is YES, the target is scanned by a vertical distance between the rangefinder and one of the tracking elements of the two tracking elements, so that the range finder and the indicator are respectively projected. A beam intersects at an intersection of the target, and the processing module determines whether the intersection overlaps the focus. If the determination result is yes, a focus information is generated, so that another tracking component focuses on the focus information. .

The method for tracking image switching according to the present invention comprises: tracking and shooting an object by one of two tracking elements to generate a tracking image, wherein the tracking image has a focus; The image recognition method analyzes the target object in the tracking image; and scans on a vertical line of the one of the tracking elements of the two tracking elements with the one-way distance device, so that the distance measuring device and an indicator device respectively project A beam of light intersects at an intersection of the target to generate a focus information; and when a tracking component is switched to another tracking component, the other tracking component focuses according to the focus information.

According to the present invention, the image switching tracking device and method of the present invention, wherein the two tracking elements and the distance measuring device are disposed on the vertical line, and the distance measuring device and the indicator are disposed on the horizontal line; or Setting the two tracking elements on the vertical line, and setting the range finder and the indicator on the horizontal line, and making the vertical line and the horizontal line perpendicular to each other, when the two tracking elements switch to each other, There is an error in the offset of the focal length, so there is no need to manually re-adjust the focal length, which has the effect of reducing the overall focus time.

Wherein, if the two tracking components and the range finder are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line, and the processing module adjusts the other tracking component with the focus information. A rotation angle. As such, it has the effect of reducing the focus time of the other tracking element.

The tracking component further includes a rotating disk, the two tracking components, the distance measuring device and the indicator are all disposed on the rotating disk, and the two tracking components are disposed on the vertical line, and the range finder is The indicator is disposed on a horizontal line, the vertical line and the horizontal line are perpendicular to each other, and the processing module controls the rotation of the rotating disk to interchange the setting positions of the two tracking elements, and the other tracking component is used for the focusing Information to focus. As such, it has the effect of reducing the focus time of the other tracking element.

The multi-axis sensor is coupled to the processing module, and is configured to sense an axial change of the stage to generate an axial information, and the processing module is configured according to the multi-axis sensor. The axial information controls the displacement mechanism to rotate in the X-axis direction, to move up and down along the Y-axis direction, and to control the pitch angle of the tracking assembly. In this way, it is possible to avoid the focus failure due to the influence of the external force, and the effect of improving the focus accuracy.

Wherein, the intersection point obtains a distance value between the target object and the tracking device by using the range finder, and the processing module obtains a direction angle according to the distance value and a distance between the range finder and the indicator device. The processing module adjusts the indicator according to the direction angle. In this way, it has the effect of reducing the overall focus time.

Wherein, if the two tracking elements and the range finder are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line, and another tracking component of the two tracking elements is adjusted according to the focus information. Its angle of rotation. As such, it has the effect of reducing the focus time of the other tracking element.

Wherein, if the two tracking elements are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line, and the vertical line and the horizontal line are perpendicular to each other, so that the two tracking elements The set position is interchanged, and another tracking component of the two tracking elements performs focusing according to the focus information. As such, it has the effect of reducing the focus time of the other tracking element.

Wherein, the range finder obtains a distance value from the target object, and obtains a direction angle according to the distance value and a distance between the range finder and the indicator, and adjusts the indicator at the direction angle, so that the indicator is The focus is on the target located in the tracking image. In this way, it has the effect of reducing the overall focus time.

〔this invention〕

1‧‧‧ stage

2‧‧‧displacement mechanism

21‧‧‧Rotating parts

3‧‧‧Tracking components

31‧‧‧ Tracking components

32‧‧‧ Rangefinder

33‧‧‧ indicator

34‧‧‧ rotating disk

4‧‧‧Processing module

F‧‧‧ focus

I‧‧‧Tracking images

M‧‧‧ drive components

T‧‧‧ target

Θ‧‧‧ direction angle

S1‧‧‧ Tracking steps

S2‧‧‧ Focus step

S3‧‧‧Switching steps

Fig. 1 is a perspective view showing the combination of the first embodiment of the present invention.

Fig. 2 is a schematic view showing the uncompleted focus image of the tracking image according to the first embodiment of the present invention.

Fig. 3 is a schematic view showing the focusing of the range finder and the indexer according to the first embodiment of the present invention.

Fig. 4 is a partial enlarged view of the tracking assembly of the first embodiment of the present invention.

Fig. 5 is a schematic view showing the direction angle of the indexing device of the first embodiment of the present invention.

FIG. 6 is a schematic diagram of the tracking image completion focusing screen according to the first embodiment of the present invention.

Figure 7 is a perspective view showing the combination of the second embodiment of the present invention.

Figure 8 is a flow chart of the method of the present invention.

The above and other objects, features and advantages of the present invention will become more <RTIgt; Coupling means that the two devices can transfer data to each other by means of a wired entity, a wireless medium or a combination thereof (for example, a heterogeneous network), which is common in the technical field to which the present invention pertains. Knowledge people can understand.

Referring to FIG. 1 , a first embodiment of the image switching tracking device of the present invention includes a stage 1 , a displacement mechanism 2 , a tracking component 3 , and a processing module 4 . The mechanism 2 is coupled to the stage 1 , and the tracking component 3 is pivotally connected to the displacement mechanism 2 . The processing module 4 is coupled to the displacement mechanism 2 and the tracking component 3.

In detail, the appearance and size of the stage 1 are not limited, and the configuration can be adjusted according to the needs of use. In the first embodiment of the present invention, the stage 1 is trapezoidal, but not limited thereto. .

The displacement mechanism 2 is coupled to the stage 1 by a rotating member 21 to enable the tracking assembly 3 to face a direction of a target T. In detail, the displacement mechanism 2 is rotatable along an X-axis direction according to the rotating member 21, and is lifted and lowered along a Y-axis direction by a lifting member (not shown). In the first embodiment of the present invention, The rotation angle of the X-axis direction is a maximum of 360 degrees, and the height of the lifting and lowering of the Y-axis direction is not limited thereto, which will be understood by those skilled in the art, and will not be further described herein.

Referring to Figures 2 to 4, the tracking component 3 is pivotally coupled to the displacement mechanism 2 for tracking and focusing the target T. In detail, the tracking component 3 performs tracking and shooting of the target T by one of the two tracking components 31 to generate a tracking image I having a focus F in the tracking image I. The two tracking elements 31 It can be a full-color image module and a thermal image module, for example, it can be a full-color camera and a thermal imager, but not limited thereto. The tracking component 3 is further provided with a range finder 32 and an indicator 33, so that the focus F is located on the target T, wherein the two tracking elements 31, the range finder 32 and the indicator 33 are both The rotation can be driven by a driving component M for obtaining the distance between the tracking device and the target T. The indicator 32 is used for positioning, in the first embodiment of the present invention. The range finder 32 is a laser range finder, and the indicator 32 is a laser indicator. The two tracking elements 31 and the range finder 32 are disposed on a vertical line, and the range finder 32 and the indicator 33 are disposed on a horizontal line. As such, it has the effect of reducing the focus time of the other tracking element 31.

The processing module 4 can be coupled to the displacement mechanism 2 and the tracking component 3, and the processing module 4 can be configured with data processing. a control device for signal generation and control functions, such as a microcontroller (MCU) is a hardware architecture that simplifies the present invention and has an effect of reducing manufacturing costs in mass production. The processing module 4 analyzes whether the target image T is in the tracking image I according to an image recognition method. If the analysis result is yes, the distance measuring device 32 scans the vertical line to make the range finder 32 and The light beam projected by the indicator 33 can be intersected at an intersection of the target T. Then, the processing module 4 determines whether the intersection point overlaps the focus F. If the determination result is yes, a focus is generated. News. When the tracking component 3 is switched from the tracking component 31 to the other tracking component 31, the processing module 4 adjusts a selected rotation angle of the other tracking component 31 according to the focus information to perform focusing; If the judgment result is no, the scanning is continued.

In detail, the beam that is separately projected by the range finder 32 and the indicator 33 forms the intersection point, and the range finder 32 obtains a distance value between the target T and the tracking device. The group 4 determines the direction angle θ according to the distance value and a distance between the range finder 32 and the indicator 33, and adjusts the indicator 33 according to the direction angle θ, thereby making the indicator The projected beam of light 33 can intersect the range finder 32 at the intersection.

In the first embodiment of the present invention, the tracking device is used to track and shoot the target T with a tracking component 31 (eg, a full-color image) of the two tracking elements 31. A tracking image is generated, and the range finder 32 continues to scan on the vertical line to adjust the direction angle θ of the indicator 33, and the beam of the range finder 32 and the indicator 33 are separately projected, and the tracking image. The focus F in the overlap overlaps to generate a focus information. When the tracking element 31 of the two tracking component 31 is switched to the other tracking component 31, the processing module 4 adjusts the rotation angle of the other tracking component 31 according to the focus information, so that the second tracking When the aiming elements 31 are switched to each other, they can automatically focus without causing a problem of offset in the focal length.

Referring to FIG. 7, which is a second embodiment of the image switching tracking device of the present invention, the second embodiment of the present invention is substantially the same as the first embodiment described above, and the main difference is: the second The two tracking elements 31, the range finder 32 and the indicator 33 of the embodiment are all disposed on a rotating disk 34, and the rotating disk 34 can be rotated in a clockwise or counterclockwise direction, wherein The two tracking elements 31 are disposed on a vertical line, and the range finder 32 and the indicator 33 are disposed on a horizontal line, and the vertical lines and the horizontal lines are perpendicular to each other. After the processing module 4 generates the focus information, the processing module 4 can control the rotation of the rotating disk 34 to interchange the set positions of the two tracking elements 31, and make another tracking component of the two tracking elements 31. 31 Focus with this focus information. As such, it has the effect of reducing the focus time of the other tracking element 31.

The stage 1 of the present invention may further be provided with a multi-axis sensor (not shown) coupled to the processing module 4 and used to sense the axial change of the stage 1 Generating an axial information, the processing module 4 is capable of controlling the displacement mechanism 2 to rotate along the X-axis direction by the axial information, moving up and down along the Y-axis direction, and controlling the pitch angle of the tracking component 3, In the first and second embodiments of the present invention, the multi-axis sensor is a four-axis gyroscope, but not limited thereto. In this way, it is possible to avoid the focus failure due to the influence of the external force, and the effect of improving the focus accuracy.

Referring to FIG. 8, a preferred embodiment of the image switching method of the present invention includes a tracking step S1, a focusing step S2, and a switching step S3.

The tracking step S1 can track and shoot a target T with one of the tracking elements 31 of the second tracking component 31 to generate a tracking image I having a focus F in the tracking image I, which is the first in the present invention. In an embodiment, the two tracking elements 31 can be a full color image module and a thermal image module, such as a full color camera and a thermal image camera, but not limited thereto.

The focusing step S2 can use a range finder 32 and an indicator 33 to align the focus F with the target T located in the tracking image I. In detail, the range finder 32 obtains a distance value between the target T and the tracking device, and obtains a direction according to the distance value and a distance between the range finder 32 and the indicator 33. An angle θ, and the indicator 33 is adjusted according to the direction angle θ, whereby the beam that is separately projected by the range finder 32 and the indicator 33 is intersected at an intersection point, and the intersection point is overlapped with the focus point F. To complete the focus and generate a focus message.

The switching step S3 causes the other of the two tracking elements 31 according to the focus information. The tracking component 31 performs focusing. When the two tracking components 31 and the range finder 32 are disposed on a vertical line, the range finder 32 and the indicator 33 are disposed on a horizontal line, and the horizontal line and the vertical line are disposed. When the two tracking elements 31 are perpendicular to each other, the other tracking element 31 of the two tracking elements 31 adjusts the rotation angle according to the focus information to complete the focusing. As such, it has the effect of reducing the focus time of the other tracking element 31.

In addition, when the two tracking elements 31 are disposed on a vertical line, the range finder 32 and the indicator 33 are disposed on a horizontal line, and the vertical line and the horizontal line are perpendicular to each other, so that the two tracking The set positions of the elements 31 are interchanged, and the other of the two tracking elements 31 focuses on the focus information. As such, it has the effect of reducing the focus time of the other tracking element 31.

In summary, the image switching tracking device and method of the present invention is configured to set the two tracking elements and the distance measuring device on the vertical line, and the distance measuring device and the indicator device are disposed on the horizontal line. Or setting the two tracking elements to the vertical line, and setting the range finder and the indicator to the horizontal line, and making the vertical line and the horizontal line perpendicular to each other, when the two tracking elements switch to each other, There is no error in the offset of the focal length, so there is no need to manually re-adjust the focal length, which has the effect of reducing the overall focus time.

While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.

Claims (9)

A tracking device for image switching, comprising: a loading platform; a displacement mechanism, a rotating member coupled to the loading platform, the displacement mechanism for rotating along an X-axis direction and lifting along a Y-axis direction; The aiming component is pivotally connected to the displacement mechanism, and the target is tracked by one of the two tracking components to generate a tracking image, the tracking image has a focus, and the tracking component is a range finder And an indicator device for positioning the focus object on the target object; and a processing module coupled to the displacement mechanism and the tracking component, the processing module analyzing whether the target image is in the tracking image according to an image recognition method If the analysis result is yes, the distance measuring instrument scans a vertical line of one of the tracking elements of the two tracking elements, so that the distance meter and the indicator respectively project a beam of light to meet At a meeting point of the target, the processing module determines whether the intersection point overlaps the focus. If the determination result is yes, a focus information is generated to cause another tracking component to focus with the focus information. The image switching tracking device according to claim 1, wherein the distance measuring device and the indicator device are disposed on a horizontal line when the two tracking elements and the distance measuring device are disposed on the vertical line. The processing module adjusts a rotation angle of the other tracking element with the focus information. The image switching tracking device of claim 1, wherein the tracking component further comprises a rotating disk, wherein the two tracking components, the distance measuring device and the indicator are disposed on the rotating disk. The two tracking elements are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line, the vertical line and the horizontal line are perpendicular to each other, and the processing module controls the rotation of the rotating disk to make the two tracking The set positions of the components are interchanged, and the other tracking component is focused by the focus information. The image switching device of claim 1, wherein the carrier is further provided with a multi-axis sensor coupled to the processing module and used to sense the carrier. Taiwan The axial direction changes to generate an axial information, and the processing module controls the displacement mechanism to rotate along the X-axis direction according to the axial information, ascend and descend along the Y-axis direction, and control the pitch angle of the tracking component. The image switching tracking device according to the first aspect of the invention, wherein the intersection point obtains a distance value between the target object and the tracking device by using the distance measuring device, and the processing module is based on the distance value. And a distance between the range finder and the indicator is used to determine a direction angle, and the processing module adjusts the indicator according to the direction angle. A method for tracking image switching includes: tracking and shooting a target with one of two tracking elements to generate a tracking image having a focus; the processing module is based on an image recognition method A target object in the tracking image is analyzed; and a vertical line of the one of the tracking elements of the two tracking elements is scanned by the one-side distance meter, and the rangefinder and an indicator are respectively projected. The beam intersects at an intersection of the target to generate a focus information; and when one of the tracking elements is switched to another tracking component, the other tracking component focuses according to the focus information. The method for tracking image switching according to claim 6, wherein if the two tracking elements and the range finder are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line. The other tracking component of the two tracking elements adjusts the rotation angle according to the focus information. The method for tracking image switching according to claim 6, wherein if the two tracking elements are disposed on the vertical line, the range finder and the indicator are disposed on a horizontal line, and the vertical line The horizontal lines are perpendicular to each other to interchange the set positions of the two tracking elements, and the other tracking elements of the two tracking elements are focused according to the focus information. The method for tracking image switching according to claim 6, wherein the distance measuring device obtains a distance value from the target object, according to the distance value and the distance meter and the indicator device. The pitch is determined by a direction angle at which the indicator is adjusted such that the focus is on the target in the tracking image.