Adaptive active following method for variable-speed moving target based on spherical coordinates

The invention relates to a variable-speed moving target adaptive active following method based on spherical coordinates, a spherical coordinate system is established by taking the optical center of a PTZ camera as an original point, a sensing module and a control module are respectively established, the sensing module obtains the position, category and id information of a target by using a yolov5 target detection algorithm, and after the target is locked, the control module controls the target to follow the target. Improving a target locking effect by using a target re-recognition algorithm, and obtaining target historical information; pixel coordinates of the locked target are converted into spherical coordinates, and the longitude, latitude and angular velocity of the target are obtained; the control module comprehensively considers system starting delay, establishes a speed control equation by means of target motion angular velocity and distance deviation between a target center and an image center, and co