Laser rangefinder control method, device, electronic device and storage medium

Abstract

The present invention provides a control method, device, electronic device, and storage medium for a laser rangefinder, comprising the steps of: collecting image data of a target area of ​​the laser rangefinder; preprocessing the image data to obtain human-shaped image data; identifying the human-shaped image data; determining whether human eye image data exists in the human-shaped image data according to preset rules and initiating the laser rangefinder to emit laser light. This method avoids harm to the human eye while still effectively performing laser ranging, is highly safe, provides a good user experience, and is easy to use. The present invention has excellent ranging control effect, high safety, and wide applicability.

Description

Technical Field

[0001] The present invention relates to the field of laser rangefinder control technology, and in particular to a control method, device electronic equipment and computer-readable storage medium for a laser rangefinder. Background Art

[0002] A laser rangefinder is an instrument that uses a certain parameter of a modulated laser to measure the distance to a target. Based on the distance measurement method, it is divided into phase-based rangefinders and pulse-based rangefinders. A pulsed laser rangefinder emits a single beam or a series of short pulsed laser beams toward the target. A photoelectric element receives the laser beam reflected by the target, and a timer measures the time from emission to reception to calculate the distance from the observer to the target. A phase-based laser rangefinder detects distance by detecting the phase difference between emitted and reflected light as they propagate through space. However, during the distance measurement process, if a human figure, including a face and eyes, is present in front of the laser rangefinder, emitting a laser aimed at the human eye can cause irritation, leading to poor safety. Summary of the Invention

[0003] An embodiment of the present invention provides a control method for a laser rangefinder to solve the above technical problems.

[0004] In a first aspect, an embodiment of the present invention provides a control method for a laser rangefinder, the control method comprising the steps of:

[0005] Collecting image data of the target area of ​​the laser rangefinder;

[0006] Preprocessing the image data to obtain human-shaped image data;

[0007] Recognizing the human image data;

[0008] According to a preset rule, it is determined whether there is human eye image data in the human image data and the laser rangefinder is started to emit laser.

[0009] Furthermore, the step of collecting image data of the target area of ​​the laser rangefinder further includes the following steps:

[0010] Acquiring environmental data of the target area through an optical sensor, wherein the environmental data includes daytime and nighttime;

[0011] When it is daytime, collecting image data of the target area by an infrared sensor;

[0012] When it is dark, the image data of the target area is acquired by a camera.

[0013] Furthermore, the pre-processing of the image data to obtain human-shaped image data further includes the steps of:

[0014] Sharpening the image data to obtain a clear target original image;

[0015] Separating the target original image by using a difference technique to obtain a human-shaped image and a human-shaped surrounding image;

[0016] Performing a convolution operation on the human image to find the boundary contours of the front, back or side of the human figure;

[0017] Independent front, back or side face images are separated according to the continuity and closedness of the boundary contour.

[0018] Furthermore, the method of determining whether the human image data contains human eye image data and starting the laser rangefinder to emit laser light according to a preset rule further includes the following steps:

[0019] Performing real-time positioning and tracking based on the face image to obtain the eye image area;

[0020] Specifically include:

[0021] Obtain a target human eye image area, mark multiple basic targets including the front, back, or side of a human face in a first frame of the target human eye image area, obtain multiple target frames, and assign a tracking address to each of the target frames;

[0022] Marking multiple current targets including the front, back or side of a human face in a current frame after the first frame of the target human eye image area to obtain multiple current frames;

[0023] Predicting the appearance position of the basic target corresponding to each target frame in the current frame to obtain multiple prediction frames;

[0024] By calculating the optimal matching results between the multiple current frames and the multiple predicted frames;

[0025] The tracking address is updated according to the optimal matching result.

[0026] Furthermore, the determining whether the human eye image data exists in the human image data according to a preset rule and starting the laser rangefinder to emit laser specifically includes the following steps:

[0027] Recognizing the human image data by an image recognition device;

[0028] Preprocessing the human image data;

[0029] It is determined whether human eye image data exists in the human image data and the laser rangefinder is started to emit laser.

[0030] Furthermore, the control method further comprises the steps of:

[0031] The human eye image data includes human eye patterns and human eye images, wherein the human eye patterns include clothing human eye patterns, hat human eye patterns and billboard human eye patterns;

[0032] Real-time tracking and judging of the human eye image data;

[0033] If it is the human eye pattern, start the laser rangefinder to emit laser;

[0034] If it is the human eye image, the laser rangefinder is prohibited from emitting laser.

[0035] In a second aspect, the present invention further provides a control device for a laser rangefinder, the control device comprising:

[0036] An image acquisition module, used to acquire image data of a target area of ​​a laser rangefinder;

[0037] An image preprocessing module, configured to preprocess the image data to obtain human-shaped image data;

[0038] An image recognition module, configured to recognize the human image data;

[0039] The judgment module judges whether the human image data contains human eye image data according to a preset rule and starts the laser rangefinder to emit laser.

[0040] Furthermore, the image preprocessing module further includes:

[0041] A first pre-processing unit is used to perform sharpening processing on the image data to obtain a clear target original image;

[0042] A second pre-processing unit is used to separate the target original image by using a difference technology to obtain a human image and a human surrounding image;

[0043] a third pre-processing unit, configured to perform a convolution operation on the human-shaped image to find the boundary contours of the front, back or side of the human-shaped image;

[0044] The fourth pre-processing unit is used to separate the independent front, back or side face images according to the continuity and closedness of the boundary contour.

[0045] In a third aspect, the present invention further provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps in the control method of the laser rangefinder in the above embodiment are implemented.

[0046] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the control method of the laser rangefinder in the above embodiment are implemented.

[0047] In an embodiment of the present invention, image data of a target area of ​​a laser rangefinder is collected; the image data is preprocessed to obtain human-shaped image data; the human-shaped image data is recognized; and according to preset rules, it is determined whether human eye image data exists in the human-shaped image data and the laser rangefinder is activated to emit laser light. This avoids harm to the human eye while effectively performing laser ranging, has high safety, good user experience, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 This is a flow chart of a control method for a laser rangefinder provided by an embodiment of the present invention;

[0050] Figure 2 This is a flow chart of a control method for a laser rangefinder provided by an embodiment of the present invention;

[0051] Figure 3 This is a flow chart of a control method for a laser rangefinder provided by an embodiment of the present invention;

[0052] Figure 4 This is a module diagram of a control device for a laser rangefinder provided by an embodiment of the present invention;

[0053] Figure 5 is a module diagram of an image preprocessing module provided by an embodiment of the present invention;

[0054] Figure 6 is a module diagram of a judgment module provided by an embodiment of the present invention;

[0055] Figure 7 This is a module diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, any other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0057] The terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusions. The terms "first", "second" and the like in the specification, claims or drawings of this application are used to distinguish different objects rather than to describe a specific order. Reference to "embodiments" herein means that the specific features, structures or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] like Figure 1 As shown, Figure 1 The present invention provides a flow chart of a method for controlling a laser rangefinder.

[0059] An embodiment of the present invention provides a control method for a laser rangefinder, the control method comprising the steps of:

[0060] S01. Collect image data of a target area of ​​a laser rangefinder.

[0061] The laser rangefinder is aimed forward, and a camera captures an image of its field of view. The captured images are then integrated to generate image data. The image data can be an image of the surrounding environment, such as trees, rocks, buildings, streetlights, or special objects. The image data can also be a walking human figure, face, or eye. A detailed description of each of these is omitted here.

[0062] S02. Preprocess the image data to obtain human-shaped image data.

[0063] When the subject is at a distance, the image data may be too small, resulting in low image clarity and unclear identification of the specific location of the image. Preprocessing the image data can make it clearer and more recognizable. This also allows for the acquisition of human-shaped image data, making it easier to clearly identify the human-shaped image.

[0064] S03. Recognize the human image data.

[0065] S04: determining whether human eye image data exists in the human image data according to a preset rule and starting the laser rangefinder to emit laser.

[0066] By recognizing human image data, the system obtains clear human image data, such as a person's height, body weight, face, eyes, hair length, clothing, clothing color, and pattern. Based on preset rules, the system determines whether eye image data exists within the human image data and activates the laser rangefinder to fire. This system offers high security, high laser ranging accuracy, and wide applicability.

[0067] Laser rangefinders, among others, use modulated laser parameters to measure the distance to a target. Based on the distance measurement method, they are categorized as phase-based and pulse-based rangefinders. A pulsed laser rangefinder emits a single or a series of short pulsed laser beams toward a target. A photoelectric element receives the laser beams reflected from the target. A timer measures the time between emission and reception, calculating the distance from the observer to the target. A phase-based laser rangefinder measures distance by detecting the phase difference between emitted and reflected light as they propagate through space.

[0068] Specifically, the method collects image data of the target area of ​​the laser rangefinder; pre-processes the image data to obtain human image data; recognizes the human image data; determines whether there is human eye image data in the human image data according to preset rules and starts the laser rangefinder to emit laser; avoids harm to the human eye, and at the same time can effectively perform laser ranging, with high safety, good user experience and easy use.

[0069] In this embodiment, step S01 further includes the following steps:

[0070] Environmental data of a target area is acquired through an optical sensor, wherein the environmental data includes daytime and nighttime.

[0071] During the day, the infrared sensor collects image data of the target area.

[0072] When it is dark, the image data of the target area is acquired through the camera.

[0073] During the laser rangefinder's distance measurement process, the environment ahead can be either daytime or nighttime. During daytime, the captured image is high-definition, making it easier to interpret the image data. In low light or at night, the captured image is low-definition, making it difficult to interpret the image data. By acquiring environmental data of the target area using an optical sensor, it is possible to determine whether the current environment is daytime or nighttime. Using different image acquisition devices to adapt to different environments, the captured images are high-definition, providing enhanced safety when activating the laser rangefinder. For example, during daytime, infrared sensors capture image data of the target area. During nighttime, cameras capture image data of the target area.

[0074] like Figure 2 As shown, Figure 2 This is a flow chart of a control method for a laser rangefinder provided by an embodiment of the present invention. In this embodiment, step S02 further includes the step: S021, sharpening the image data to obtain a clear original image of the target.

[0075] S022. Separate the target original image by using a differential technique to obtain a human-shaped image and an image surrounding the human-shaped image.

[0076] S023. Perform a convolution operation on the human image to find the boundary contours of the front, back, or side of the human figure.

[0077] S024. Separate independent front, back, or side face images based on the continuity and closedness of the boundary contours.

[0078] Specifically, the image data is sharpened to obtain a clear original target image. A differential technique is then used to separate the original target image, yielding a human figure image and a surrounding image. The surrounding image can include other images surrounding the human figure, such as trees, streetlights, and buildings. A convolution operation is then performed on the human figure image to identify the front, back, or side boundary contours of the figure. The eye position is determined based on the position of the different human figures. Consequently, independent front, back, or side face images are separated based on the continuity and closure of the boundary contours.

[0079] like Figure 3 As shown, Figure 3 Flowchart of a control method of a laser rangefinder provided by an embodiment of the present invention. In this embodiment, step S04 specifically includes the following steps:

[0080] S041. Identify the human image data using an image recognition device.

[0081] S042. Preprocess the human image data.

[0082] S043. Determine whether there is human eye image data in the human image data and start the laser rangefinder to emit laser.

[0083] Specifically, the image recognition device identifies the collected human image data, pre-processes the image data after identification to make it clearer, and determines whether the human image data contains human eye image data, and activates the laser rangefinder to emit laser light. This effectively captures the human eye image data and activates the laser rangefinder to measure distance with high security.

[0084] In this embodiment, step S04 further includes the following steps:

[0085] S044, performing real-time positioning and tracking based on the face image to obtain the eye image area.

[0086] Specifically, they include:

[0087] Acquire the target human eye image area, mark multiple basic targets including the front, back or side of the human face in the first frame of the target human eye image area, obtain multiple target frames, and assign a tracking address to each target frame. Particularly, by acquiring the target human eye image area, it is possible to identify images containing only facial parts and images containing complete human-shaped parts, wherein the complete human-shaped part also includes the human face. At this time, the preset deep learning algorithm uses the image as a face and a human-shaped image as recognition results respectively. The embodiment of the present invention first acquires the target human eye image area, and the target human eye image area is obtained through a data acquisition device or a storage device, wherein the target human eye image area contains faces and human-shaped images that can be used as recognition targets of the preset deep learning algorithm, and has characteristics such as scene continuity, which makes the multi-target tracking method meaningful. The preset deep learning algorithm first recognizes the first frame of the target human eye image area, and identifies the basic targets with facial and human features from the image of the first frame. Then, a selection box is used to mark all the basic targets recognized by the preset deep learning algorithm. All basic targets recognized in the first frame and marked by the selection box are used as the target box for multi-target tracking.

[0088] In a current frame after the first frame of the target human eye image area, multiple current targets including the front, back or side of the human face are marked to obtain multiple current frames.

[0089] The position of the base target corresponding to each target frame in the current frame is predicted to obtain multiple predicted frames. The base target corresponding to the target frame is the object of multi-target tracking, while the current target corresponding to the current frame in the current frame may be the result of the base target moving. In this embodiment of the present invention, the position of the base target corresponding to each target frame in the current frame is predicted.

[0090] By calculating the best matching results between multiple current boxes and multiple predicted boxes, the significance is that if one of the current boxes has the best matching result with one of the predicted boxes, then multi-target tracking is established, that is, the current target corresponding to the current box corresponds to a basic target being tracked.

[0091] Update the tracking address based on the best matching result.

[0092] In this embodiment, the method further comprises the steps of: the human eye image data comprises a human eye pattern and a human eye image, wherein the human eye pattern comprises a clothing human eye pattern, a hat human eye pattern and a billboard human eye pattern;

[0093] Real-time tracking and judgment of human eye image data.

[0094] If it is a human eye pattern, the laser rangefinder is activated to emit laser.

[0095] If it is a human eye image, the laser rangefinder is prohibited from emitting laser.

[0096] Specifically, the system detects whether human eye image data exists within the human figure image data based on preset rules and activates the laser rangefinder to emit laser light. The human eye image data includes human eye patterns and human eye images. These human eye patterns include clothing eye patterns, hat eye patterns, and billboard eye patterns. The system then tracks and determines the human eye image data in real time. If the human eye pattern is present, the laser rangefinder is activated to emit laser light. If the human eye image is present, the laser rangefinder is disabled from emitting laser light. This allows for high accuracy in capturing human eye images, enabling the laser rangefinder to achieve excellent ranging performance.

[0097] Among them, the human eye pattern will fold or remain in a flat surface while a person walks, and the human eye image will change due to the change in the person's walking position. The human eye image data is judged with high accuracy, which improves the judgment efficiency and facilitates the laser rangefinder to measure distance.

[0098] Second, as Figure 4-6 As shown, Figure 4 This is a module diagram of a control device for a laser rangefinder provided by an embodiment of the present invention; Figure 5 is a module diagram of an image preprocessing module provided by an embodiment of the present invention; Figure 6 This is a module diagram of the judgment module provided by an embodiment of the present invention.

[0099] The present invention further provides a control device 200 for a laser rangefinder, the control device 200 comprising:

[0100] An image acquisition module 21 is used to acquire image data of a target area of ​​a laser rangefinder;

[0101] An image preprocessing module 22 is used to preprocess the image data to obtain human-shaped image data;

[0102] An image recognition module 23, for recognizing human-shaped image data;

[0103] The judgment module 24 judges whether there is human eye image data in the human image data according to a preset rule and starts the laser rangefinder to emit laser.

[0104] In this embodiment, the image pre-processing module 22 further includes:

[0105] The sharpening unit 221 is used to perform sharpening processing on the image data to obtain a clear target original image.

[0106] The first separation unit 222 is configured to separate the target original image by using a difference technique to obtain a human image and a human surrounding image.

[0107] The processing unit 223 is configured to perform a convolution operation on the human image to find the boundary contours of the front, back or side of the human.

[0108] The second separation unit 224 is configured to separate the face image into the front, back or side view based on the continuity and closedness of the boundary contour.

[0109] Specifically, the image data is sharpened to obtain a clear original target image. A differential technique is then used to separate the original target image, yielding a human figure image and a surrounding image. The surrounding image can include other images surrounding the human figure, such as trees, streetlights, and buildings. A convolution operation is then performed on the human figure image to identify the front, back, or side boundary contours of the figure. The eye position is determined based on the position of the different human figures. Consequently, independent front, back, or side face images are separated based on the continuity and closure of the boundary contours.

[0110] In this embodiment, the judgment module 24 includes:

[0111] The recognition unit 241 is configured to recognize human-shaped image data using an image recognition device.

[0112] The pre-processing unit 242 is used to pre-process the human image data.

[0113] The judging unit 243 is used to judge whether there is human eye image data in the human image data and start the laser rangefinder to emit laser.

[0114] Specifically, the image recognition device identifies the collected human image data, pre-processes the image data after identification to make it clearer, and determines whether the human image data contains human eye image data, and activates the laser rangefinder to emit laser light. This effectively captures the human eye image data and activates the laser rangefinder to measure distance with high security.

[0115] In this embodiment, the judgment module 24 further includes:

[0116] The positioning and tracking unit 244 is used to perform real-time positioning and tracking based on the face image to obtain the human eye image area.

[0117] Specifically, they include:

[0118] Acquire the target human eye image area, mark multiple basic targets including the front, back or side of the human face in the first frame of the target human eye image area, obtain multiple target frames, and assign a tracking address to each target frame. Particularly, by acquiring the target human eye image area, it is possible to identify images containing only facial parts and images containing complete human-shaped parts, wherein the complete human-shaped part also includes the human face. At this time, the preset deep learning algorithm uses the image as a face and a human-shaped image as recognition results respectively. The embodiment of the present invention first acquires the target human eye image area, and the target human eye image area is obtained through a data acquisition device or a storage device, wherein the target human eye image area contains faces and human-shaped images that can be used as recognition targets of the preset deep learning algorithm, and has characteristics such as scene continuity, which makes the multi-target tracking method meaningful. The preset deep learning algorithm first recognizes the first frame of the target human eye image area, and identifies the basic targets with facial and human features from the image of the first frame. Then, a selection box is used to mark all the basic targets recognized by the preset deep learning algorithm. All basic targets recognized in the first frame and marked by the selection box are used as the target box for multi-target tracking.

[0119] In a current frame after the first frame of the target human eye image area, multiple current targets including the front, back or side of the human face are marked to obtain multiple current frames.

[0120] The position of the base target corresponding to each target frame in the current frame is predicted to obtain multiple predicted frames. The base target corresponding to the target frame is the object of multi-target tracking, while the current target corresponding to the current frame in the current frame may be the result of the base target moving. In this embodiment of the present invention, the position of the base target corresponding to each target frame in the current frame is predicted.

[0121] By calculating the best matching results between multiple current boxes and multiple predicted boxes, the significance is that if one of the current boxes has the best matching result with one of the predicted boxes, then multi-target tracking is established, that is, the current target corresponding to the current box corresponds to a basic target being tracked.

[0122] Update the tracking address based on the best matching result.

[0123] Thirdly, as Figure 7 As shown, Figure 7This is a block diagram of an electronic device provided by an embodiment of the present invention. The present invention also provides an electronic device 300, comprising: a memory 302, a processor 301, and a computer program stored in the memory 302 and executable on the processor. When the processor 301 executes the computer program, it implements the steps of the laser rangefinder control method described in the above embodiment. The same technical effects can be achieved. Please refer to the description of the above embodiment and will not be repeated here.

[0124] In a fourth aspect, the present invention further provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the steps of the laser rangefinder control method described in the above embodiment. The same technical effects can be achieved. Please refer to the description of the above embodiment and will not be repeated here.

[0125] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0126] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0127] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0128] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only a preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A control method for a laser rangefinder, characterized in that: The control method comprises the steps of: Collecting image data of the target area of ​​the laser rangefinder; Preprocessing the image data to obtain human-shaped image data; Recognizing the human image data; Determining whether there is human eye image data in the human image data according to a preset rule and starting the laser rangefinder to emit laser; The pre-processing of the image data to obtain human-shaped image data further includes the steps of: Sharpening the image data to obtain a clear target original image; Separating the target original image by using a difference technique to obtain a human-shaped image and a human-shaped surrounding image; Performing a convolution operation on the human image to find the boundary contours of the front, back or side of the human figure; Separating independent front, back or side face images based on the continuity and closure of the boundary contour; The step of determining whether there is human eye image data in the human image data according to a preset rule and starting the laser rangefinder to emit laser light further includes the following steps: Performing real-time positioning and tracking based on the face image to obtain the eye image area; Specifically include: Obtain a target human eye image area, mark multiple basic objects including the front, back, or side of the face in the first frame of the target human eye image area, obtain multiple target frames, assign a tracking address to each of the target frames, and use all basic objects identified and marked by the selection frame in the first frame as the target frames for multi-target tracking; Marking multiple current targets including the front, back or side of a human face in a current frame after the first frame of the target human eye image area to obtain multiple current frames; Predicting the appearance position of the basic target corresponding to each target frame in the current frame to obtain multiple prediction frames; By calculating the optimal matching results between the multiple current frames and the multiple predicted frames; The tracking address is updated according to the optimal matching result.

2. The control method of the laser rangefinder according to claim 1, wherein: The step of collecting image data of the target area of ​​the laser rangefinder further includes the following steps: Acquiring environmental data of the target area through an optical sensor, wherein the environmental data includes daytime and nighttime; When it is daytime, collecting image data of the target area by an infrared sensor; When it is dark, the image data of the target area is acquired by a camera.

3. The control method of the laser rangefinder according to claim 1, wherein: The method of determining whether there is human eye image data in the human image data according to a preset rule and starting the laser rangefinder to emit laser specifically includes the following steps: Recognizing the human image data by an image recognition device; Preprocessing the human image data; It is determined whether human eye image data exists in the human image data and the laser rangefinder is started to emit laser.

4. The control method of the laser rangefinder according to claim 3, wherein: The control method further comprises the steps of: The human eye image data includes human eye patterns and human eye images, wherein the human eye patterns include clothing human eye patterns, hat human eye patterns and billboard human eye patterns; Real-time tracking and judging of the human eye image data; If it is the human eye pattern, start the laser rangefinder to emit laser; If it is the human eye image, the laser rangefinder is prohibited from emitting laser.

5. A control device for a laser rangefinder, characterized in that: The control device comprises: An image acquisition module, used to acquire image data of a target area of ​​a laser rangefinder; An image preprocessing module, configured to preprocess the image data to obtain human-shaped image data; An image recognition module, configured to recognize the human image data; a judgment module, for judging whether there is human eye image data in the human image data according to a preset rule and starting the laser rangefinder to emit laser; The image preprocessing module also includes: A first pre-processing unit is used to perform sharpening processing on the image data to obtain a clear target original image; A second pre-processing unit is used to separate the target original image by using a difference technology to obtain a human image and a human surrounding image; a third pre-processing unit, configured to perform a convolution operation on the human-shaped image to find the boundary contours of the front, back or side of the human-shaped image; a fourth pre-processing unit, configured to separate independent front, back or side face images according to the continuity and closedness of the boundary contour; The judgment module is also used for: Performing real-time positioning and tracking based on the face image to obtain the eye image area; Specifically include: Obtain a target human eye image area, mark multiple basic objects including the front, back, or side of the face in the first frame of the target human eye image area, obtain multiple target frames, assign a tracking address to each of the target frames, and use all basic objects identified and marked by the selection frame in the first frame as the target frames for multi-target tracking; Marking multiple current targets including the front, back or side of a human face in a current frame after the first frame of the target human eye image area to obtain multiple current frames; Predicting the appearance position of the basic target corresponding to each target frame in the current frame to obtain multiple prediction frames; By calculating the optimal matching results between the multiple current frames and the multiple predicted frames; The tracking address is updated according to the optimal matching result.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps in the method for controlling a laser rangefinder according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method for controlling a laser rangefinder according to any one of claims 1 to 4 are implemented.

Images