Object appearance detection system, method, device and electronic equipment

Abstract

The present application discloses a system, method, device and electronic equipment for detecting the appearance of an object, which belongs to the field of radar detection technology. The system includes: a reflector, a radar, an electromagnetic field detector and a computing device, wherein the reflector can reflect part of the electromagnetic waves emitted by the radar, and the radar can receive the echo of the first electromagnetic wave reflected by the reflector and the second electromagnetic wave not reflected after detecting the object, and the electromagnetic field detector can measure the magnetic field information at different positions in the magnetic field formed by the interference of the echoes of the first electromagnetic wave and the second electromagnetic wave. Then, the computing device reads the magnetic field information at different positions measured by the electromagnetic field detector, and determines the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance. Based on the electromagnetic wave transmittance corresponding to each position, a virtual medium is constructed to simulate the diffraction process of the electromagnetic wave when passing through the virtual medium, and obtain and output the three-dimensional appearance data of the object.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a system, method, device and electronic equipment for detecting the appearance of an object. Background Art

[0002] Radar, being insensitive to light and capable of long-range detection, can effectively compensate for some of the limitations of cameras in capturing images in low light and at long distances. Consequently, the concept of using radar to detect the three-dimensional appearance of objects has been proposed in recent years. However, this concept remains at the conceptual stage, and a specific solution for using radar to detect the three-dimensional appearance of objects has yet to be developed. Summary of the Invention

[0003] Embodiments of the present application provide a system, method, device, and electronic device for detecting the appearance of an object, for providing a solution for detecting the three-dimensional appearance of an object by means of radar.

[0004] In a first aspect, an embodiment of the present application provides a system for detecting the appearance of an object, comprising:

[0005] Reflector, used to reflect part of the electromagnetic waves emitted by the radar;

[0006] The radar is configured to transmit electromagnetic waves, receive the first electromagnetic wave reflected by the reflector and the second electromagnetic wave not reflected by the reflector, and detect the echo of the object;

[0007] an electromagnetic field detector, configured to measure magnetic field information at different positions in a magnetic field formed by interference of echoes of the first electromagnetic wave and the second electromagnetic wave, wherein the magnetic field information at each position includes at least magnetic field intensity;

[0008] A computing device is used to read the magnetic field information at different positions measured by the electromagnetic field detector, determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance; construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position; simulate the diffraction process of the electromagnetic wave when passing through the virtual medium to obtain three-dimensional appearance data of the object, and output the three-dimensional appearance data.

[0009] In some embodiments, the magnetic field information at each position also includes a phase.

[0010] The radar is further configured to determine a speed of the object and send the speed to the computing device;

[0011] The computing device is further configured to, if it is determined that the speed of the object exceeds a set speed, determine the phase corresponding to the speed of the object based on an established mapping relationship between speed and phase; and perform correction processing on the phase at each position based on the phase corresponding to the speed of the object before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position.

[0012] In some embodiments, the computing device is specifically configured to take the phase at each position minus the phase corresponding to the velocity of the object as the new phase at the position.

[0013] In some embodiments, the computing device is specifically used to determine the electromagnetic wave transmittance corresponding to each position according to the formula β=K*E*sinθ, wherein β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

[0014] In a second aspect, an embodiment of the present application provides a method for detecting the appearance of an object, comprising:

[0015] Acquire radar detection data of the object, the radar detection data including at least magnetic field information at different positions in the magnetic field, the magnetic field information at each position including at least magnetic field intensity, the magnetic field being formed by interference between echoes of a first electromagnetic wave and a second electromagnetic wave after detecting the object, the first electromagnetic wave being obtained by reflecting a portion of an electromagnetic wave emitted by a transmitter, and the second electromagnetic wave being an unreflected electromagnetic wave;

[0016] Determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance;

[0017] Construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position;

[0018] simulating a diffraction process of electromagnetic waves passing through the virtual medium to obtain three-dimensional appearance data of the object;

[0019] Outputting three-dimensional appearance data of the object.

[0020] In some embodiments, the magnetic field information at each position further includes a phase, the radar detection data further includes a speed of the object, and further includes:

[0021] If it is determined that the speed of the object exceeds the set speed, determining the phase corresponding to the speed of the object based on the established mapping relationship between speed and phase;

[0022] Before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the method further includes:

[0023] Based on the phase corresponding to the velocity of the object, the phase at each position is corrected.

[0024] In some embodiments, the phase at each position is corrected based on the phase corresponding to the velocity of the object, including:

[0025] The phase at each position minus the phase corresponding to the velocity of the object is taken as the new phase at the position.

[0026] In some embodiments, the electromagnetic wave transmittance corresponding to each position is determined according to the following formula:

[0027] β=K*E*sinθ;

[0028] Wherein, β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

[0029] In a third aspect, an embodiment of the present application provides an apparatus for detecting the appearance of an object, comprising:

[0030] an acquisition module, configured to acquire radar detection data of an object, the radar detection data including at least magnetic field information at different positions in the magnetic field, the magnetic field information at each position including at least magnetic field intensity, the magnetic field being formed by interference between echoes of a first electromagnetic wave and a second electromagnetic wave after detecting the object, the first electromagnetic wave being obtained by reflecting a portion of an electromagnetic wave emitted by a transmitter, and the second electromagnetic wave being an unreflected electromagnetic wave;

[0031] a determination module, configured to determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance;

[0032] A construction module, for constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position;

[0033] a simulation module, configured to simulate a diffraction process of electromagnetic waves passing through the virtual medium to obtain three-dimensional appearance data of the object;

[0034] An output module is used to output the three-dimensional appearance data.

[0035] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein:

[0036] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform any of the above-mentioned appearance detection methods for an object.

[0037] In a fifth aspect, an embodiment of the present application provides a storage medium. When a computer program in the storage medium is executed by a processor of an electronic device, the electronic device can execute the appearance detection method of any of the above-mentioned objects.

[0038] The appearance detection system provided in the embodiment of the present application includes a reflector, a radar, an electromagnetic field detector and a computing device, wherein the reflector can reflect part of the electromagnetic waves emitted by the radar, the radar can receive the echo of the first electromagnetic wave reflected by the reflector and the second electromagnetic wave not reflected after detecting the object, the electromagnetic field detector can measure the magnetic field information at different positions in the magnetic field formed by the interference of the echoes of the first electromagnetic wave and the second electromagnetic wave, and the magnetic field information at each position includes at least the magnetic field intensity, and then, the computing device reads the magnetic field information at different positions measured by the electromagnetic field detector, and determines the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, and constructs a virtual medium based on the electromagnetic wave transmittance corresponding to each position to simulate the diffraction process of the electromagnetic wave when passing through the virtual medium, obtains and outputs the three-dimensional appearance data of the object, thereby providing a solution for detecting the three-dimensional appearance of an object with the help of radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 A schematic diagram of the structure of an object appearance detection system provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a virtual medium provided in an embodiment of the present application;

[0042] Figure 3 A flowchart of a method for detecting the appearance of an object provided in an embodiment of the present application;

[0043] Figure 4 A schematic structural diagram of an object appearance detection device provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the hardware structure of an electronic device for implementing a method for detecting the appearance of an object provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to provide a solution for detecting the three-dimensional appearance of an object by means of radar, embodiments of the present application provide a system, method, device, and electronic device for detecting the appearance of an object.

[0046] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0047] Figure 1 This is a schematic diagram of the structure of an object appearance detection system provided in an embodiment of the present application, including a reflector 01, a radar 02, an electromagnetic field detector 03, and a computing device 04. The reflector 01 is located within the electromagnetic wave emission range of the radar 02 and can block some electromagnetic waves. The electromagnetic field detector 03 is located near the radar 02, for example, within a range of 1 meter around the radar 02. The electromagnetic field detector 03 and the computing device 04 communicate with each other via wired or wireless means, wherein:

[0048] The reflector 01 is used to reflect part of the electromagnetic waves emitted by the radar 02.

[0049] The radar 02 is used to receive the first electromagnetic wave reflected by the reflector and the second electromagnetic wave not reflected by the reflector and detect the echo after the object.

[0050] The electromagnetic field detector 03 is used to measure the magnetic field information at different positions in the magnetic field formed by the interference of the echoes of the first electromagnetic wave and the second electromagnetic wave. The magnetic field information at each position at least includes the magnetic field intensity.

[0051] Since the shape of the echo of the second electromagnetic wave will be different when it encounters different objects, the magnetic field formed by the interference of echoes of different shapes with the first electromagnetic field will also be different. Therefore, different objects correspond to different magnetic fields. The magnetic field information at different positions in a magnetic field can reflect the three-dimensional appearance of the corresponding object. Therefore, by measuring the magnetic field information at different positions in the magnetic field, the three-dimensional appearance representation data of the corresponding object can be obtained.

[0052] In addition, it should be noted that the more positions are measured, the more magnetic field information is obtained, and the more accurate the three-dimensional appearance data obtained subsequently will be.

[0053] The computing device 04, such as a computer or mobile phone, is used to read the magnetic field information at different positions measured by the electromagnetic field detector 03, determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position, simulate the diffraction process of the electromagnetic wave when passing through the virtual medium (similar to the principle of holographic optical development), obtain the three-dimensional appearance data of the object, and output the three-dimensional appearance data.

[0054] In specific implementation, the virtual medium can be a cube, a sphere, or other three-dimensional space. Figure 2A schematic diagram of a virtual medium provided in an embodiment of the present application is provided. Figure 2 Each black dot in the figure represents the electromagnetic wave transmittance corresponding to a position. Different positions generally have different electromagnetic wave transmittances. When the electromagnetic wave passes through the virtual medium, the electromagnetic wave will diffract multiple times and change the propagation direction, and finally obtain the three-dimensional appearance data of the object.

[0055] Generally, the magnetic field strength and phase at different locations within the aforementioned magnetic field are primarily determined by the object's 3D appearance. Furthermore, when the object's speed exceeds a set speed, such as 800 km / h, this speed also affects the phase at different locations. Therefore, the object's speed can be used to modify the phase at different locations within the magnetic field, thereby improving the accuracy of the resulting 3D appearance data.

[0056] Therefore, in some embodiments, the magnetic field information at each position may also include a phase.

[0057] The radar 02 is also used to determine the speed of the object and send the speed to the computing device;

[0058] The computing device 04 is also used to determine the phase corresponding to the speed of the object based on the established mapping relationship between speed and phase if it is determined that the speed of the object exceeds the set speed, and before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, correct the phase at each position based on the phase corresponding to the speed of the object.

[0059] The mapping relationship between speed and phase can be expressed by the following formula:

[0060]

[0061] Where v is the velocity, α is the phase caused by the velocity, and the constants and functions in the formula are all preset.

[0062] During specific implementation, the computing device 04 is specifically configured to take the phase obtained by subtracting the phase corresponding to the speed of the object from the phase at each position as the new phase at this position.

[0063] In this way, even if the speed of the object is relatively high, the three-dimensional appearance data of the object can be detected relatively accurately.

[0064] In some embodiments, the computing device 04 is specifically used to determine the electromagnetic wave transmittance corresponding to each position according to the formula β=K*E*sinθ, where β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

[0065] After introducing the appearance detection system of an object provided by an embodiment of the present application, the appearance detection method of an object provided by an embodiment of the present application is introduced below with reference to a specific flowchart.

[0066] Figure 3 This is a flowchart of a method for detecting the appearance of an object provided in an embodiment of the present application, which is applied to Figure 1 In a computing device, the method includes the following steps.

[0067] In step 301, radar detection data of the object is obtained. The radar detection data includes at least magnetic field information at different positions in the magnetic field. The magnetic field information at each position includes at least magnetic field intensity. The magnetic field is formed by interference between the echoes of the first electromagnetic wave and the second electromagnetic wave after detecting the object. The first electromagnetic wave is obtained by reflecting part of the electromagnetic wave emitted by the transmitter, and the second electromagnetic wave is an electromagnetic wave that is not reflected.

[0068] During specific implementation, part of the electromagnetic wave emitted by the radar is reflected by the reflector to form a first electromagnetic wave, and the other part of the second electromagnetic wave that is not reflected is reflected by the object to form an echo. The echoes of the first electromagnetic wave and the second electromagnetic wave will interfere with each other near the receiver to form a magnetic field. The magnetic field information at different positions in the magnetic field can reflect the three-dimensional appearance of the object, so the three-dimensional appearance of the object can be determined with the help of the magnetic field information.

[0069] In step 302 , based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, the electromagnetic wave transmittance corresponding to the magnetic field information at each position is determined.

[0070] During specific implementation, the electromagnetic wave transmittance corresponding to each position can be determined according to the following formula:

[0071] β=K*E*sinθ;

[0072] Wherein, β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient, such as K=1.

[0073] Assume that each position in the magnetic field is represented by three-dimensional coordinates such as (x, y, z), (x, y, z) corresponds to magnetic field information, and (x, y, z) can also correspond to a position (x′, y′, z′) in the virtual medium. The electromagnetic wave transmittance corresponding to (x, y, z) is the electromagnetic wave transmittance at (x′, y′, z′).

[0074] In step 303, a virtual medium is constructed based on the electromagnetic wave transmittance corresponding to each position.

[0075] In step 304 , the diffraction process of electromagnetic waves passing through the virtual medium is simulated to obtain three-dimensional appearance data of the object.

[0076] In step 305 , the three-dimensional appearance data of the object is output.

[0077] In practical applications, when the speed of an object exceeds the set speed, it will affect the phase at different positions in the magnetic field, thereby affecting the accuracy of the final three-dimensional appearance data.

[0078] To this end, the magnetic field information at each position may also include the phase, and the radar detection data may also include the speed of the object. Subsequently, when it is determined that the speed of the object exceeds the set speed, the phase corresponding to the speed of the object can be determined based on the established mapping relationship between speed and phase, and the phase at each position can be corrected based on the phase corresponding to the speed of the object. For example, the phase at each position minus the phase corresponding to the speed of the object is used as the new phase at that position. Then, based on the magnetic field strength and the new phase at each position, the electromagnetic wave transmittance corresponding to the magnetic field information at each position is determined.

[0079] In this way, the three-dimensional appearance of the object can be detected relatively accurately even if the speed of the object is relatively high.

[0080] Based on the same technical concept, an embodiment of the present application also provides an appearance detection device for an object. The principle of solving the problem by the appearance detection device for an object is similar to that of the above-mentioned appearance detection method for an object. Therefore, the implementation of the appearance detection device for an object can refer to the implementation of the appearance detection method for an object, and the repeated parts will not be repeated.

[0081] Figure 4 A schematic structural diagram of an appearance detection device for an object provided in an embodiment of the present application includes an acquisition module 401 , a determination module 402 , a construction module 403 , a simulation module 404 , and an output module 405 .

[0082] An acquisition module 401 is configured to acquire radar detection data of an object, the radar detection data including at least magnetic field information at different locations in the magnetic field, the magnetic field information at each location including at least magnetic field intensity, the magnetic field being formed by interference between echoes of a first electromagnetic wave and a second electromagnetic wave after detecting the object, the first electromagnetic wave being obtained by reflecting a portion of an electromagnetic wave emitted by a transmitter, and the second electromagnetic wave being an unreflected electromagnetic wave;

[0083] A determination module 402 is configured to determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance;

[0084] A construction module 403 is used to construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position;

[0085] A simulation module 404 is configured to simulate the diffraction process of electromagnetic waves passing through the virtual medium to obtain three-dimensional appearance data of the object;

[0086] The output module 405 is used to output three-dimensional appearance data.

[0087] In some embodiments, the magnetic field information at each position further includes a phase, the radar detection data further includes a speed of the object, and a correction module 406 is further included:

[0088] The determining module 402 is further configured to determine the phase corresponding to the speed of the object based on the established mapping relationship between speed and phase if it is determined that the speed of the object exceeds the set speed;

[0089] The correction module 406 is configured to correct the phase at each position based on the phase corresponding to the velocity of the object before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position.

[0090] In some embodiments, the correction module 406 is further configured to correct the phase at each position based on the phase corresponding to the object's velocity, and use the phase at each position minus the phase corresponding to the object's velocity as the new phase at the position.

[0091] In some embodiments, the determining module 402 is specifically configured to determine the electromagnetic wave transmittance corresponding to each position according to the following formula:

[0092] β=K*E*sinθ;

[0093] Wherein, β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

[0094] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the functional modules in the embodiments of the present application may be integrated into one processor, or may exist physically separately, or two or more modules may be integrated into one module. The coupling between the modules can be achieved through some interfaces, which are usually electrical communication interfaces, but it is not ruled out that they may be mechanical interfaces or other forms of interfaces. Therefore, the modules described as separate components may or may not be physically separated, and may be located in one place or distributed to different locations of the same or different devices. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0095] After introducing the method and apparatus for detecting the appearance of an object according to an exemplary embodiment of the present application, an electronic device according to another exemplary embodiment of the present application will be introduced next.

[0096] Refer to the following Figure 5 The electronic device 130 implemented according to this embodiment of the present application is described. Figure 5 The electronic device 130 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0097] like Figure 5 As shown, the electronic device 130 is a general electronic device. Components of the electronic device 130 may include, but are not limited to, the at least one processor 131, the at least one memory 132, and a bus 133 connecting different system components (including the memory 132 and the processor 131).

[0098] Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a processor or local bus using any of a variety of bus architectures.

[0099] The memory 132 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 1321 and / or a cache memory 1322 , and may further include a read-only memory (ROM) 1323 .

[0100] The memory 132 may also include a program / utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0101] The electronic device 130 may also communicate with one or more external devices 134 (e.g., a keyboard, pointing device, etc.), one or more devices that enable a user to interact with the electronic device 130, and / or any device that enables the electronic device 130 to communicate with one or more other electronic devices (e.g., a router, a modem, etc.). Such communication may occur via an input / output (I / O) interface 135. Furthermore, the electronic device 130 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 136. As shown, the network adapter 136 communicates with other modules of the electronic device 130 via a bus 133. It should be understood that, although not shown, other hardware and / or software modules may be used in conjunction with the electronic device 130, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0102] In an exemplary embodiment, a storage medium is also provided. When a computer program stored in the storage medium is executed by a processor of an electronic device, the electronic device can perform the above-mentioned object appearance detection method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device.

[0103] In an exemplary embodiment, the electronic device of the present application may include at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores a computer program that can be executed by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can execute the steps of the appearance detection method of any object provided in the embodiments of the present application.

[0104] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed by an electronic device, the electronic device can implement any exemplary method provided in this application.

[0105] Furthermore, the computer program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, RAM, ROM, an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0106] In the embodiments of the present application, the program product for detecting the appearance of an object may be implemented in a CD-ROM and include program code, and may be run on a computing device. However, the program product of the present application is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0107] A readable signal medium may include a data signal transmitted in baseband or as part of a carrier wave, which carries readable program code. Such a transmitted data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0108] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0109] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, such as a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0110] It should be noted that although several units or subunits of the device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, depending on the embodiment of the application, the features and functions of two or more units described above can be embodied in a single unit. Conversely, the features and functions of a single unit described above can be further divided and embodied by multiple units.

[0111] Furthermore, although the operations of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all illustrated operations must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0112] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0113] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0116] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0117] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A system for detecting the appearance of an object, characterized in that: include: Reflector, used to reflect part of the electromagnetic waves emitted by the radar; The radar is configured to transmit electromagnetic waves, receive the first electromagnetic wave reflected by the reflector and the second electromagnetic wave not reflected by the reflector, and detect the echo of the object; an electromagnetic field detector, configured to measure magnetic field information at different positions in a magnetic field formed by interference of echoes of the first electromagnetic wave and the second electromagnetic wave, wherein the magnetic field information at each position includes at least magnetic field intensity; a computing device configured to read magnetic field information at different locations measured by the electromagnetic field detector, determine the electromagnetic wave transmittance corresponding to the magnetic field information at each location based on an established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, and construct a virtual medium based on the electromagnetic wave transmittance corresponding to each location; The diffraction process of electromagnetic waves passing through the virtual medium is simulated to obtain three-dimensional appearance data of the object, and the three-dimensional appearance data is output.

2. The system according to claim 1, wherein The magnetic field information at each position also includes the phase, The radar is further configured to determine a speed of the object and send the speed to the computing device; The computing device is further configured to, if it is determined that the speed of the object exceeds a set speed, determine the phase corresponding to the speed of the object based on an established mapping relationship between speed and phase; and perform correction processing on the phase at each position based on the phase corresponding to the speed of the object before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position.

3. The system according to claim 2, wherein: The calculation device is specifically configured to take the phase obtained by subtracting the phase corresponding to the speed of the object from the phase at each position as the new phase at the position.

4. The system according to any one of claims 1 to 3, wherein: The computing device is specifically used to determine the electromagnetic wave transmittance corresponding to each position according to the formula β=K*E*sinθ, wherein β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

5. A method for detecting the appearance of an object, characterized in that: include: Acquire radar detection data of the object, the radar detection data including at least magnetic field information at different positions in the magnetic field, the magnetic field information at each position including at least magnetic field intensity, the magnetic field being formed by interference between an echo of a second electromagnetic wave after detecting the object and a first electromagnetic wave, the first electromagnetic wave being obtained by reflecting a portion of an electromagnetic wave emitted by a transmitter by a reflector, and the second electromagnetic wave being an electromagnetic wave not reflected by the reflector; Determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance; Construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position; simulating a diffraction process of electromagnetic waves passing through the virtual medium to obtain three-dimensional appearance data of the object; Outputting three-dimensional appearance data of the object.

6. The method according to claim 5, wherein The magnetic field information at each position also includes a phase, the radar detection data also includes the speed of the object, and further includes: If it is determined that the speed of the object exceeds the set speed, determining the phase corresponding to the speed of the object based on the established mapping relationship between speed and phase; Before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the method further includes: Based on the phase corresponding to the velocity of the object, the phase at each position is corrected.

7. The method according to claim 6, wherein Correcting the phase at each position based on the phase corresponding to the velocity of the object includes: The phase at each position minus the phase corresponding to the velocity of the object is taken as the new phase at the position.

8. The method according to claim 5, wherein The electromagnetic wave transmittance corresponding to each position is determined according to the following formula: β=K*E*sinθ; Wherein, β is the electromagnetic wave transmittance at the position, E is the magnetic field intensity at the position, θ is the phase at the position, and K is a predetermined proportional coefficient.

9. An object appearance detection device, characterized in that: include: an acquisition module, configured to acquire radar detection data of an object, the radar detection data including at least magnetic field information at different positions in the magnetic field, the magnetic field information at each position including at least magnetic field intensity, the magnetic field being formed by interference between an echo of a second electromagnetic wave after detecting the object and a first electromagnetic wave, the first electromagnetic wave being obtained by reflecting a portion of an electromagnetic wave emitted by a transmitter using a reflector, and the second electromagnetic wave being an electromagnetic wave not reflected by the reflector; a determination module, configured to determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance; A construction module, for constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position; a simulation module, configured to simulate a diffraction process of electromagnetic waves passing through the virtual medium to obtain three-dimensional appearance data of the object; An output module is used to output the three-dimensional appearance data.

10. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to the at least one processor, wherein: The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 5 to 8.

11. A storage medium, characterized in that: When the computer program in the storage medium is executed by a processor of an electronic device, the electronic device can perform the method according to any one of claims 5 to 8.

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