Object detection method, device, terminal equipment and storage medium

Abstract

The present application is applicable to the field of laser detection technology, and provides a method, device, terminal device and storage medium for detecting an object. The above-mentioned object detection method specifically includes: obtaining a reference sequence, the reference sequence includes the first light intensity collected by each pixel unit in the pixel array and the position of each pixel unit, the first light intensity is the intensity of the light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene; obtaining a sequence to be tested, the sequence to be tested includes the second light intensity collected by each pixel unit and the position of each pixel unit, the second light intensity is the intensity of the light spot formed on the pixel unit by the reflected light of the same laser from the target scene at the test moment; according to the reference sequence and the sequence to be tested, determine the detection result of whether there is an object in front of the background at the test moment. The embodiments of the present application can improve the accuracy of object detection.

Description

Technical Field

[0001] The present application belongs to the field of laser detection technology, and in particular relates to a method, apparatus, terminal device, and storage medium for detecting an object. Background Art

[0002] Laser sensors use laser technology for measurement and are currently widely used for object detection. Current laser sensor-based object detection methods generally calculate the distance between the sensor and the target based on the center position of the light spot. The change in distance then determines whether an object has passed the laser sensor.

[0003] This method requires a relatively regular image of the light spot on the pixel array. If the image is not ideal or there is interference, the laser sensor will have difficulty determining the exact center of the light spot and, therefore, the distance. For example, on an irregular surface, the reflected laser light will produce a certain degree of distortion, causing the image on the pixel array to distort, ultimately causing the sensor to misjudge the distance.

[0004] In addition, if this method is applied to the detection of ultra-thin objects, in order to stably capture subtle changes, this method requires a sensor with very high precision requirements.

[0005] Another point is that this method is unreliable for detecting transparent or translucent objects. This is because most of the laser light passes directly through the object and reflects off the background, leaving only a small amount of light reflected off the transparent object. Consequently, the sensor may not detect the object passing through. Alternatively, the background reflection and the light reflected off the translucent object may form two light spots on the pixel array, making it difficult for the sensor to distinguish which spot is the correct one. Summary of the Invention

[0006] The embodiments of the present application provide a method, apparatus, terminal device, and storage medium for detecting an object, which can improve the accuracy of object detection.

[0007] A first aspect of an embodiment of the present application provides a method for detecting an object, including:

[0008] Acquire a reference sequence, where the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and a position of each pixel unit, where the first light intensity is the intensity of a light spot formed on the pixel unit by reflected light of a laser from the background of the target scene;

[0009] Acquire a sequence to be tested, the sequence to be tested comprising a second light intensity collected by each pixel unit and a position of each pixel unit, the second light intensity being the intensity of a light spot formed on the pixel unit by reflected light of the target scene from the same laser at a test moment;

[0010] A detection result of whether an object exists in front of the background at the test moment is determined according to the reference sequence and the sequence to be tested.

[0011] A second aspect of an embodiment of the present application provides an object detection device, comprising:

[0012] a reference sequence acquisition unit, configured to acquire a reference sequence, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and a position of each pixel unit, wherein the first light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene;

[0013] a test sequence acquisition unit, configured to acquire a test sequence, wherein the test sequence includes a second light intensity collected by each pixel unit and a position of each pixel unit, wherein the second light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the target scene from the same laser at the test moment;

[0014] The object detection unit is used to determine the detection result of whether there is an object in front of the background at the test time according to the reference sequence and the sequence to be tested.

[0015] A third aspect of an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned object detection method when executing the computer program.

[0016] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned object detection method are implemented.

[0017] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the object detection method described in the first aspect above.

[0018] In an embodiment of the present application, a sequence to be tested and a pre-collected reference sequence are obtained, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and the position of each pixel unit, the first light intensity is the intensity of a light spot formed on the pixel unit by the background of the target scene reflecting the laser, and the sequence to be tested includes a second light intensity collected by each pixel unit and the position of each pixel unit, the second light intensity is the intensity of a light spot formed on the pixel unit by the reflection light of the target scene to the same laser at the test moment. In this way, the light intensity difference at different positions caused by the presence of an object in front of the background can be determined based on the second light intensity of the target scene reflected light and the first light intensity of the background reflected light at the test moment, and the detection result of whether there is an object in front of the background at the test moment is obtained. There is no need to determine the distance to the object based on the center position of the light spot, which avoids the problem of reduced object detection accuracy due to misjudgment of the center position of the light spot, and has a good detection effect on ultra-thin objects, transparent or translucent objects, and objects with irregular surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of an implementation flow of an object detection method provided in an embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of a pixel array provided in an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of a specific implementation process for determining the detection result provided in an embodiment of the present application;

[0023] Figure 4a is a schematic diagram of the reference sequence provided in the examples of this application;

[0024] Figure 4b is a schematic diagram of a sequence to be tested provided in an embodiment of the present application;

[0025] Figure 5 Schematic diagram of a first difference sequence and a second difference sequence provided in an embodiment of the present application;

[0026] Figure 6 Schematic diagram of a reference sequence and a sequence to be tested when there is a difference in light intensity provided in an embodiment of the present application;

[0027] Figure 7Schematic diagram of a reference sequence and a sequence to be tested when there is a difference in the position of the light spot provided in an embodiment of the present application;

[0028] Figure 8 This is a schematic diagram of a reference sequence and a sequence to be tested when detecting an ultra-thin object provided by an embodiment of the present application;

[0029] Figure 9 Schematic diagram of a reference sequence and a sequence to be tested in the case of “two light spots” provided in an embodiment of the present application;

[0030] Figure 10 1 is a schematic structural diagram of an object detection device provided in an embodiment of the present application;

[0031] Figure 11 It is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application more clear, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without making any creative work are protected by this application.

[0033] In order to illustrate the technical solution of the present application, specific embodiments are provided below.

[0034] Figure 1 A schematic diagram of an implementation flow of an object detection method provided in an embodiment of the present application is shown. The method can be applied to a terminal device and is suitable for situations where the accuracy of object detection needs to be improved.

[0035] Among them, the above-mentioned terminal devices can be smart devices such as smartphones, computers, roadside units, vehicle-mounted units, etc., which can detect objects in different scenes. For example, they can detect products on the production line, vehicles and pedestrians on the road, etc.

[0036] Specifically, the object detection method may include the following steps S101 to S103.

[0037] Step S101: Acquire a reference sequence.

[0038] The reference sequence may include the first light intensity collected by each pixel unit in the pixel array and the position of each pixel unit. The first light intensity is the intensity of the light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene.

[0039] Specifically, the target scene is the scene to be tested, such as a road, a production line, a warehouse, etc.

[0040] The terminal device can control the reference sensor to project a laser beam toward the target scene when no objects are present. The laser beam then strikes the background (e.g., a wall, a background panel, etc.) in the target scene. The background reflects the laser beam, and the reflected light forms a light spot on the pixel array of the reference sensor. The pixel cells in the pixel array then capture the light signal, generating a first light intensity value.

[0041] Among them, the reference sensor may refer to a laser sensor. Its type may specifically be a solid sensor, a semiconductor sensor, etc., which is not limited in this application. The pixel array may refer to the photosensitive area of ​​a complementary metal oxide semiconductor (CMOS) chip. Each pixel unit may be composed of a photodiode, a floating diffusion layer, a transfer electrode gate element, etc. The sensor parameters used by the reference sensor are called reference sensor parameters, which may specifically include laser intensity, exposure time, installation position of the reference sensor, and laser projection direction, etc.

[0042] like Figure 2 As shown, the pixel units can be arranged linearly on the pixel array of the reference sensor, with each pixel unit positioned differently. Consequently, the first light intensities captured by different pixel units at the same moment may differ. By continuously adjusting the various sensor parameters of the reference sensor, one or more frames of "background data" can ultimately be captured as a reference sequence, denoted as A(n).

[0043] It should be noted that the above-mentioned reference sensor can be a sensor installed in the terminal device or a sensor separated from the terminal device. The terminal device can obtain the reference sequence collected by the reference sensor through wired or wireless communication.

[0044] Step S102: Acquire the sequence to be tested.

[0045] The sequence to be tested includes the second light intensity collected by each pixel unit and the position of each pixel unit. The second light intensity is the intensity of the light spot formed on the pixel unit by the reflected light of the target scene to the same laser at the test moment.

[0046] In the embodiments of the present application, a test moment refers to a time at which object detection is required. In some embodiments, the test moment may be a user-specified time point. In other embodiments, the terminal device may perform sampling at a preset frequency, in which case each sampling moment may serve as a test moment.

[0047] Specifically, the terminal device can control the target sensor to project the same laser light toward the target scene during the test. The same laser light refers to a laser light with the same laser parameters as the laser light used when collecting the reference sequence, such as laser intensity and incident direction.

[0048] The laser is directed toward the target scene. The background of the target scene and / or objects in front of the background will reflect the laser, and the reflected light will form a light spot on the pixel array of the target sensor. The pixel units of the pixel array will collect the light signal and obtain a second light intensity value.

[0049] In some embodiments, the target sensor and the reference sensor can be the same sensor, that is, a sensor is installed in advance, and the reference sequence and the sequence to be measured are collected respectively with the same sensor parameters (such as laser emission direction, installation position, laser intensity, exposure time, etc.).

[0050] In other embodiments, the target sensor and the reference sensor can be different sensors. The terminal device can obtain the reference sensor parameters and, based on the reference sensor parameters, control the target sensor to emit laser light toward the target scene, thereby acquiring the test sequence captured by the target sensor's pixel array. This allows the sensor parameters to remain fixed, avoiding the problem of reduced detection accuracy due to sensor parameters affecting light intensity.

[0051] Similarly, pixel units can be arranged linearly on the target sensor's pixel array, with each pixel unit positioned differently. Consequently, the second light intensities captured by different pixel units at the same moment may differ. By continuously adjusting the target sensor's various sensor parameters, one or more frames of "test data" can ultimately be captured as a test sequence, denoted as B(n).

[0052] It should be noted that the target sensor may also be a sensor installed in the terminal device, or a sensor separated from the terminal device, and the terminal device may obtain the reference sequence collected by the reference sensor through wired or wireless communication.

[0053] Step S103 : determining the detection result of whether there is an object in front of the background at the test moment according to the reference sequence and the sequence to be tested.

[0054] It should be understood that if there are no objects in front of the background of the current target scene, only the background will reflect the laser light, and the second light intensity value collected by the pixel cells of the pixel array will be substantially similar to or identical to the first light intensity value. However, if there are objects in front of the background of the current target scene, the objects will reflect the laser light, and the second light intensity value collected by the pixel cells of the pixel array will differ from the first light intensity value.

[0055] Specifically, such as Figure 3 As shown, the above process of determining the detection result may include steps S301 to S303.

[0056] Step S301 : calculating the light intensity difference between the first light intensity and the second light intensity of the pixel units at the same position to obtain the light intensity difference of each pixel unit.

[0057] It should be understood that the light intensity difference of a pixel unit at a certain position can indicate whether the light intensity at that position has changed due to the presence of an object. Since the light intensity collected by the pixel unit closer to the center of the light spot is higher, the difference in light intensity difference at different positions can also indicate the location of the light spot.

[0058] The light intensity difference of each pixel unit includes a first difference A'(n) and a second difference B'(n).

[0059] The terminal device can determine the first difference A'(n) of the pixel unit at the corresponding position based on the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and the first difference calculation formula, and determine the second difference B'(n) of the pixel unit at the corresponding position based on the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and the second difference calculation formula.

[0060] The first difference operation formula can be expressed as

[0061] The second difference operation formula can be expressed as

[0062] For details, please refer to Figure 2 , the terminal device can calculate the first difference A'(0) and the second difference B'(0) of pixel unit 1 based on the first light intensity A(0) and the second light intensity B(0) of pixel unit 0 on the pixel array. Similarly, the first difference A'(1) and the second difference B'(1) of pixel unit 1, the first difference A'(2) and the second difference B'(2) of pixel unit 2 can be calculated, and so on, to obtain the first difference A'(n) and the second difference B'(n) of each pixel unit.

[0063] Figure 4a and Figure 4b Schematic diagrams showing the reference sequence and the sequence to be tested, Figure 5 Yes Figure 4a The reference sequences shown and Figure 4bThe first difference value A'(n) and the second difference value B'(n) are obtained after performing the difference operation (i.e., the process of step S301) on the test sequence. It can be seen that based on step S301, the difference between the reference sequence and the test sequence can be extracted, and the test result is determined based on the first difference value A'(n) and the second difference value B'(n), which can make the test result more focused on the difference in light intensity.

[0064] Step S302: determining the degree of difference between the reference sequence and the sequence to be tested according to the light intensity difference of each pixel unit.

[0065] The above-mentioned difference degree may represent the difference degree between the reflected light of the target scene and the reflected light of the background (when no object exists) at the test moment.

[0066] Specifically, the terminal device may determine the difference degree Result according to the first difference value A'(n) of each pixel unit, the second difference value B'(n) of each pixel unit, and a difference degree calculation formula.

[0067] The above difference degree calculation formula can be expressed as

[0068]

[0069] Where m represents the maximum sequence number of pixel cells in the pixel array. m+1 can represent the sequence length, i.e., the total number of pixel cells in the pixel array. n is the sequence number of the pixel cell. K1 and K2 are the preset first and second weight coefficients, respectively, which can be set based on actual conditions.

[0070] The essence of the difference degree calculation formula is the weighted summation of two difference sequences. ′ (n) weight is Second difference B ′ (n) weight is It can be seen that their weights are all related to the first difference A of all pixel units. ′ The sum of (n) is related and is the reciprocal of each other. If the sum is larger, the first difference A ′ The larger the weight of (n), the greater the second difference B ′ On the contrary, if the sum is smaller, the first difference A ′ The smaller the weight of (n), the greater the second difference B ′ The larger the weight of (n), the more linear the change of the calculation result (degree of difference Result) will be in reflecting the degree of difference.

[0071] Step S303: Determine the detection result according to the degree of difference.

[0072] In some embodiments of the present application, if the difference degree Result is greater than a preset degree threshold, the detection result is confirmed as an object existing in front of the background. If the difference degree Result is less than or equal to the preset degree threshold, the detection result is confirmed as no object existing in front of the background.

[0073] The degree threshold is a threshold for comparison with the degree of difference and can be set according to actual conditions.

[0074] In an embodiment of the present application, a sequence to be tested and a pre-collected reference sequence are obtained, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and the position of each pixel unit, the first light intensity is the intensity of a light spot formed on the pixel unit by the background of the target scene reflecting the laser, and the sequence to be tested includes a second light intensity collected by each pixel unit and the position of each pixel unit, the second light intensity is the intensity of a light spot formed on the pixel unit by the reflection light of the target scene to the same laser at the test moment. In this way, the light intensity difference at different positions caused by the presence of an object in front of the background can be determined based on the second light intensity of the target scene reflected light and the first light intensity of the background reflected light at the test moment, and the detection result of whether there is an object in front of the background at the test moment is obtained. There is no need to determine the distance to the object based on the center position of the light spot, which avoids the problem of reduced object detection accuracy due to misjudgment of the center position of the light spot, thereby improving the accuracy of object detection.

[0075] Please refer to Figure 6 and Figure 7 , this application is for both light intensity difference ( Figure 6 shown) or the difference in the spot position ( Figure 7 For objects with irregular surfaces, this application does not need to determine which pixel unit the center of the light spot is on, and the accuracy of the object detection result will not be reduced due to misjudgment of the center position of the light spot. For ultra-thin objects and transparent or translucent objects, such as Figure 8 As shown, due to the existence of light intensity differences at the same position, the object detection method provided by this application is still relatively reliable. Figure 9 As shown, if the background reflected light and the semi-transparent object reflected light form two light spots on the pixel array, due to the differences in the positions and intensities of the light spots, the object detection method provided by the present application has a better detection effect.

[0076] In summary, the object detection method provided in this application has good universality and can achieve relatively accurate detection effects for ultra-thin objects, transparent or translucent objects, and objects with irregular surfaces.

[0077] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations. However, those skilled in the art should be aware that this application is not limited to the described order of actions, because according to this application, certain steps can be performed in other orders.

[0078] like Figure 10 Shown is a structural schematic diagram of an object detection device 1000 provided in an embodiment of the present application, wherein the object detection device 1000 is configured on a terminal device.

[0079] Specifically, the object detection device 1000 may include:

[0080] A reference sequence acquisition unit 1001 is configured to acquire a pre-collected reference sequence, wherein the reference sequence includes a first light intensity collected by each pixel unit in a pixel array and the position of each pixel unit. The first light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene.

[0081] A test sequence acquisition unit 1002 is configured to acquire a test sequence, wherein the test sequence includes a second light intensity collected by each pixel unit and a position of each pixel unit, wherein the second light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the target scene from the same laser at the test moment;

[0082] The object detection unit 1003 is configured to determine, based on the reference sequence and the sequence to be tested, whether an object exists in front of the background at the test moment.

[0083] In some embodiments of the present application, the above-mentioned object detection unit 1003 can be specifically used to: calculate the light intensity difference between the first light intensity and the second light intensity of the pixel unit at the same position to obtain the light intensity difference of each pixel unit; determine the degree of difference between the reference sequence and the sequence to be tested based on the light intensity difference of each pixel unit; and determine the detection result based on the degree of difference.

[0084] In some embodiments of the present application, the light intensity difference of each pixel unit includes a first difference A'(n) and a second difference B'(n); the object detection unit 1003 can be specifically used to: determine the first difference A'(n) of the pixel unit at the corresponding position based on the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position, and a first difference calculation formula, wherein the first difference calculation formula is expressed as According to the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position, and a second difference calculation formula, a second difference B'(n) of the pixel unit at the corresponding position is determined. The second difference calculation formula is expressed as

[0085] In some embodiments of the present application, the object detection unit 1003 may be specifically configured to determine the difference degree Result based on the first difference value A'(n) of each pixel unit, the second difference value B'(n) of each pixel unit, and a difference degree calculation formula, wherein the difference degree calculation formula is expressed as:

[0086] Wherein, m is the total number of the pixel units in the pixel array, n is the serial number of the pixel unit, K1 and K2 are respectively the preset first weight coefficient and the second weight coefficient.

[0087] In some embodiments of the present application, the object detection unit 1003 may be specifically configured to: if the degree of difference is greater than a preset degree threshold, confirm that the detection result indicates that an object exists in front of the background; otherwise, confirm that the detection result indicates that no object exists in front of the background.

[0088] In some embodiments of the present application, the above-mentioned sequence to be measured acquisition unit 1002 can be specifically used to: obtain reference sensor parameters, wherein the reference sensor parameters include the laser intensity and exposure time of the reference sensor, and the reference sensor is the sensor used when acquiring the reference sequence; according to the reference sensor parameters, control the target sensor to emit laser toward the target scene; and obtain the sequence to be measured captured by the pixel array of the target sensor.

[0089] In some embodiments of the present application, the pixel units are arranged linearly on a pixel array of the target sensor.

[0090] It should be noted that for the convenience and simplicity of description, the specific working process of the above-mentioned object detection device 1000 can be referred to Figures 1 to 9 The corresponding process of the method will not be described in detail here.

[0091] like Figure 11 FIG. 1 is a schematic diagram of a terminal device provided in an embodiment of the present application. The terminal device 11 may include: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110, such as an object detection program. When the processor 110 executes the computer program 112, the steps in the above-mentioned object detection method embodiments are implemented, such as Figure 1 Alternatively, when the processor 110 executes the computer program 112, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 10 The reference sequence acquisition unit 1001, the sequence to be tested acquisition unit 1002 and the object detection unit 1003 are shown.

[0092] The computer program may be divided into one or more modules / units, which are stored in the memory 111 and executed by the processor 110 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0093] For example, the computer program may be divided into: a reference sequence acquisition unit, a test sequence acquisition unit, and an object detection unit.

[0094] The specific functions of each unit are as follows: a reference sequence acquisition unit, used to acquire a reference sequence, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and the position of each pixel unit, wherein the first light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene; a test sequence acquisition unit, used to acquire a test sequence, wherein the test sequence includes a second light intensity collected by each pixel unit and the position of each pixel unit, wherein the second light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the same laser from the target scene at the test moment; an object detection unit, used to determine the detection result of whether there is an object in front of the background at the test moment based on the reference sequence and the test sequence.

[0095] The terminal device may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will understand that Figure 11 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0096] The processor 110 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0097] The memory 111 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 111 may also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Furthermore, the memory 111 may include both an internal storage unit of the terminal device and an external storage device. The memory 111 is used to store the computer program and other programs and data required by the terminal device. The memory 111 may also be used to temporarily store data that has been output or is about to be output.

[0098] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned terminal device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0100] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0101] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0102] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0104] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0105] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0106] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for detecting an object, characterized in that: include: Acquire a reference sequence, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and a position of each pixel unit, wherein the first light intensity is the light intensity of a light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene; Acquire a sequence to be tested, wherein the sequence to be tested includes a second light intensity collected by each pixel unit and a position of each pixel unit, wherein the second light intensity is the intensity of a light spot formed on the pixel unit by the reflected light of the same laser from the target scene at the test moment; Determine, according to the reference sequence and the sequence to be tested, a detection result of whether there is an object in front of the background at the test time; The determination of the detection result of whether there is an object in front of the background at the test time according to the reference sequence and the sequence to be tested includes: calculating the light intensity difference between the first light intensity and the second light intensity of the pixel unit at the same position to obtain the light intensity difference of each pixel unit, wherein the light intensity difference of each pixel unit includes a first difference A ‘ (n) and the second difference B ‘ (n); determining the degree of difference between the reference sequence and the sequence to be tested according to the light intensity difference of each pixel unit; and determining the test result according to the degree of difference; The calculating the light intensity difference between the first light intensity and the second light intensity of the pixel unit at the same position includes: determining the first difference A of the pixel unit at the corresponding position according to the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and a first difference calculation formula. ‘ (n), the first difference calculation formula is expressed as According to the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and a second difference calculation formula, a second difference value B of the pixel unit at the corresponding position is determined. ‘ (n), the second difference calculation formula is expressed as The step of determining the difference between the reference sequence and the sequence to be tested according to the light intensity difference of each pixel unit comprises: determining the difference between the reference sequence and the sequence to be tested according to the light intensity difference of each pixel unit; ‘ (n), the second difference value B of each pixel unit ‘ (n), and a difference degree calculation formula to determine the difference degree Result, the difference degree calculation formula is expressed as: Wherein, m is the maximum serial number of the pixel units in the pixel array, n is the serial number of the pixel unit, and K1 and K2 are respectively the preset first weight coefficient and the second weight coefficient.

2. The object detection method according to claim 1, characterized in that: Determining the detection result according to the difference degree includes: If the degree of difference is greater than a preset degree threshold, confirming that the detection result is that an object exists in front of the background; Otherwise, the detection result is confirmed as no object exists in front of the background.

3. The object detection method according to claim 1 or 2, characterized in that: The step of obtaining the sequence to be tested comprises: Acquire reference sensor parameters, where the reference sensor parameters include laser intensity and exposure time of a reference sensor, where the reference sensor is a sensor used when acquiring the reference sequence; According to the reference sensor parameters, controlling the target sensor to emit laser light toward the target scene; The sequence to be tested acquired by the pixel array of the target sensor is obtained.

4. The object detection method according to claim 3, characterized in that: The pixel units are arranged linearly on a pixel array of the target sensor.

5. An object detection device, characterized in that: include: A reference sequence acquisition unit, used to acquire a reference sequence, wherein the reference sequence includes a first light intensity collected by each pixel unit in the pixel array and a position of each pixel unit, wherein the first light intensity is the light intensity of a light spot formed on the pixel unit by the reflected light of the laser from the background of the target scene; A sequence acquisition unit to be tested, used to acquire a sequence to be tested, wherein the sequence to be tested includes a second light intensity collected by each pixel unit and a position of each pixel unit, wherein the second light intensity is the light intensity of a light spot formed on the pixel unit by the reflected light of the same laser from the target scene at the test moment; An object detection unit, used to determine a detection result of whether an object exists in front of the background at the test time according to the reference sequence and the sequence to be tested; The object detection unit is specifically used to: calculate the light intensity difference between the first light intensity and the second light intensity of the pixel unit at the same position, and obtain the light intensity difference of each pixel unit, wherein the light intensity difference of each pixel unit includes a first difference A ‘ (n) and the second difference B ‘ (n); determining the degree of difference between the reference sequence and the sequence to be tested according to the light intensity difference of each pixel unit; Determining the test result according to the degree of difference; The object detection unit is specifically used to: determine the first difference A of the pixel unit at the corresponding position according to the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and a first difference calculation formula. ‘ (n), the first difference calculation formula is expressed as According to the first light intensity A(n) and the second light intensity B(n) of the pixel unit at the same position and a second difference calculation formula, a second difference value B of the pixel unit at the corresponding position is determined. ‘ (n), the second difference calculation formula is expressed as The object detection unit is specifically used to: ‘ (n), the second difference value B of each pixel unit ‘ (n), and a difference degree calculation formula to determine the difference degree Result, the difference degree calculation formula is expressed as: Wherein, m is the maximum serial number of the pixel units in the pixel array, n is the serial number of the pixel unit, and K1 and K2 are respectively the preset first weight coefficient and the second weight coefficient.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the object detection method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the object detection method according to any one of claims 1 to 4 are implemented.

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