A target detection system

Abstract

The present invention provides a target object detection system, which relates to the field of image processing, and includes: a detection module, an alarm module, an alarm blocking module and an information queue D. The detection module: obtains the target image collected by the target monitoring device at the current time; determines whether there is a target object in the target area according to the target image. The alarm module: in response to the update of the information queue D, obtains the current information queue D; if NUM0 / n>NQ, outputs the alarm information; the alarm blocking module: obtains the current information queue D; if NUM0 / n=NQ, obtains the target value k=n; determines whether Dk is the first information; if so, uses Dk as the target information; obtains the location information W=(x,y) in the target information; obtains the range information list F; if X1j≤x≤X2j, Y1j≤y≤Y2j, the alarm module is prevented from outputting the alarm information by a preset method. The present invention can reduce the situation of false alarms.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a target object detection system. Background Art

[0002] After the aircraft arrives at the designated parking position, maintenance workers need to confirm that the engine is no longer running, quickly put the wheel chocks in place, and place reflective cones at specific locations on the aircraft (front and rear of the fuselage, left and right wings, and in front of the engine) to prevent various service vehicles from approaching and causing damage to the aircraft. After the aircraft is in position and during the aircraft protection period, maintenance workers need to continuously identify and obtain position data of each reflective cone through video monitoring equipment, and issue timely alarms when the reflective cone position data does not match the designated area position. However, in actual work, reflective cones are often blocked by service vehicles, maintenance workers, etc., resulting in false alarms. Summary of the invention

[0003] In view of the above technical problems, the present invention provides a target detection system, which at least partially solves the problems existing in the prior art.

[0004] In one aspect of the present invention, a target detection system is provided, comprising: a detection module, an alarm module, an alarm blocking module and an information queue D; D is a unidirectional first-in first-out queue; the detection module is used to perform the following steps:

[0005] S100, obtaining a target image captured by a target monitoring device at a current time.

[0006] S110: Determine whether there is a target object in the target area according to the target image.

[0007] S120, if it exists, the first information is sent as result information to the information queue D; otherwise, the second information is sent as result information to the information queue D; the first information is used to indicate that there is a target object in the target area, and the first information includes the position information of the target object in the target image; the second information is used to indicate that there is no target object in the target area.

[0008] The alarm module is used to perform the following steps:

[0009] S200, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn); i = 1, 2, ..., n; wherein n is the number of current result information in the information queue D; n is an even number; Di is the i-th result information in D.

[0010] S210, if NUM0 / n>NQ, then output an alarm message; the alarm message is used to prompt that there is no target object in the target area at the current time; NUM0 is the number of second information in the n result information; NQ is a preset ratio threshold.

[0011] The alarm blocking module is used to perform the following steps:

[0012] S300, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn).

[0013] S310, if NUM0 / n=NQ, obtain the target value k=n.

[0014] S320, determine whether Dk is the first information; if so, take Dk as the target information and proceed to step S330, otherwise, obtain k=k-1 and re-execute step S320.

[0015] S330, obtaining position information W=(x, y) in the target information; wherein x is the horizontal coordinate corresponding to W, and y is the vertical coordinate corresponding to W.

[0016] S340, obtain the range information of each object other than the target object in the target image corresponding to Dn to obtain a range information list F = (F1, F2, ..., Fj, ..., Fm); Fj = (X1j, X2j, Y1j, Y2j); wherein, j = 1, 2, ..., m; m is the number of objects other than the target object in the target image; Fj is the range information of the jth object other than the target object in the target image; X1j is the minimum value of the horizontal coordinate corresponding to Fj; X2j is the maximum value of the horizontal coordinate corresponding to Fj; Y1j is the minimum value of the vertical coordinate corresponding to Fj; Y2j is the maximum value of the vertical coordinate corresponding to Fj.

[0017] S350: If X1j≤x≤X2j, Y1j≤y≤Y2j, then the alarm module is prevented from outputting alarm information by a preset method.

[0018] The present invention has at least the following beneficial effects:

[0019] The target object detection system provided by the present invention includes: a detection module, an alarm module, an alarm blocking module and an information queue D. The detection module is used to perform the following steps: obtain the target image collected by the target monitoring device at the current time; determine whether there is a target object in the target area according to the target image; if there is, send the first information as the result information to the information queue D; otherwise, send the second information as the result information to the information queue D. The detection module can detect the target object in real time through the target monitoring device, determine whether there is a target object in the target area, and if there is, obtain the location information of the target object. The alarm module is used to perform the following steps: in response to the update of the information queue D, obtain the current information queue D; if NUM0 / n>NQ, output the alarm information. If the detection module fails to detect the target object for a short period of time, NUM0 is relatively small. This may be due to a misjudgment by the detection module or other objects passing in front of the target object. At this time, no alarm information will be output, which can reduce the occurrence of false alarms. However, if NUM0 is relatively large, making NUM0 / n>NQ, it indicates that the situation is suspicious and the target object may no longer be in the target area, so it is necessary to output alarm information in time. The alarm blocking module is used to perform the following steps: in response to the update of the information queue D, obtain the current information queue D; if NUM0 / n=NQ, obtain the target value k=n; determine whether Dk is the first information; if so, use Dk as the target information; obtain the position information W=(x, y) in the target information; obtain the range information of each object other than the target object in the target image corresponding to Dn to obtain a range information list F=(F1, F2, ..., Fj, ..., Fm); Fj=(X1j, X2j, Y1j, Y2j); if X1j≤x≤X2j, Y1j≤y≤Y2j, prevent the alarm module from outputting the alarm information through a preset method. When NUM0 / n=NQ, it indicates that the detection module has failed to detect the target object many times. At this time, the situation is suspicious, but the failure to detect may be due to the target object being no longer in the target area, or it may be due to the target object being blocked by other objects. Only when the target object is no longer in the target area is it necessary to issue an alarm in time. Therefore, it is necessary to determine whether the target object is blocked by other objects. If the target object is blocked, the alarm blocking module prevents the alarm module from outputting alarm information through a preset method. The present invention can obtain the location information of the target object in real time through the detection module, the alarm module, the alarm blocking module and the information queue D, and output the alarm information in time when it is detected that there is no target object in the target area. At the same time, it can eliminate the situation where the target object is blocked, and when the target object is blocked, it can block the alarm module from outputting alarm information, thereby reducing the situation of false alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a structural block diagram of a target detection system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0024] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0025] Please refer to Figure 1 As shown, an embodiment of the present invention provides a target detection system, including: a detection module, an alarm module, an alarm blocking module and an information queue D; D is a unidirectional first-in-first-out queue.

[0026] It should be noted that those skilled in the art are able to know the specific working method of the information queue D, which will not be described in detail here.

[0027] The detection module is used to perform the following steps:

[0028] S100, obtaining a target image captured by a target monitoring device at a current time.

[0029] In this embodiment, the target image is an image obtained by extracting frames from a monitoring video captured by a target monitoring device.

[0030] Specifically, those skilled in the art know that any method of extracting frames from a video to obtain an image in the prior art falls within the protection scope of the present invention and will not be described in detail herein.

[0031] S110: Determine whether there is a target object in the target area according to the target image.

[0032] In this embodiment, those skilled in the art know that any method for identifying a specific object in an image in the prior art falls within the protection scope of the present invention and will not be described in detail herein.

[0033] S120, if it exists, the first information is sent as result information to the information queue D; otherwise, the second information is sent as result information to the information queue D; the first information is used to indicate that there is a target object in the target area, and the first information includes the position information of the target object in the target image; the second information is used to indicate that there is no target object in the target area.

[0034] In this embodiment, the detection module can detect the target object in real time through the target monitoring device to determine whether the target object exists in the target area. If so, the location information of the target object can be obtained.

[0035] The alarm module is used to perform the following steps:

[0036] S200, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn); i = 1, 2, ..., n; wherein n is the number of current result information in the information queue D; n is an even number; Di is the i-th result information in D.

[0037] S210, if NUM0 / n>NQ, then output an alarm message; the alarm message is used to prompt that there is no target object in the target area at the current time; NUM0 is the number of second information in the n result information; NQ is a preset ratio threshold.

[0038] In this embodiment, the alarm module will only output the alarm information when NUM0 / n>NQ. This is because when NUM0 is relatively small, it may be due to the detection module's misjudgment or other objects passing in front of the target object, and the alarm will produce a false alarm. If NUM0 is relatively large, making NUM0 / n>NQ, it indicates that the situation is suspicious and the target object may no longer be in the target area. In this case, it is necessary to output the alarm information in time to reduce the false alarm situation.

[0039] Specifically, the preset ratio threshold NQ has a value range of 0.25-0.75, preferably, NQ=0.5.

[0040] The alarm blocking module is used to perform the following steps:

[0041] S300, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn).

[0042] S310, if NUM0 / n=NQ, obtain the target value k=n.

[0043] S320, determine whether Dk is the first information; if so, take Dk as the target information and proceed to step S330, otherwise, obtain k=k-1 and re-execute step S320.

[0044] S330, obtaining position information W=(x, y) in the target information; wherein x is the horizontal coordinate corresponding to W, and y is the vertical coordinate corresponding to W.

[0045] S340, obtain the range information of each object other than the target object in the target image corresponding to Dn to obtain a range information list F = (F1, F2, ..., Fj, ..., Fm); Fj = (X1j, X2j, Y1j, Y2j); wherein, j = 1, 2, ..., m; m is the number of objects other than the target object in the target image; Fj is the range information of the jth object other than the target object in the target image; X1j is the minimum value of the horizontal coordinate corresponding to Fj; X2j is the maximum value of the horizontal coordinate corresponding to Fj; Y1j is the minimum value of the vertical coordinate corresponding to Fj; Y2j is the maximum value of the vertical coordinate corresponding to Fj.

[0046] S350: If X1j≤x≤X2j, Y1j≤y≤Y2j, then the alarm module is prevented from outputting alarm information by a preset method.

[0047] In this embodiment, the alarm module will output alarm information when NUM0 / n>NQ. At this time, it is too late for the alarm blocking module to perform subsequent processing when judging whether the target object is blocked. When NUM0 / n<NQ, it is relatively early to judge whether the target object is blocked. At this time, the alarm condition has not been met. If the target object is judged to be blocked at this time, it is difficult to determine whether the blocking object will leave in the future. If the blocking object leaves, no alarm will be issued, which will increase the workload and waste resources. Therefore, when NUM0 / n=NQ, a judgment is made.

[0048] Specifically, since it is impossible to determine whether the result information corresponding to the tail of the current information queue D is the first information or the second information, and only the first information contains the object information of the target object, it is necessary to determine the first information closest to the tail and use it as the target information. The position information in the target information is the position information of the target object detected by the detection module when it last appeared in the target area.

[0049] Furthermore, if X1j≤x≤X2j, Y1j≤y≤Y2j, it indicates that the position of the target object in the target image at the current time is covered by other objects, that is, the target object is blocked by other objects, then the alarm blocking module should prevent the alarm module from outputting alarm information.

[0050] The target object detection system provided by the present invention includes: a detection module, an alarm module, an alarm blocking module and an information queue D. The detection module is used to perform the following steps: obtain the target image collected by the target monitoring device at the current time; determine whether there is a target object in the target area according to the target image; if there is, send the first information as the result information to the information queue D; otherwise, send the second information as the result information to the information queue D. The detection module can detect the target object in real time through the target monitoring device, determine whether there is a target object in the target area, and if there is, obtain the location information of the target object. The alarm module is used to perform the following steps: in response to the update of the information queue D, obtain the current information queue D; if NUM0 / n>NQ, output the alarm information. If the detection module fails to detect the target object for a short period of time, NUM0 is relatively small. This may be due to a misjudgment by the detection module or other objects passing in front of the target object. At this time, no alarm information will be output, which can reduce the occurrence of false alarms. However, if NUM0 is relatively large, making NUM0 / n>NQ, it indicates that the situation is suspicious and the target object may no longer be in the target area, so it is necessary to output alarm information in time. The alarm blocking module is used to perform the following steps: in response to the update of the information queue D, obtain the current information queue D; if NUM0 / n=NQ, obtain the target value k=n; determine whether Dk is the first information; if so, use Dk as the target information; obtain the position information W=(x, y) in the target information; obtain the range information of each object other than the target object in the target image corresponding to Dn to obtain a range information list F=(F1, F2, ..., Fj, ..., Fm); Fj=(X1j, X2j, Y1j, Y2j); if X1j≤x≤X2j, Y1j≤y≤Y2j, prevent the alarm module from outputting the alarm information through a preset method. When NUM0 / n=NQ, it indicates that the detection module has failed to detect the target object many times. At this time, the situation is suspicious, but the failure to detect may be due to the target object being no longer in the target area, or it may be due to the target object being blocked by other objects. Only when the target object is no longer in the target area is it necessary to issue an alarm in time. Therefore, it is necessary to determine whether the target object is blocked by other objects. If the target object is blocked, the alarm blocking module prevents the alarm module from outputting alarm information through a preset method. The present invention can obtain the location information of the target object in real time through the detection module, the alarm module, the alarm blocking module and the information queue D, and output the alarm information in time when it is detected that there is no target object in the target area. At the same time, it can eliminate the situation where the target object is blocked, and when the target object is blocked, it can block the alarm module from outputting alarm information, thereby reducing the situation of false alarms.

[0051] In an exemplary embodiment of the present invention, the preset method includes:

[0052] S360, sending 2 target information to the information queue D.

[0053] In this embodiment, when NUM0 / n=NQ, it is determined that the target object is blocked. Since it is uncertain whether the object blocking the target object leaves in the next frame of the target image, if it does not leave, the detection module sends the second information to the information queue, and the alarm module outputs the alarm information. In order to prevent the alarm module from outputting the alarm information, two target information are first sent to the information queue D. At this time, NUM0 / n<NQ, then the object blocking the target object does not leave in the next frame of the target image, and the detection module sends a second information to the information queue, and the alarm module does not output the alarm, which can reduce false alarms and reduce the amount of data processing.

[0054] In an exemplary embodiment of the present invention, after step S360, the preset method further includes:

[0055] S361, turning off the detection module, and turning on the detection module after a set time length.

[0056] In this embodiment, since the target object is determined to be obstructed when NUM0 / n=NQ, by turning off the detection module, the object obstructing the target object can be given time to leave within the set time length. At this time, the detection module no longer sends result information to the information queue, and the alarm module will not output alarm information.

[0057] Furthermore, the set time length has a value range of 3s-10s, and preferably, the set time length is 5s.

[0058] In an exemplary embodiment of the present invention, the first information further includes the generation time of the first information, and the second information further includes the generation time of the second information;

[0059] The preset method comprises:

[0060] S370, obtaining the generation time contained in each result information to obtain a generation time list T=(T1, T2, . . . , T i , …, T n );T i is the generation time of the i-th result information.

[0061] S371, obtain the target quantity NL=MT / ((T n -T1) / n); where MT is the preset critical time; MT≤T n -T1.

[0062] S372, sending NL target information to the information queue D.

[0063] In this embodiment, in order to prevent the alarm module from outputting alarm information when the target object is obscured, the alarm blocking module can send NL target information to the information queue D, which can reduce the situation where the result information going out from the head of the information queue is all the first information, break the critical situation of NUM0 / n=NQ, and improve the accuracy of the blocking alarm.

[0064] Specifically, NL is determined according to the average frequency of result information entering the information queue.

[0065] Furthermore, the preset critical time MT can be determined through experiments or defined by specific implementation personnel according to actual conditions.

[0066] In an exemplary embodiment of the present invention, the preset method includes:

[0067] S380, continuously sending the target information to the information queue D within a future target time length; the target time length is determined according to the frequency of the detection module sending result information to the information queue D.

[0068] In this embodiment, in order to prevent the alarm module from outputting alarm information when the target object is obscured, the alarm blocking module can continue to send the target information to the information queue D within the future target time length. Regardless of whether the result information sent by the detection module to the information queue is the first information or the second information, the blocking alarm module will send the target information to the information queue D. Then, during the period when the target object is obscured, the alarm module will not output alarm information, which can reduce the situation of false alarms.

[0069] In an exemplary embodiment of the present invention, after step S380, the preset method further includes:

[0070] S381, after a future target time length, determine whether the target object is blocked.

[0071] S382, if the target object is blocked, send one target information to the information queue D and enter step S381; otherwise, end the current step.

[0072] In this embodiment, when the target object is blocked, the alarm blocking module can continue to send the target information to the information queue D within the future target time length to prevent the alarm module from outputting the alarm information. After the future target time length, it is necessary to determine again whether the target object is blocked. If the target object is blocked, one target information is sent to the information queue D at this time, which can reduce false alarms and reduce data processing volume.

[0073] In an exemplary embodiment of the present invention, after step S350, the alarm blocking module is further configured to perform the following steps:

[0074] S351: Determine other objects that block the target object as key objects.

[0075] S352, determine the area information of the area where the key object is located in the target image as the key area information G = (GX1, GX2, GY1, GY2); GX1 is the minimum value of the horizontal coordinate of the area where the key object is located, and GX2 is the maximum value of the horizontal coordinate of the area where the key object is located; GY1 is the minimum value of the vertical coordinate of the area where the key object is located, and GY2 is the maximum value of the vertical coordinate of the area where the key object is located.

[0076] S353: Whenever the detection module acquires a new target image, the new target image is determined as a key image, and occlusion removal determination processing is performed on the key object.

[0077] In this embodiment, if it is determined that the target object is blocked by other objects, the alarm blocking module will adjust the alarm module to a closed state. At this time, the alarm blocking module needs to determine whether the object (key object) blocking the target object has been removed before performing subsequent processing.

[0078] Specifically, those skilled in the art know that any method for determining the range of the region where an object in an image is located in the prior art falls within the protection scope of the present invention and will not be described in detail herein.

[0079] In an exemplary embodiment of the present invention, the occlusion removal determination process includes:

[0080] S3531, obtain the middle area information Z = (ZX1, ZX2, ZY1, ZY2) corresponding to the key object in the key image; wherein ZX1 is the minimum value of the horizontal coordinate of the area where the key object is located, and ZX2 is the maximum value of the horizontal coordinate of the area where the key object is located; ZY1 is the minimum value of the vertical coordinate of the area where the key object is located, and ZY2 is the maximum value of the vertical coordinate of the area where the key object is located.

[0081] S3532, obtain the key center point information GJ = (GJX, GJY) corresponding to the key area information and the intermediate center point information ZJ = (ZJX, ZJY) corresponding to the intermediate area information; wherein, GJX = (GX1+GX2) / 2, GJY = (GY1+GY2) / 2; ZJX = (ZX1+ZX2) / 2, ZJY = (ZY1+ZY2) / 2.

[0082] S3533, according to GJ and ZJ, obtain the target center point distance XL; wherein XL = sqrt((GJX-ZJX)2 +(GJY-ZJY) 2 ), sqrt() is the preset square root determination function.

[0083] S3534, if XL>EL, it is determined that the key object blocking the target object is removed; wherein EL is a preset distance threshold.

[0084] In this embodiment, by comparing the regional information of the area where the key object is located in the target image, which is determined as the key area information G = (GX1, GX2, GY1, GY2) and the intermediate area information Z = (ZX1, ZX2, ZY1, ZY2) corresponding to the key object in the key image, it can be determined whether the key object that obscures the target object is removed.

[0085] Specifically, it can be determined whether the key object that blocks the target object is removed by comparing the distance between the center point of the key area and the middle area.

[0086] In an exemplary embodiment of the present invention, the preset distance threshold EL may be determined by the following method:

[0087] EL=(sqrt((ZX1-ZX2) 2 +(ZY1-ZY2) 2 ) / 2+sqrt((GX1-GX2) 2 +(GY1-GY2) 2 ) / 2) / 2.

[0088] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A target detection system, characterized in that: include: Detection module, alarm module, alarm blocking module and information queue D; D is a unidirectional first-in first-out queue; the detection module is used to perform the following steps: S100, obtaining a target image captured by a target monitoring device at a current time; S110, determining whether there is a target object in the target area according to the target image; S120, if it exists, sending the first information as result information to the information queue D; Otherwise, the second information is sent as result information to the information queue D; The first information is used to indicate that a target object exists in the target area, and the first information includes position information of the target object in the target image; the second information is used to indicate that a target object does not exist in the target area; The alarm module is used to perform the following steps: S200, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn); i = 1, 2, ..., n; wherein n is the number of current result information in the information queue D; n is an even number; Di is the i-th result information in D; S210, if NUM0 / n>NQ, then output an alarm message; the alarm message is used to prompt that there is no target object in the target area at the current time; NUM0 is the number of second information in the n result information; NQ is a preset ratio threshold; The alarm blocking module is used to perform the following steps: S300, in response to the update of the information queue D, obtain the current information queue D = (D1, D2, ..., Di, ..., Dn); S310, if NUM0 / n=NQ, obtain the target value k=n; S320, determine whether Dk is the first information; if so, take Dk as the target information and proceed to step S330, otherwise, obtain k=k-1 and re-execute step S320; S330, obtaining position information W=(x, y) in the target information; wherein x is the horizontal coordinate corresponding to W, and y is the vertical coordinate corresponding to W; S340, obtaining the range information of each object other than the target object in the target image corresponding to Dn, so as to obtain a range information list F = (F1, F2, ..., Fj, ..., Fm); Fj = (X1j, X2j, Y1j, Y2j); wherein, j = 1, 2, ..., m; m is the number of objects other than the target object in the target image; Fj is the range information of the jth object other than the target object in the target image; X1j is the minimum value of the horizontal coordinate corresponding to Fj; X2j is the maximum value of the horizontal coordinate corresponding to Fj; Y1j is the minimum value of the vertical coordinate corresponding to Fj; Y2j is the maximum value of the vertical coordinate corresponding to Fj; S350: If X1j≤x≤X2j, Y1j≤y≤Y2j, then the alarm module is prevented from outputting alarm information by a preset method.

2. The target detection system according to claim 1, characterized in that: The preset method comprises: S360, sending 2 target information to the information queue D.

3. The target detection system according to claim 2, characterized in that: After step S360, the preset method further includes: S361, turning off the detection module, and turning on the detection module after a set time period.

4. The target detection system according to claim 1, characterized in that: The first information also includes the time when the first information was generated, and the second information also includes the time when the second information was generated; The preset method comprises: S370, obtaining the generation time contained in each result information to obtain a generation time list T=(T1, T2, . . . , T i ,…,T n );T i is the generation time of the i-th result information; S371, obtain target quantity NL=MT / ((T n -T1) / n); where MT is the preset critical time; MT≤T n -T1; S372, sending NL target information to the information queue D.

5. The target detection system according to claim 1, characterized in that: The preset method comprises: S380, continuously sending the target information to the information queue D within a future target time length; the target time length is determined according to the frequency of the detection module sending result information to the information queue D.

6. The target detection system according to claim 5, characterized in that: After step S380, the preset method further includes: S381, after a future target time length, determining whether the target object is blocked; S382, if the target object is blocked, send one target information to the information queue D and enter step S381; otherwise, end the current step.

7. The target detection system according to claim 1, characterized in that: The preset ratio threshold NQ has a value range of 0.25-0.

75.

8. The target detection system according to claim 3, characterized in that: The value range of the set time length is 3s-10s.

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