Target positioning method and device, electronic equipment and storage medium

Abstract

The application discloses a target positioning method and device, electronic equipment and storage medium, and belongs to the technical field of computer vision. The target positioning method comprises the following steps: in the case that at least one target is identified during the current week scanning of a scanning galvanometer, the scanning galvanometer is controlled to pause the current week scanning; in the case that the positioning of all the identified targets is not completed, the servo motor is controlled to track any target that has not completed the positioning, the first position information of the target is acquired, and the camera is controlled to shoot the target; the first position information is superimposed on the first image obtained by shooting to obtain a second image; and the second image is uploaded to a terminal. The target positioning method, device, electronic equipment and storage medium provided by the application can stop the rotation of the servo motor in the case that the target is identified through the week scanning of the scanning galvanometer, can realize full-automatic and rapid positioning, can reduce the time consumption of positioning, and can improve the positioning efficiency.

Description

Technical Field

[0001] This application belongs to the field of computer vision technology, and in particular relates to a target localization method, device, electronic device and storage medium. Background Technology

[0002] Target detection, recognition, and tracking refers to target detection, target recognition, and target tracking. It is widely used in many fields such as robot navigation, intelligent video surveillance, industrial inspection, and aerospace. Target detection, recognition, and tracking can serve as a core component of intelligent monitoring systems.

[0003] A crucial task in target detection, recognition, and tracking is target localization. The purpose of target localization in intelligent monitoring systems is to acquire the target's location information and then overlay this information onto the target's image.

[0004] Figure 1 This is a flowchart illustrating the traditional target localization method provided by existing technology. For example... Figure 1 As shown, the target localization process based on traditional target localization methods may include the following steps.

[0005] Step 101: Control the camera zoom. First, manually control the camera to zoom.

[0006] Step 102: Control the servo motor to rotate at a fixed angle. Manually control the servo motor to rotate by a fixed angle each time.

[0007] Step 103: The servo motor rotates to a fixed angle and then stops.

[0008] Step 104: Determine if the target has been identified. If yes, proceed to step 105; otherwise, proceed to step 109.

[0009] Step 105: Tracking and ranging. After identifying the targets, track and range one of them.

[0010] Step 106: Locate the target. The target can be located by combining information obtained from the Global Positioning System (GPS), thus obtaining the target's location information.

[0011] Step 107: Overlay location information. Overlay the target's location information onto the image and take a picture.

[0012] Step 108: Take a photo and upload it. You can upload the photo you take to the terminal via the network.

[0013] Step 109: Determine if the servo motor has rotated one revolution. If yes, proceed to step 110; otherwise, return to step 102.

[0014] Step 110, End.

[0015] Based on traditional target localization methods, the time required to identify and locate the target during one revolution of the servo motor is too long, resulting in low efficiency. Summary of the Invention

[0016] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a target positioning method, apparatus, electronic device, and storage medium that can improve the efficiency of target positioning.

[0017] Firstly, this application provides a target localization method, which includes:

[0018] If at least one target is identified during the current cycle scan of the scanning galvanometer, the scanning galvanometer is controlled to pause the current cycle scan.

[0019] If the location of all identified targets is not completed, the servo motor is controlled to track any target that has not been located, the first position information of the target is obtained, and the camera is controlled to take a picture of the target.

[0020] The first location information is superimposed on the captured first image to obtain the second image;

[0021] Upload the second image to the terminal.

[0022] According to the target localization method of this application, by using a scanning galvanometer for circumferential scanning, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, overlaying images and position information, and uploading is executed. This reduces manual control and enables autonomous target localization, changing the operation process in related technologies where the servo motor stops rotating regardless of the presence of a target, and then the operation process of identifying the target, locating the target, overlaying images and position information, and uploading is executed. Furthermore, the scanning galvanometer can achieve rapid scanning, resulting in faster target identification. In summary, the target localization method provided by the embodiments of this application can achieve fully autonomous and rapid target detection, identification, and localization, reducing the time required for target localization and improving the efficiency of target localization.

[0023] According to one embodiment of this application, the control servo motor tracks any target that has not yet completed positioning, and obtains the first position information of the target, including:

[0024] The servo motor is controlled to rotate so that the photoelectric load is aligned with any of the targets; the photoelectric load includes a ranging device and a positioning device.

[0025] The first position information is obtained based on the distance information obtained by the ranging device, the second position information obtained by the positioning device, and the angle information of the servo motor rotation.

[0026] According to the target positioning method of this application, by controlling the rotation of the servo motor, the photoelectric load is aligned with the target. Based on the distance information obtained by the ranging device included in the photoelectric load, the second position information obtained by the positioning device included in the photoelectric load, and the angle information of the rotation of the servo motor, the first position information is obtained, which can obtain the target's position information more quickly and accurately.

[0027] According to one embodiment of this application, before controlling the scanning galvanometer to pause the current cycle scan when at least one target is identified during the current cycle scan of the scanning galvanometer, the method includes:

[0028] The scanning galvanometer is controlled to start the current cycle scan, and the result of target recognition is obtained based on the scanning signal acquired in this cycle scan; the result is used to indicate whether the target has been recognized.

[0029] According to one embodiment of this application, controlling the rotation of the servo motor includes:

[0030] Based on the results, the servo motor is controlled to rotate.

[0031] According to the target localization method of this application, based on the result of target identification during the current circumferential scanning process of the scanning galvanometer, the rotation of the servo motor can be controlled to achieve more efficient target tracking, and thus more efficient target localization.

[0032] According to one embodiment of this application, after controlling the scanning galvanometer to pause the current cycle scan when at least one target is identified during the current cycle scan of the scanning galvanometer, the method further includes:

[0033] Once all identified targets have been located, the scanning galvanometer is controlled to continue the current periodic scan.

[0034] According to the target localization method of this application, by controlling the scanning galvanometer to continue the current cyclic scanning after completing the localization of all identified targets, the target localization at the current focal length of the camera can be continued autonomously, which can reduce manual control and improve the efficiency of target localization.

[0035] According to one embodiment of this application, the method further includes:

[0036] If no target is detected during the current cycle of scanning, the camera zooms in and the scanning galvanometer performs the next cycle.

[0037] According to the target localization method of this application, if the target is not identified during the current circumferential scan of the scanning galvanometer, the camera is controlled to zoom and then the scanning galvanometer is controlled to perform the next circumferential scan. This allows for fully autonomous target localization at another focal length of the camera, reducing manual control and improving the efficiency of target localization.

[0038] Secondly, this application provides a target positioning device, the device comprising:

[0039] The control module is used to control the scanning galvanometer to pause the current cycle scan when at least one target is identified during the current cycle scan.

[0040] The positioning module is used to control the servo motor to track any target that has not been located before the positioning of all identified targets is completed, to obtain the first position information of the target, and to control the camera to take a picture of the target.

[0041] The overlay module is used to overlay the first position information onto the captured first image to obtain a second image;

[0042] The upload module is used to upload the second image to the terminal.

[0043] According to the target positioning device of this application, by scanning the perimeter of the galvanometer, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of positioning the target, overlaying images and location information, and uploading is executed. This reduces manual control and enables autonomous target positioning, changing the operation process in related technologies where the servo motor stops rotating regardless of the presence of a target, and then the operation process of identifying the target, positioning the target, overlaying images and location information, and uploading is executed. Furthermore, the galvanometer can achieve rapid scanning, resulting in faster target identification. In summary, the target positioning method provided by the embodiments of this application can achieve fully autonomous and rapid target detection, identification, and positioning, reducing the time required for target positioning and improving the efficiency of target positioning.

[0044] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the target positioning method as described in the first aspect above.

[0045] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the target localization method as described in the first aspect above.

[0046] Fifthly, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the target positioning method as described in the first aspect.

[0047] Sixthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the target localization method as described in the first aspect above.

[0048] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0049] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0050] Figure 1 This is a flowchart illustrating the traditional target localization method provided by existing technology;

[0051] Figure 2 This is one of the flowcharts illustrating the target localization method provided in the embodiments of this application;

[0052] Figure 3 This is a schematic diagram of a positioning scenario for the target positioning method provided in the embodiments of this application;

[0053] Figure 4 This is a second schematic flowchart of the target localization method provided in the embodiments of this application;

[0054] Figure 5 This is a schematic diagram of the target positioning device provided in the embodiments of this application;

[0055] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0057] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0058] In related technologies, object detection, recognition, and tracking is an important branch and a popular field in computer vision and digital image processing. Using computer vision for object detection, recognition, and tracking has significant practical implications for reducing the consumption of human capital.

[0059] The target localization method in related technologies involves a servo motor rotating a fixed angle and then stopping, followed by a determination of whether a target has been detected. Since the servo motor stops regardless of the presence of a target, identifying and locating the target during one rotation of the servo motor is time-consuming. Furthermore, this process is repeated at different camera focal lengths. Figure 1 The target location process shown will result in excessively long process execution time for the entire system and low system efficiency.

[0060] The target positioning method, target positioning device, electronic device, and readable storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0061] The target localization method can be applied to a terminal, and can be executed by the hardware or software in the terminal.

[0062] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0063] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0064] The target positioning method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the target positioning method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, and wearable devices. The target positioning method provided in this application embodiment will be described below using an electronic device as the execution subject as an example.

[0065] like Figure 2 As shown, the target localization method includes steps 210, 220, 230 and 240.

[0066] Step 210: If at least one target is identified during the current cycle scan of the scanning galvanometer, control the scanning galvanometer to pause the current cycle scan.

[0067] It should be noted that the target positioning method provided in this application embodiment can be mainly applied to mobile platforms such as vehicle-mounted, ship-mounted, airborne, or spaceborne platforms.

[0068] In practical implementation, this application embodiment utilizes the circumferential scanning mode of a scanning galvanometer for target identification. A scanning galvanometer is a vector scanning device widely used in various scanning scenarios. A circumferential scan is a 360° scan around the device. Generally, this is achieved by rotating the device one full rotation. A single complete 360° scan by the scanning galvanometer can be called a circumferential scan. In this application embodiment, target identification refers to recognizing different targets, but not identifying the specific information of the target, such as its category.

[0069] The design of the Galvo scanner follows the same approach as that of an ammeter, with a mirror replacing the pointer. The probe signal can be replaced by a computer-controlled -5V to 5V or -10V to +10V DC signal to complete the predetermined actions. Similar to rotating mirror scanning systems, the Galvo scanner uses a pair of folding mirrors, but unlike rotating mirror systems, the stepper motors driving these mirrors are replaced with servo motors. The use of a position sensor and the design of a negative feedback loop further ensure the accuracy of the entire scanning system, significantly improving scanning speed and repeatability.

[0070] It should be noted that in the application scenarios of this application embodiment, the electronic device acting as the execution subject can be part of an intelligent optoelectronic system. This electronic device can act as a tracker and, by controlling the camera and other devices in the intelligent optoelectronic system, complete the target localization task in this application scenario. The main function of the tracker is to identify the target.

[0071] In some embodiments, for the aforementioned mobile platforms such as vehicle-mounted, ship-mounted, airborne, or spaceborne platforms, the intelligent optoelectronic system can be installed on top of the platform to reduce interference from obstacles.

[0072] In some embodiments, the camera may be a specialized electronic device that forms an image using optical imaging principles, or it may be an application installed on an electronic device such as a computer or mobile phone to control the imaging of its own camera or an external camera.

[0073] It is understandable that for the aforementioned mobile platforms such as vehicle-mounted, ship-mounted, or space-mounted platforms, cameras can be installed at multiple locations on the top and sides of the platform.

[0074] In some embodiments, in addition to the aforementioned electronic device as the execution subject, the intelligent optoelectronic system may also include an optoelectronic load and a servo motor.

[0075] A servo motor is used to drive an optoelectronic load to follow its rotation through its own rotation.

[0076] A servo motor is an engine that controls the operation of mechanical components in a servo system; it is a type of auxiliary motor with indirect speed change.

[0077] Servo motors offer highly accurate speed and position control, converting voltage signals into torque and speed to drive the controlled object. The rotor speed of a servo motor is controlled by the input signal and responds quickly. In automatic control systems, servo motors serve as actuators, possessing characteristics such as a small electromechanical time constant and high linearity. They convert received electrical signals into angular displacement or angular velocity output on the motor shaft, thereby driving the controlled object through rotor rotation.

[0078] It should be noted that, in the context of the embodiments of this application, the rotation of the servo motor refers to the rotation of the rotor of the servo motor. The controlled object of the servo motor can be an optoelectronic load.

[0079] In some embodiments, the photoelectric load can be fixed to a turntable. A servo motor can drive the turntable to rotate by its own rotation, thereby rotating the photoelectric load.

[0080] In addition to the aforementioned scanning galvanometer, the photoelectric payload may also include at least one of the following detection devices: infrared detection device, visible light detection device, and laser detection device.

[0081] In some embodiments, the aforementioned electronic device acting as the execution subject may include a system-on-chip (SoC) carrying computing power.

[0082] All components of a system-on-a-chip (SoC) are integrated onto a single chip, enabling high integration and reducing the size and cost of the entire intelligent optoelectronic system. Furthermore, SoCs can operate stably in harsh environments, improving the reliability and stability of the entire intelligent optoelectronic system and reducing the failure rate. Additionally, SoCs are easier to upgrade and maintain, allowing for convenient software updates and upgrades, and enabling efficient data processing functions.

[0083] After the scanning galvanometer begins its current circumferential scan, it rotates and performs the scan under the drive of the servo motor. During this circumferential scan, the presence of a target within the current scanning range can be identified based on the galvanometer's rotation. If a target is present within the current scanning range, different targets can be further identified to determine the number of targets.

[0084] If a target is identified during the current circumferential scan of the scanning galvanometer, the scan can be paused by stopping the servo motor's rotation, allowing the target within the target area to be located first. If a target exists within the currently scanned area, that area is considered the target range.

[0085] It should be noted that the period from when the scanning galvanometer pauses and restarts a cycle scan until the next pause can be considered a phase of that cycle scan. In other words, the start of a cycle scan by the scanning galvanometer can be considered the zeroth pause of that cycle scan.

[0086] Step 220: If the localization of all identified targets has not been completed, control the servo motor to track any target that has not been localized, obtain the first position information of any target, and control the camera to take a picture of any target.

[0087] In actual execution, the servo motor can be controlled to track one of the targets identified in the previous stage of the current cycle scan. After tracking the target, the target can be located to obtain its initial position information, thereby achieving the location of all identified targets.

[0088] In some embodiments, servo motors can be controlled to track each target identified in the previous stage in a certain order.

[0089] For example, the order in which the servo motors track targets can be determined based on the relationship between the target's direction and the angle already scanned by the scanning galvanometer, and then the servo motors can be controlled to track each target according to this order. Alternatively, this order can be determined randomly. The embodiments in this application do not specifically limit the particular order.

[0090] After obtaining the first location information of any target, it is determined whether the localization of all targets identified in the previous stage has been completed, that is, whether the first location information of all targets identified in the previous stage has been obtained.

[0091] If not, the next target can be tracked based on the aforementioned sequence, and then the first location information of that target can be obtained.

[0092] In some embodiments, any method for obtaining the target's location information in the related art can be used to obtain the target's first location information. This application does not specifically limit the method used to obtain the target's location information.

[0093] After tracking the target, the camera can be controlled simultaneously to capture a picture of the target, thus obtaining the first image.

[0094] Step 230: Superimpose the first position information onto the captured first image to obtain the second image.

[0095] In actual execution, after obtaining the first image and the first position information, the first position information can be superimposed on the first image to obtain the second image.

[0096] In some embodiments, the first location information can be directly superimposed onto the first image in the form of a foreground caption.

[0097] For example, overlaying the first location information onto the first image as a foreground caption may include: adding the first location information of the target as a foreground caption to an area near the target in the first image, or adding it to an area in the first image that does not affect the display of each target, and connecting the area and the target with radial lines. The specific method of overlaying the first location information onto the first image as a foreground caption is not limited in the embodiments of this application.

[0098] In some embodiments, the first location information can be overlaid on the first image as an invisible attribute of the first image, so that the user can view the first location information of each target by viewing the attributes of the second image.

[0099] Step 240: Upload the second image to the terminal.

[0100] In actual execution, after acquiring the second image, it can be uploaded to the terminal for the user to view, allowing the user to view both the target's image and location information simultaneously.

[0101] The terminal can be any type of terminal, such as a personal computer (PC), mobile phone, or tablet computer. This application does not limit the specific type of terminal.

[0102] In some embodiments, one second image can be uploaded at a time. Alternatively, all the second images obtained in this week's scan can be stitched together and then uploaded to the terminal to reduce the number of images transmitted. This enables the uploading of an image with superimposed location information after locating the target identified in the autonomous scan throughout the week.

[0103] According to the target localization method provided in this application, by using a scanning galvanometer for circumferential scanning, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, overlaying images and location information, and uploading is executed. This reduces manual control and enables autonomous target localization, changing the operation process in related technologies where the servo motor stops rotating regardless of the presence of a target, and then the operation process of identifying the target, locating the target, overlaying images and location information, and uploading is executed. Furthermore, the scanning galvanometer can achieve rapid scanning, resulting in faster target identification. In summary, the target localization method provided in this application can achieve fully autonomous and rapid target detection, identification, and localization, reducing the time required for target localization and improving the efficiency of target localization.

[0104] In some embodiments, controlling a servo motor to track any target that has not yet been positioned and to obtain the first position information of any target includes: controlling the servo motor to rotate so that the photoelectric load is aligned with any target; the photoelectric load includes a ranging device and a positioning device.

[0105] In actual execution, controlling the servo motor to track any target can include controlling the rotation of the servo motor so that the photoelectric load is aligned with the target.

[0106] The ranging device is used to measure the distance between the photoelectric payload and the target. In some embodiments, the ranging device may be the aforementioned laser detection device.

[0107] It is understandable that the aforementioned movable platform will move, and the photoelectric payload may also include a positioning device for positioning the photoelectric payload.

[0108] In some embodiments, the positioning device may include at least one of an inertial navigation device and a terminal device based on a Global Navigation Satellite System (GNSS).

[0109] In some embodiments, GNSS may include at least one of GPS, BeiDou Navigation Satellite System (BDS), GLONASS, and Galileo.

[0110] First position information is obtained based on the distance information obtained from the ranging device, the second position information obtained from the positioning device, and the angle information of the servo motor rotation.

[0111] In actual execution, after the photoelectric payload is aligned with the target, the distance between the photoelectric payload and the target can be measured by a ranging device as distance information, and the photoelectric payload can be positioned by a positioning device to obtain the second position information of the photoelectric payload.

[0112] It is understandable that the angle information of the servo motor rotation can be obtained from the servo motor.

[0113] After obtaining the distance between the photoelectric load and the target, the second position information of the photoelectric load, and the rotation angle information of the servo motor, the second position information of the photoelectric load can be used as a reference, the distance between the photoelectric load and the target can be used as an offset, and the rotation angle information of the servo motor can be used as an offset angle. Thus, based on the above reference, offset, and offset angle, the first position information of the target can be obtained.

[0114] In some embodiments, both the first location information and the second location information may include latitude and longitude, and may also include information such as altitude.

[0115] It should be noted that using a servo motor to rotate a scanning galvanometer to perform a circumferential scan in one stage can be considered as the servo motor rotating at a relatively large angle. However, controlling the rotation of the servo motor to align the photoelectric load with a target identified in that stage can be considered as the servo motor rotating at a very small angle based on that relatively large angle. Therefore, the rotation of the servo motor will not consume too much time, only slightly more than the time required for the servo motor to rotate one revolution. However, in the process of identifying and locating the target, it can save a lot of time compared to related technologies.

[0116] According to the target positioning method provided in the embodiments of this application, by controlling the rotation of the servo motor, the photoelectric load is aligned with the target. Based on the distance information obtained by the ranging device included in the photoelectric load, the second position information obtained by the positioning device included in the photoelectric load, and the angle information of the rotation of the servo motor, the first position information is obtained, which can obtain the target's position information more quickly and accurately.

[0117] In some embodiments, when at least one target is identified during the current cycle scan of the scanning galvanometer, before controlling the scanning galvanometer to pause the current cycle scan, the method includes: controlling the scanning galvanometer to start the current cycle scan, and obtaining the result of target identification based on the scanning signal acquired in the current cycle scan; the result is used to indicate whether the target has been identified.

[0118] In actual operation, after the camera's focal length is fixed, the scanning galvanometer can be controlled to begin the current circumferential scan. During the circumferential scan, scanning signals can be obtained; these signals can be analyzed to obtain the target identification results.

[0119] In some embodiments, the result of target identification may include whether a target exists within the range currently scanned by the scanning galvanometer, and the number of targets. In some embodiments, the result of target identification may also include information on the approximate orientation of each target.

[0120] According to the target localization method provided in the embodiments of this application, the scanning signal obtained by the scanning galvanometer in this cycle scan is used to obtain the result of target recognition. Based on the result, it can be determined whether the target has been recognized. Thus, when at least one target is recognized, the servo motor is controlled to stop rotating, and the operation process of positioning the target, superimposing the image and location information, and uploading it can be performed. This can reduce manual control, perform target localization autonomously, realize fully autonomous and rapid target detection, recognition and localization, reduce the time consumption of target localization, and improve the efficiency of target localization.

[0121] In some embodiments, controlling the rotation of a servo motor includes: controlling the rotation of the servo motor based on a result.

[0122] In actual execution, the approximate direction of each identified target can be determined based on the target identification results. Then, based on the approximate direction of each target, the servo motor can be controlled to rotate, so as to track each target identified in the previous stage in a certain order.

[0123] To facilitate the localization process of the targets identified in the previous stage of the current galvanometer scan in this embodiment of the application, the following is combined with... Figure 3 An example is provided.

[0124] Figure 3 This is a schematic diagram of a positioning scenario for the target positioning method provided in the embodiments of this application. Figure 3 This illustrates a localization scenario involving multiple targets. In the previous stage of the current scan cycle, the scanning galvanometer identified n targets, where n is a positive integer. For Figure 3In the scenario shown, based on the result of target recognition, the servo motor is first rotated to a position for tracking target 1, so that the photoelectric load 300 is aligned with target 1. Then, laser ranging is performed using laser 310 to obtain the distance information between the photoelectric load and target 1, and the second position information of the photoelectric load 300 (represented by latitude and longitude information) is obtained using inertial navigation device 320. Based on this distance information and the second position information, the latitude and longitude information of target 1 is obtained as the first position information of target 1. Next, the servo motor is rotated to a position for tracking target 2, and the first position information of target 2 is obtained by following the steps of obtaining the first position information of target 1. The above process is repeated until the first position information of target n is obtained.

[0125] It is understood that the description of laser 310 as a ranging device and inertial navigation device 320 as a positioning device is exemplary. The ranging device and the positioning device can be other types of devices, as long as they can respectively realize the ranging function and the positioning function.

[0126] An inertial navigation device is a device with inertial navigation capabilities. Inertial navigation is an autonomous navigation technology that does not rely on external information or radiate energy to the outside. Inertial navigation devices can operate not only in the air and on the ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of motion. By measuring the acceleration of a vehicle (such as an airplane, car, or ship) in an inertial reference frame, integrating it over time, and transforming it into a navigation coordinate system, information such as velocity, yaw angle, and position in the navigation coordinate system can be obtained.

[0127] Compared to positioning based on GNSS such as GPS, positioning via inertial navigation devices is an autonomous system that does not rely on any external information or radiate energy to the outside. Therefore, it has good concealment and is not affected by external electromagnetic interference. It can work in the air, on the earth's surface, and even underwater around the clock. The location information it acquires has good continuity and low noise. It also has the advantages of high data update rate, short-term accuracy, and good stability.

[0128] It should be noted that using the rotation of the servo motor to enable the scanning galvanometer to perform a circumferential scan in one stage can be regarded as the servo motor rotating by a large angle. However, controlling the rotation of the servo motor to align the photoelectric load with a target identified in that stage can be regarded as the servo motor rotating by a very small angle based on that large angle. Therefore, the servo motor tracks the target more efficiently and accurately.

[0129] According to the target localization method provided in the embodiments of this application, based on the result of identifying the target during the current circumferential scanning process of the scanning galvanometer, the rotation of the servo motor is controlled, which can achieve more efficient target tracking and thus more efficient target localization.

[0130] In some embodiments, if at least one target is identified during the current cycle scan of the scanning galvanometer, after controlling the scanning galvanometer to pause the current cycle scan, the method further includes: after completing the localization of all identified targets, controlling the scanning galvanometer to continue the current cycle scan.

[0131] In actual execution, after obtaining the first location information of any target, it is determined whether the location of all targets identified in the previous stage has been completed, that is, whether the first location information of all targets identified in the previous stage has been obtained.

[0132] If so, it means that the first position information of all targets identified in the previous stage has been obtained, and the scanning galvanometer can be controlled to continue the current cycle scan, that is, to start a new stage of the current cycle scan.

[0133] According to the target localization method provided in the embodiments of this application, by controlling the scanning galvanometer to continue the current circumferential scan after completing the localization of all identified targets, the target localization at the current focal length of the camera can be continued autonomously, which can reduce manual control and improve the efficiency of target localization.

[0134] In some embodiments, the method further includes: if no target is identified during the current cyclic scan of the scanning galvanometer, controlling the camera to zoom and then controlling the scanning galvanometer to perform the next cyclic scan.

[0135] In actual execution, if no target is identified during the completion of one cycle of scanning by the galvanometer, the camera can be controlled to zoom, and steps 210 to 240 can be repeated to perform the next cycle of scanning. Based on the process of the next cycle of scanning, the target can be located again.

[0136] According to the target localization method provided in the embodiments of this application, if the target is not identified during the current circumferential scan of the scanning galvanometer, the camera is controlled to zoom and then the scanning galvanometer is controlled to perform the next circumferential scan. This method can perform target localization at another focal length of the camera autonomously, which can reduce manual control and improve the efficiency of target localization.

[0137] To facilitate understanding of the above embodiments of this application, an exemplary implementation process of the target localization method is described below.

[0138] Figure 4 This is a second schematic flowchart of the target localization method provided in the embodiments of this application. Figure 4 As shown, the target localization method may include the following steps.

[0139] Step 401: Enable target location.

[0140] You can first set the camera's focal length on the terminal, and then turn on the automatic recognition, tracking and positioning mode with one click to automatically recognize, track and locate the target.

[0141] Step 402: Control the scanning galvanometer to perform a circumferential scan.

[0142] The servo motor is controlled to start the scanning galvanometer and begin this cycle scan.

[0143] Step 403: Determine whether the target has been identified.

[0144] If yes, proceed to step 404; otherwise, continue to step 402.

[0145] Step 404: Control the scanning galvanometer to pause the periodic scan.

[0146] If at least one target is identified during the current cycle of scanning, the scanning galvanometer is controlled to pause the current cycle.

[0147] Step 405: Track the targets sequentially.

[0148] The servo motor is controlled to sequentially track each target identified during this cycle scan.

[0149] Step 406: Laser ranging.

[0150] Laser ranging is performed on the aforementioned target to obtain the distance between the photoelectric payload and the target, which is used as distance information.

[0151] Step 407: Position and take a picture.

[0152] Based on the aforementioned distance information and the second position information of the photoelectric load, the target is located to obtain the first position information of the target, and the camera can be controlled to take a picture of the target to obtain the first image.

[0153] Step 408: Upload to the terminal.

[0154] The target's first location information is overlaid on the first image to obtain a second image. After obtaining the second image, it is uploaded to the terminal.

[0155] Step 409: Determine whether all target locations have been completed.

[0156] If yes, proceed to step 410; otherwise, return to step 405.

[0157] Step 410: Target localization complete.

[0158] Without needing to adjust the camera's focal length to locate the target again, the target location process at the current focal length ends, thus ending the entire target location process.

[0159] If the camera's focal length needs to be adjusted for target localization again, the target localization process at the current focal length ends. Then, after the camera's focal length is adjusted, the target localization process from steps 401 to 410 is re-executed to perform target localization at the adjusted focal length until the target localization process at all required focal lengths is completed, thus ending the entire target localization process.

[0160] The target positioning method provided in this application can be executed by a target positioning device. This application uses the example of a target positioning device executing the target positioning method to illustrate the target positioning device provided in this application.

[0161] This application also provides a target positioning device.

[0162] like Figure 5 As shown, the target positioning device includes: a control module 510, a positioning module 520, an overlay module 530, and an upload module 540.

[0163] The control module 510 is used to control the scanning galvanometer to pause the current cycle scan when at least one target is identified during the current cycle scan.

[0164] The positioning module 520 is used to control the servo motor to track any target that has not been located before the positioning of all identified targets is completed, to obtain the first position information of any target, and to control the camera to take a picture of any target.

[0165] The overlay module 530 is used to overlay the first position information onto the captured first image to obtain a second image;

[0166] Upload module 540 is used to upload the second image to the terminal.

[0167] According to the target positioning device provided in the embodiments of this application, when at least one target is identified through the circumferential scanning of the scanning galvanometer, the servo motor is controlled to stop rotating, and the operation process of positioning the target, overlaying images and location information, and uploading is executed. This reduces manual control and enables autonomous target positioning, changing the operation process in related technologies where the servo motor stops rotating regardless of the presence of a target, and then the operation process of identifying the target, positioning the target, overlaying images and location information, and uploading is executed. Furthermore, the scanning galvanometer can achieve rapid scanning, resulting in faster target identification. In summary, the target positioning method provided in the embodiments of this application can achieve fully autonomous and rapid target detection, identification, and positioning, reducing the time required for target positioning and improving the efficiency of target positioning.

[0168] In some embodiments, the control module 510 can also be used to control the rotation of the servo motor so that the photoelectric load is aligned with any target; the photoelectric load includes a ranging device and a positioning device.

[0169] The positioning module 520 can be specifically used to obtain the first position information based on the distance information obtained by the ranging device, the second position information obtained by the positioning device, and the angle information of the servo motor rotation.

[0170] In some embodiments, the control module 510 can also be used to control the scanning galvanometer to start the current cycle scan, and obtain the result of target recognition based on the scanning signal obtained in the current cycle scan; the result is used to indicate whether the target has been recognized.

[0171] In some embodiments, the control module 510 may be specifically used to control the rotation of the servo motor based on the result.

[0172] In some embodiments, the control module 510 can also be used to control the scanning galvanometer to continue the current periodic scan after all identified targets have been located.

[0173] In some embodiments, the control module 510 can also be used to control the camera to zoom and control the scanning galvanometer to perform the next cycle scan if the target is not identified during the current cycle scan of the scanning galvanometer.

[0174] The target positioning device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0175] The target positioning device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0176] The target positioning device provided in this application embodiment can achieve... Figures 2 to 4 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0177] In some embodiments, such as Figure 6 As shown, this application embodiment also provides an electronic device 600, including a processor 610, a memory 620, and a computer program stored in the memory 620 and executable on the processor 610. When the program is executed by the processor 610, it implements the various processes of the above-described target positioning method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0178] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0179] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described target positioning method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0180] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0181] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described target positioning method.

[0182] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0183] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described target positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0184] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0185] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0186] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0187] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0188] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0189] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A target localization method, characterized in that, include: The scanning galvanometer is controlled to start the current cycle scan, and the result of target recognition is obtained based on the scanning signal acquired in this cycle scan; The results of target identification include whether a target exists within the current scanning range of the scanning galvanometer, and the number of targets; the results of target identification also include information on the approximate orientation of each target. If at least one target is identified during the current cycle scan of the scanning galvanometer, the scanning galvanometer is controlled to pause the current cycle scan. If the location of all identified targets is not completed, the servo motor is controlled to track any target that has not been located, the first position information of the target is obtained, and the camera is controlled to take a picture of the target. The first location information is superimposed on the captured first image to obtain the second image; The step of superimposing the first location information onto the captured first image includes: adding the first location information of the target to the area near the target in the first image in the form of a foreground subtitle, or adding it to an area in the first image that does not affect the display of each target, and connecting the area and the target with radial lines; Upload the second image to the terminal; After acquiring the first position information of any target, it is determined whether the localization of all targets identified in the previous stage has been completed, and whether the first position information of all targets identified in the previous stage has been acquired; if so, it means that the first position information of all targets identified in the previous stage has been acquired, and the scanning galvanometer is controlled to continue to perform the current cycle scan, and a new stage of the current cycle scan is performed. The control servo motor tracks any target that has not yet completed positioning, and obtains the first position information of any target, including: The servo motor is controlled to rotate so that the photoelectric load is aligned with any of the targets; the photoelectric load includes a ranging device and a positioning device. The first position information is obtained based on the distance information obtained by the ranging device, the second position information obtained by the positioning device, and the angle information of the servo motor rotation.

2. The target localization method according to claim 1, characterized in that, The control of the servo motor rotation includes: Based on the results, the servo motor is controlled to rotate.

3. The target localization method according to any one of claims 1 to 2, characterized in that, The method further includes: If no target is detected during the current cycle of scanning, the camera zooms in and the scanning galvanometer performs the next cycle.

4. A target positioning device, characterized in that, To implement the target localization method as described in any one of claims 1-3, comprising: The control module is used to control the scanning galvanometer to pause the current cycle scan when at least one target is identified during the current cycle scan. The positioning module is used to control the servo motor to track any target that has not been located before the positioning of all identified targets is completed, to obtain the first position information of the target, and to control the camera to take a picture of the target. The overlay module is used to overlay the first position information onto the captured first image to obtain a second image; The upload module is used to upload the second image to the terminal.

5. An electronic 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 program, it implements the target localization method as described in any one of claims 1-3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the target localization method as described in any one of claims 1-3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the target localization method as described in any one of claims 1-3.

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