Target detection method, electronic device and computer readable storage medium

Abstract

The present application discloses a target detection method, an electronic device and a computer-readable storage medium. The method is applied to a control chip in a ball camera. The ball camera includes a control chip, a housing, a plurality of infrared sensors connected to the housing and a panel. A radar and a lens are arranged on the panel. The control chip is electrically connected to the infrared sensor, the radar and the lens. The method includes: after receiving a first wake-up instruction sent by a first target infrared sensor among the plurality of infrared sensors, the control panel rotates until the detection direction of the first target infrared sensor is within the acquisition range of the lens and the radar; the radar is awakened; in response to the radar detecting the target object, the deflection direction and deflection angle of the target object collected by the radar relative to the central axis of the radar are obtained; according to the deflection direction and the deflection angle, the control panel rotates; the lens is awakened, and the lens is controlled to shoot the target object. The above scheme can reduce the power consumption of the ball camera and improve the accuracy of target detection.

Description

Technical Field

[0001] The present application relates to the field of camera technology, and in particular to a target detection method, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the development of camera technology, there are more and more solar-powered cameras. Solar-powered cameras are mainly used in scenes where it is inconvenient to connect to electricity, such as forests and hillsides. However, due to the frequently changeable weather, the energy saving and battery life of solar-powered cameras are particularly important.

[0003] At present, solar-powered ball cameras are equipped with infrared sensors and radars. When the infrared sensors and radars detect a target, they wake up the ball camera to shoot. In the prior art, due to the complex installation environment, the ball camera is frequently woken up and false alarms often occur, which affects the power consumption of the ball camera and the accuracy of target detection. In view of this, how to reduce the power consumption of the ball camera and improve the accuracy of target detection has become an urgent problem to be solved. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a target detection method, an electronic device and a computer-readable storage medium, which can reduce the power consumption of the ball camera and improve the accuracy of target detection.

[0005] To solve the above technical problems, the first aspect of the present application provides a target detection method, which is applied to a control chip in a ball camera. The ball camera includes the control chip, a shell, a plurality of infrared sensors arranged around the shell and connected to the shell, and a panel that can rotate relative to the shell in both horizontal and vertical directions. A radar and a lens whose central axis is parallel are arranged on the panel. The control chip is electrically connected to the plurality of infrared sensors, the radar and the lens. The method includes: after receiving a first wake-up instruction sent by a first target infrared sensor among the plurality of infrared sensors, controlling the panel to rotate until the detection direction of the first target infrared sensor is within the collection range of the lens and the radar; wherein the first target infrared sensor generates the first wake-up instruction after detecting a target object; wakes up the radar; in response to the radar detecting the target object, obtains a deflection direction and a deflection angle of the target object collected by the radar relative to the central axis of the radar; according to the deflection direction and the deflection angle, controlling the panel to rotate; wakes up the lens, and controls the lens to shoot the target object.

[0006] To solve the above technical problems, the second aspect of the present application provides an electronic device, comprising a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the target detection method described in the first aspect.

[0007] In order to solve the above technical problems, the third aspect of the present application provides a computer-readable storage medium storing program instructions that can be executed by a processor, wherein the program instructions are used to implement the target detection method described in the first aspect.

[0008] In the above scheme, when the first target infrared sensor among the multiple infrared sensors detects the target object, a first wake-up instruction is generated and sent to the control chip. The control chip works normally after receiving the first wake-up instruction, and the control panel rotates until the detection direction of the first target infrared sensor is within the acquisition range of the lens and the radar, and the radar is awakened. When the radar detects the target object, the deflection direction and deflection angle of the target object acquired by the radar relative to the central axis of the radar are obtained. According to the obtained deflection direction and deflection angle, the control panel rotates to wake up the lens and control the lens to shoot the target object. By setting multiple infrared sensors to expand the detection range, the radar is awakened for detection only after the infrared sensor detects the target object, which reduces the power consumption of the ball camera, and the target object is re-inspected by the radar. While reducing the false alarm rate of the infrared sensor, precise positioning is achieved according to the deflection angle and deflection direction of the target object, thereby improving the accuracy of target detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0010] Figure 1 It is a flowchart of an implementation method of the target detection method of the present application;

[0011] Figure 2 This is a schematic structural diagram of an implementation method of a ball camera of the present application;

[0012] Figure 3 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0013] Figure 4 It is a structural schematic diagram of an implementation method of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments, and different implementation methods can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] See also Figure 1 and Figure 2 , Figure 1 is a flow chart of an implementation method of the target detection method of the present application, Figure 2 1 is a schematic diagram of the structure of an embodiment of the ball camera of the present application. The target detection method is applied to the control chip (not shown) in the ball camera 10, that is, the target detection method is executed by the control chip in the ball camera 10. In addition to the control chip, the ball camera 10 also includes a housing 100, a plurality of infrared sensors 102 arranged around the housing 100 and connected to the housing 100, and a panel 104 that can rotate relative to the housing 100 in both the horizontal and vertical directions. The panel 104 is provided with a radar 106 and a lens 108 parallel to the central axis (not shown). The control chip is electrically connected to the plurality of infrared sensors 102, the radar 106 and the lens 108. The method includes:

[0016] S101: After receiving a first wake-up instruction sent by a first target infrared sensor among multiple infrared sensors, the control panel rotates until the detection direction of the first target infrared sensor is within the collection range of the lens and the radar; wherein the first target infrared sensor generates a first wake-up instruction after detecting the target object.

[0017] Specifically, the control chip, as one of the core components of the ball camera 10, plays a role in managing the operation of the entire ball camera 10. After the ball camera 10 is installed, the housing 100 is fixed, and multiple infrared sensors 102 are arranged around the housing 100 and connected to the housing 100 to ensure that the ball camera 10 can perform all-round detection of the target object. The panel 104 can rotate relative to the housing 100 in the horizontal direction and the vertical direction, and the panel 104 is provided with a radar 106 and a lens 108 parallel to the central axis, so that when the panel 104 rotates, the radar 106 and the lens 108 can be driven to rotate together.

[0018] In one implementation scenario, the control chip is installed inside the panel 104, multiple infrared sensors 102 are evenly distributed on the housing 100, the radar 106 is installed directly above the lens 108, and a horizontal motor and a vertical motor are also provided inside the panel 104, which are connected to the control chip and are used to control the panel 104 to rotate horizontally and vertically.

[0019] Optionally, after the ball camera 10 is installed, the angles of the radar 106 and the lens 108 can be pre-adjusted in the vertical direction according to the actual detection area and remain unchanged.

[0020] Furthermore, when the first target infrared sensor (not shown) among the multiple infrared sensors 102 detects the target object, a first wake-up instruction is generated and sent to the control chip. After receiving the first wake-up instruction, the control chip changes from the sleep state to the normal working state, and the control chip controls the control panel 104 to rotate until the detection direction of the first target infrared sensor is within the collection range of the lens 108 and the radar 106.

[0021] It should be noted that in order to improve the battery life of the ball camera 10, the ball camera 10 is provided with two operating states, including a sleep state and a working state. Under normal circumstances, the ball camera 10 is in a sleep state. In the sleep state, multiple infrared sensors 102 work normally, the radar 106 is in a sleep or power-off state, the control chip is in a sleep state, and the lens 108 is in a sleep or power-off state. When a target object appears, the ball camera 10 is in a working state. In the working state, multiple infrared sensors 102, the radar 106, the control chip and the lens 108 all work normally.

[0022] In one application, in step S101, after receiving the first wake-up instruction sent by the first target infrared sensor among the multiple infrared sensors 102, the control panel 104 rotates until the detection direction of the first target infrared sensor is within the collection range of the lens 108 and the radar 106. Specifically, in response to only receiving the first wake-up instruction sent by the first target infrared sensor within a preset time period, controlling the panel 104 to rotate until the central axis of the lens 108 and the central axis of the radar 106 are parallel to the central axis of the first target infrared sensor.

[0023] Specifically, when the control chip receives the first wake-up command sent by the first target infrared sensor within a preset time period (for example, within one minute), it means that only the first target infrared sensor detects the target object, and then the central axis of the control radar 106 and the lens 108 are directly parallel to the central axis of the first target infrared sensor. Subsequently, the radar 106 will re-inspect the collection area of ​​the first target infrared sensor.

[0024] In one application scenario, taking four infrared sensors 102 with a horizontal field of view of 90 degrees as an example, when the control chip only receives a wake-up command sent by the infrared sensor 102 located at a 90-degree position on the housing 100 within one minute, the horizontal motor control panel 104 is rotated until the lens 108 and the radar 106 rotate to the 90-degree position of the housing 100.

[0025] In another application mode, in step S101, after receiving the first wake-up instruction sent by the first target infrared sensor among the multiple infrared sensors 102, the control panel 104 rotates until the detection direction of the first target infrared sensor is within the collection range of the lens 108 and the radar 106. Specifically, in response to receiving the first wake-up instruction sent by the first target infrared sensor and the second wake-up instruction sent by the second target infrared sensor among the multiple infrared sensors 102 within a preset time period, the control panel 104 rotates until the central axis of the lens 108 and the central axis of the radar 106 pass through the overlapping detection area of ​​the first target infrared sensor and the second target infrared sensor, wherein the second target infrared sensor generates a second wake-up instruction after detecting the target object.

[0026] Specifically, when the control chip receives both the first wake-up instruction sent by the first target infrared sensor and the second wake-up instruction sent by the second target infrared sensor (not shown) within a preset time period (for example, within one minute), it indicates that both the first target infrared sensor and the second target infrared sensor have detected the target object, and the target object is within the overlapping detection area of ​​the first target infrared sensor and the second target infrared sensor. Then, the central axis of the control radar 106 and the lens 108 are within the overlapping detection area, and the radar 106 will subsequently re-inspect the overlapping acquisition area of ​​the first target infrared sensor and the second target infrared sensor.

[0027] In one application scenario, taking four infrared sensors 102 with a horizontal field of view of 90 degrees as an example, when the control chip receives the wake-up command sent by the infrared sensor 102 at the 90-degree position and the infrared sensor 102 at the 180-degree position on the housing 100 within one minute, that is, both infrared sensors 102 have detected the target object, the horizontal motor control panel 104 is rotated until the lens 108 and the radar 106 rotate to the 135-degree position of the housing 100.

[0028] S102: Wake up the radar.

[0029] Specifically, after the control chip receives the first wake-up instruction, the wake-up radar 106 starts working.

[0030] S103: In response to the radar detecting the target object, obtaining a deflection direction and a deflection angle of the target object collected by the radar relative to a central axis of the radar.

[0031] Specifically, after the radar 106 is awakened, the radar 106 performs scanning. During the scanning process, when the radar 106 detects the target object, the deflection direction and deflection angle of the target object relative to the central axis of the radar 106 are obtained according to the data collected by the radar 106, that is, the relative position of the target object relative to the central axis of the radar 106 is obtained. If the radar 106 does not scan the target object after being awakened, it means that an error has occurred in the detection of the first target infrared sensor, and there is no need to start the lens 108 for shooting later, so as to avoid wasting power consumption. In other words, at this time, through the scanning of the radar 106, a re-inspection can be performed to avoid starting the lens 108 due to misoperation of the infrared sensor 102.

[0032] S104: The control panel rotates according to the deflection direction and the deflection angle.

[0033] Specifically, according to the obtained deflection direction and deflection angle, the control panel 104 is rotated so that the lens 108 can face the target object as much as possible, ensuring that the target object is in the center of the image captured by the lens 108. In other words, the data collected by the radar 106 can also accurately locate the target object, which can ensure the quality of the subsequent images captured by the lens 108.

[0034] S105: Wake up the lens and control the lens to shoot the target object.

[0035] Specifically, when the panel 104 completes the rotation again, the control chip wakes up the lens 108 and controls the lens 108 to shoot the target object.

[0036] In one application, after the control chip wakes up the lens 108 , it directly controls the lens 108 to shoot the target object.

[0037] In another application, after the control chip wakes up the lens 108, it further adjusts the magnification of the lens 108 according to the distance between the target object and the ball camera 10, and controls the adjusted lens 108 to shoot the target object.

[0038] Optionally, after the lens 108 has finished photographing the target object, an alarm event may be generated to remind the user that the detection of the target object has been completed.

[0039] In the above scheme, when the first target infrared sensor among the multiple infrared sensors 102 detects the target object, a first wake-up instruction is generated and sent to the control chip. The control chip works normally after receiving the first wake-up instruction, and the control panel 104 rotates until the detection direction of the first target infrared sensor is within the collection range of the lens 108 and the radar 106, and the radar 106 is woken up. When the radar 106 detects the target object, the deflection direction and deflection angle of the target object collected by the radar 106 relative to the central axis of the radar 106 are obtained. According to the obtained deflection direction and deflection angle, the control panel 104 rotates to wake up the lens 108, and controls the lens 108 to shoot the target object. By setting multiple infrared sensors 102 to expand the detection range, the radar 106 is woken up for detection only after the infrared sensor 102 detects the target object, thereby reducing the power consumption of the ball camera 10, and the target object is re-inspected by the radar 106. While reducing the false alarm rate of the infrared sensor 102, accurate positioning is achieved according to the deflection angle and deflection direction of the target object, thereby improving the accuracy of target detection.

[0040] In one embodiment, the number of infrared sensors 102 satisfies the following conditions: in response to the ratio of 360 degrees to the horizontal field of view angle of the radar 106 being an integer, the number of infrared sensors 102 is equal to the ratio; in response to the ratio of 360 degrees to the horizontal field of view angle of the radar 106 being a non-integer, the number of infrared sensors 102 is equal to the sum of the rounded ratio and one.

[0041] Specifically, since the infrared sensor 102 has a low detection accuracy for the target object, while the radar 106 has a high detection accuracy for the target object, determining the number of the infrared sensors 102 based on the horizontal field of view of the radar 106 can better detect the target object.

[0042] Furthermore, the horizontal field of view angle of the radar 106 ranges from 90 degrees to 180 degrees. When the ratio of 360 degrees to the horizontal field of view angle of the radar 106 is an integer, the number of infrared sensors 102 is equal to the ratio. For example, when the radar 106 with a horizontal field of view angle of 90 degrees is selected, the number of infrared sensors 102 is 4, and the 4 infrared sensors 102 are respectively located at 0 degrees, 90 degrees, 180 degrees and 270 degrees on the housing 100. When the radar 106 with a horizontal field of view angle of 120 degrees is selected, the number of infrared sensors 102 is 3, and the 3 infrared sensors 102 are respectively located at 0 degrees, 120 degrees and 240 degrees on the housing 100. When the ratio of 360 degrees to the horizontal field of view of the radar 106 is a non-integer, the number of infrared sensors 102 is equal to the sum of the rounded ratio and one. For example, when a radar 106 with a horizontal field of view of 100 degrees is selected, the number of infrared sensors 102 is 4, and the 4 infrared sensors 102 are respectively located at 0 degrees, 90 degrees, 180 degrees and 270 degrees on the housing 100.

[0043] It should be noted that when selecting the lens 108 and the infrared sensor 102, the corresponding horizontal field of view angle is greater than or equal to the horizontal field of view angle of the radar 106, so as to ensure that the lens 108 and the infrared sensor 102 can completely cover the detection range of the radar 106, and the number of infrared sensors 102 is determined based on the horizontal field of view angle of the radar 106, which can ensure that the number of infrared sensors 102 required is minimized, thereby reducing the use cost of the ball camera 10 on the one hand, and reducing the number of subsequent radars 106 and lenses 108 positioning at the position of the infrared sensors 102 on the other hand, thereby extending the service life of the ball camera 10.

[0044] In some implementation scenarios, when the horizontal field of view of the selected radar 106 is 90 degrees, an infrared sensor 102 and a lens 108 with a horizontal field of view of 90 degrees can be selected, or an infrared sensor 102 and a lens 108 with a horizontal field of view greater than 90 degrees and less than 180 degrees can be selected. In this case, the number of infrared sensors 102 is 4, which are respectively located at 0 degrees, 90 degrees, 180 degrees and 270 degrees on the housing 100. When the horizontal field of view of the infrared sensor 102 is 90 degrees, the detection range of the infrared sensor 102 located at 0 degrees on the housing 100 is -45 degrees (315 degrees) to 45 degrees, and the detection range of the infrared sensor 102 located at 90 degrees on the housing 100 is 45 degrees to 135 degrees, and so on.

[0045] In one embodiment, before controlling the lens 108 to photograph the target object in step S105 , the method further includes: adjusting the magnification of the lens 108 according to the target distance between the target object collected by the radar 106 and the radar 106 .

[0046] Specifically, before controlling the lens 108 to shoot the target object, the control chip will also adjust the magnification of the lens 108 according to the target distance between the target object and the radar 106 fed back by the radar 106 to adapt to different shooting distances and framing requirements, thereby ensuring that the target object in the obtained image or video is clearly imaged and achieves the desired shooting effect.

[0047] In one implementation scenario, according to the target distance between the target object collected by the radar 106 and the radar 106, the step of adjusting the magnification of the lens 108 specifically includes: searching for the magnification corresponding to the target distance in the pre-saved correspondence between the distance and the magnification; and adjusting the magnification of the lens 108 to the magnification corresponding to the target distance.

[0048] Specifically, the magnification of the lens 108 is bound to the detection distance of the ball camera 10 through a pre-calibration method to obtain a corresponding relationship. According to the target distance fed back by the radar 106, the magnification corresponding to the target distance is searched in the pre-saved correspondence between the distance and the magnification, and the magnification of the lens 108 is adjusted to the magnification corresponding to the target distance.

[0049] In a specific implementation scenario, the magnification of the lens 108 and the detection distance of the ball camera 10 are pre-bound to obtain a corresponding relationship: the detection distance is 5 meters, the corresponding magnification is 1.0 times; the detection distance is 10 meters, the corresponding magnification is 1.4 times; the detection distance is 15 meters, the corresponding magnification is 2.1 times, etc. When the target distance fed back by the radar 106 obtained by the control chip is 10 meters, the magnification of the lens 108 is adjusted to 1.4 times.

[0050] Optionally, when the target distance fed back by the radar 106 is different from the pre-bound detection distance, the magnification corresponding to the detection distance closest to the target distance is found from the pre-saved correspondence between the distance and the magnification, and the magnification of the lens 108 is adjusted to the magnification corresponding to the detection distance. For example, when the target distance fed back by the radar 106 is 12 meters, the magnification of the lens 108 is adjusted to 1.4 times the detection distance of 10 meters.

[0051] It is understandable that the correspondence relationship obtained by pre-binding the magnification of the lens 108 and the detection distance of the ball camera 10 can be specifically set according to actual conditions, and this application does not make any specific restrictions here.

[0052] In other implementations, the target distance may be substituted into a preset formula to obtain a magnification, and the lens 108 may be adjusted according to the magnification.

[0053] In one embodiment, the target detection method of the present application also includes: in response to the radar 106 failing to detect the target object, controlling the radar 106 to power off or enter a sleep state; and / or, after controlling the lens 108 to photograph the target object, controlling the radar 106 and the lens 108 to power off or enter a sleep state.

[0054] Specifically, when the radar 106 does not detect the target object, the control chip will control the radar 106 to power off or control the radar 106 to enter a sleep state, or after the control chip controls the lens 108 to shoot the target object, the radar 106 and the lens 108 will be controlled to power off or enter a sleep state, thereby reducing the power consumption of the ball camera 10.

[0055] In one embodiment, the target detection method of the present application further includes: in response to the radar 106 not detecting the target object, the control chip enters a sleep state; and / or, after the control lens 108 is controlled to photograph the target object, the control chip enters a sleep state.

[0056] Specifically, when the radar 106 does not detect the target object, the control chip will enter a sleep state, or after the control chip controls the lens 108 to shoot the target object, the control chip will also enter a sleep state, thereby reducing the power consumption of the ball camera 10.

[0057] See also Figure 3 , Figure 3: is a structural diagram of an embodiment of an electronic device of the present application, the electronic device 30 includes a memory 301 and a processor 302 coupled to each other, wherein the memory 301 stores program data (not shown), and the processor 302 calls the program data to implement the method in any of the above embodiments. For the description of the relevant content, please refer to the detailed description of the above method embodiment, which will not be repeated here. Specifically, the electronic device 30 includes but is not limited to: a desktop computer, a laptop computer, a tablet computer, a server, etc., which are not limited here. In addition, the processor 302 can also be called a CPU (Center Processing Unit). The processor 302 may be an integrated circuit chip with signal processing capabilities. The processor 302 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 302 can be implemented by an integrated circuit chip.

[0058] See also Figure 4 , Figure 4 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 40 stores program data 400. When the program data 400 is executed by a processor, the method in any of the above embodiments is implemented. For descriptions of related contents, please refer to the detailed description of the above method embodiments, which will not be repeated here.

[0059] It should be noted that the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present implementation scheme.

[0060] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0061] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0062] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A target detection method, characterized in that: The target detection method is applied to a control chip in a ball camera, the ball camera comprises the control chip, a housing, a plurality of infrared sensors arranged around the housing and connected to the housing, and a panel that can rotate relative to the housing in both horizontal and vertical directions, the panel is provided with a radar and a lens parallel to the central axis, the control chip is electrically connected to the plurality of infrared sensors, the radar and the lens, and the method comprises: After receiving a first wake-up instruction sent by a first target infrared sensor among the multiple infrared sensors, controlling the panel to rotate until the detection direction of the first target infrared sensor is within the acquisition range of the lens and the radar; wherein the first target infrared sensor generates the first wake-up instruction after detecting the target object; waking up said radar; In response to the radar detecting the target object, obtaining a deflection direction and a deflection angle of the target object collected by the radar relative to a central axis of the radar; Controlling the panel to rotate according to the deflection direction and the deflection angle; Waking up the lens and controlling the lens to shoot the target object; The number of infrared sensors meets the following conditions: In response to the ratio of 360 degrees to the horizontal field of view angle of the radar being an integer, the number of the infrared sensors is equal to the ratio; In response to the ratio of 360 degrees to the horizontal field of view angle of the radar being a non-integer, the number of the infrared sensors is equal to the sum of the ratio rounded to one.

2. The target detection method according to claim 1, characterized in that: The step of controlling the panel to rotate after receiving a first wake-up instruction sent by a first target infrared sensor among the multiple infrared sensors until the detection direction of the first target infrared sensor is within the collection range of the lens and the radar includes: In response to receiving only the first wake-up instruction sent by the first target infrared sensor within a preset time period, the panel is controlled to rotate until the central axis of the lens and the central axis of the radar are parallel to the central axis of the first target infrared sensor.

3. The target detection method according to claim 1, characterized in that: The step of controlling the panel to rotate after receiving a first wake-up instruction sent by a first target infrared sensor among the multiple infrared sensors until the detection direction of the first target infrared sensor is within the collection range of the lens and the radar includes: In response to receiving the first wake-up instruction sent by the first target infrared sensor and the second wake-up instruction sent by the second target infrared sensor among the multiple infrared sensors within a preset time period, the panel is controlled to rotate until the central axis of the lens and the central axis of the radar pass through the overlapping detection area of ​​the first target infrared sensor and the second target infrared sensor, wherein the second target infrared sensor generates the second wake-up instruction after detecting the target object.

4. The target detection method according to claim 1, characterized in that: Before controlling the lens to shoot the target object, the method further includes: The magnification of the lens is adjusted according to the target distance between the target object collected by the radar and the radar.

5. The target detection method according to claim 4, characterized in that: The step of adjusting the magnification of the lens according to the target distance between the target object collected by the radar and the radar comprises: In the pre-saved correspondence between distance and magnification, searching for the magnification corresponding to the target distance; The magnification of the lens is adjusted to a magnification corresponding to the target distance.

6. The target detection method according to claim 1, characterized in that: Also includes: In response to the radar not detecting the target object, controlling the radar to be powered off or enter a sleep state; And / or, after controlling the lens to photograph the target object, controlling the radar and the lens to be powered off or enter a sleep state.

7. The target detection method according to claim 1, characterized in that: Also includes: In response to the radar not detecting the target object, the control chip enters a sleep state; And / or, after controlling the lens to photograph the target object, the control chip enters a sleep state.

8. An electronic device, characterized in that: It comprises a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the target detection method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: Program instructions that can be executed by a processor are stored, and the program instructions are used to implement the target detection method described in any one of claims 1-7.

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