Laser dot matrix binocular multi-target spatial data processing method and system

Abstract

The present invention relates to the technical field of electronic digital data processing, and discloses a method for processing laser dot matrix binocular multi-target spatial data, the method mainly comprising: a data processor determines a first motion trajectory of a first target based on the first spatial data of the first target, and determines a second motion trajectory of the second target based on the second spatial data of the second target; the data processor determines the coverage relationship between the first target and the second target based on the first motion trajectory and the second motion trajectory; the data processor determines to suspend the collection of spatial data of the first target or the second target based on the coverage relationship between the first target and the second target. The method of the present invention realizes timely suspension of the collection of spatial data of the target, ensures the accuracy of the spatial data of the target, and improves the robustness of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic digital data processing, and in particular to a method and system for processing laser dot matrix binocular multi-target spatial data. Background Art

[0002] Laser dot matrix binocular multi-target spatial positioning technology based on microlens array belongs to visual measurement technology. Laser dot matrix binocular multi-target spatial positioning technology based on microlens array can effectively measure the three-dimensional coordinates of the target, thereby locating the target. During the laser dot matrix binocular multi-target spatial positioning based on microlens array, if the targets overlap, the measurement results will be disturbed by erroneous data. The existing technology has not yet proposed an effective solution to this problem. Summary of the invention

[0003] The problems of the prior art have not been solved. The method provided by the present invention suspends the collection of the spatial data of the target in advance through the coverage relationship between the expected targets, thereby achieving timely suspension of the collection of the spatial data of the target, ensuring that the spatial data of the target is not disturbed by erroneous data, and improving the robustness of the system.

[0004] The present invention provides a method for processing laser dot matrix binocular multi-target spatial data, characterized in that the method comprises:

[0005] determining, by a data processor, a first object and a second object in the image;

[0006] Determining, by a data processor, whether a distance between the first target and the second target is less than a threshold;

[0007] If the distance between the first target and the second target is less than the threshold, the data processor determines a first motion trajectory of the first target based on the first spatial data of the first target, and determines a second motion trajectory of the second target based on the second spatial data of the second target;

[0008] The data processor determines a coverage relationship between the first target and the second target based on the first motion trajectory and the second motion trajectory;

[0009] The data processor determines to suspend collecting the spatial data of the first target or the second target based on the coverage relationship between the first target and the second target.

[0010] In a preferred embodiment, the first motion trajectory includes the motion direction and motion speed of the first target, and the second motion trajectory includes the motion direction and motion speed of the second target;

[0011] Wherein, based on the first motion trajectory and the second motion trajectory, determining the coverage relationship between the first target and the second target includes:

[0012] determining, by a data processor, a first predicted position of a first target based on the first motion trajectory;

[0013] determining, by the data processor, a second predicted position of the second target based on the second motion trajectory;

[0014] A covered target among the first target and the second target is determined by the data processor based on the first predicted position and the second predicted position.

[0015] In a preferred embodiment, the covered target is the first target;

[0016] Wherein, based on the coverage relationship between the first target and the second target, determining to suspend the collection of spatial data of the first target or the second target includes:

[0017] The data processor determines to suspend collecting spatial data of the first target based on the covered target being the first target.

[0018] In a preferred embodiment, the method further comprises:

[0019] After pausing to collect the spatial data of the first target, the data processor determines the expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target;

[0020] The data processor determines, based on the expected coverage relationship between the first target and the second target, whether to continue to suspend the collection of the spatial data of the first target, or to resume the collection of the spatial data of the first target.

[0021] In a preferred embodiment, determining the expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target includes:

[0022] determining, by the data processor, a third predicted position of the first target based on the first motion trajectory;

[0023] determining, by the data processor, a fourth predicted position of the second target based on the current motion trajectory of the second target;

[0024] The data processor determines whether the first object is still covered by the second object based on the third predicted position and the fourth predicted position.

[0025] In a preferred embodiment, based on the expected coverage relationship between the first target and the second target, determining to continue suspending the collection of spatial data of the first target, or determining to resume the collection of spatial data of the first target includes:

[0026] If it is determined that the first target is no longer covered by the second target, the data processor determines to resume collecting the spatial data of the first target;

[0027] If it is determined that the first object is continuously covered by the second object, the data processor determines to continue to suspend the collection of spatial data of the first object.

[0028] The present invention provides a processing system for laser dot matrix binocular multi-target spatial data based on a microlens array, characterized in that the system comprises:

[0029] means for determining, by a data processor, a first object and a second object in an image;

[0030] A module for determining, by a data processor, whether a distance between a first target and a second target is less than a threshold;

[0031] a module for determining, by a data processor, a first motion trajectory of the first target based on first spatial data of the first target and a second motion trajectory of the second target based on second spatial data of the second target if the distance between the first target and the second target is less than a threshold;

[0032] A module for determining, by a data processor, a coverage relationship between a first target and a second target based on the first motion trajectory and the second motion trajectory;

[0033] A module for determining, by a data processor, to suspend the collection of spatial data of a first target or a second target based on an overlapping relationship between the first target and the second target.

[0034] In a preferred embodiment, the first motion trajectory includes the motion direction and motion speed of the first target, and the second motion trajectory includes the motion direction and motion speed of the second target;

[0035] Wherein, based on the first motion trajectory and the second motion trajectory, determining the coverage relationship between the first target and the second target includes:

[0036] determining, by a data processor, a first predicted position of a first target based on the first motion trajectory;

[0037] determining, by the data processor, a second predicted position of the second target based on the second motion trajectory;

[0038] A covered target among the first target and the second target is determined by the data processor based on the first predicted position and the second predicted position.

[0039] In a preferred embodiment, the covered target is the first target;

[0040] Wherein, based on the coverage relationship between the first target and the second target, determining to suspend the collection of spatial data of the first target or the second target includes:

[0041] The data processor determines to suspend collecting spatial data of the first target based on the covered target being the first target.

[0042] In a preferred embodiment, the system further comprises:

[0043] A module for determining, by a data processor, an expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target after pausing to collect the spatial data of the first target;

[0044] A module for determining, by a data processor, whether to continue suspending the collection of spatial data of the first target or to resume the collection of spatial data of the first target based on an expected coverage relationship between the first target and the second target.

[0045] Compared with the prior art, the present invention has the following advantages: the current technology determines the target position by beacon points. When the targets overlap, the computer cannot obtain the beacon points of the covered target; and when the coordinates of the two target beacon points are partially the same, the computer cannot distinguish which target the beacon point belongs to. The prior art cannot solve the problem of target overlap. The present invention provides a method that can predict whether the targets will overlap. The method can predict the overlapping state of the targets in advance, thereby suspending the collection of the spatial data of the targets in a timely manner, ensuring the accuracy of the spatial data of the targets and improving the robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram for introducing the technical problem of the present invention.

[0047] Figure 2 It is a method flow chart of an embodiment of the present invention.

[0048] Figure 3 It is a schematic diagram showing that prediction targets will overlap according to an embodiment of the present invention.

[0049] Figure 4 It is a schematic diagram showing that prediction targets will not overlap according to an embodiment of the present invention.

[0050] Figure 5 It is a schematic diagram of an embodiment of the present invention in which a predicted target changes from an overlapping state to a non-overlapping state.

[0051] Figure 6 It is a schematic diagram showing that the predicted targets will maintain an overlapping state according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0053] At present, the laser dot matrix binocular multi-target spatial positioning technology based on microlens array has the problem of erroneous data interfering with the positioning data when the targets overlap. Our school’s R&D team retrieved the computer background data and found that the main reason for the interference of erroneous data on the positioning data when the targets overlap is that the current technology determines the target position through beacon points (for an exemplary technology of determining the target coordinates through beacon points, see the prior art CN110490903A). When the targets overlap, the computer cannot obtain the beacon points of the covered target; and when the coordinates of the beacon points of two targets are partially the same, the computer cannot distinguish which target the beacon point belongs to. The following is combined with Figure 1 The technical problems faced by the present invention are introduced. Figure 1 As shown, the first target overlaps with the second target ( Figure 1 The target is only schematically represented as a circle, but the method of the present invention can be applied to targets of any shape), and the second target covering the first target has two beacon points. Figure 1 In the case of a first target with a beacon point on the upper left, the existing laser dot matrix binocular multi-target spatial positioning technology based on microlens array cannot locate the beacon point in the first target. If other beacon points excluding the beacon point are used to locate the first target, there will be some erroneous data in the data used to locate the first target, which will cause the interference of erroneous data on spatial data. In addition, Figure 1 The first target in the paper may have a beacon point located directly below the second beacon point ("below" means the direction penetrating into the paper). Since the second beacon point overlaps with the beacon point of the first target, the computer cannot distinguish whether the second beacon point belongs to the second target or the first target. If the computer mistakes the second beacon point for the beacon point on the first target and uses the spatial position of the second beacon point as the data for locating the first target, some erroneous data will exist in the data used to locate the first target, which will also cause the interference of erroneous data on the spatial data. A simple idea that can solve this technical problem is to suspend the determination of the spatial coordinates of the target when target overlap occurs. In this way, erroneous data can be avoided in the data used to locate the first target. However, there are still many difficulties in realizing this idea. For example, it is difficult to determine the timing of suspending the determination of the spatial coordinates of the target. For example, if the target has overlapped to a certain extent (for example Figure 1If the determination of the spatial coordinates of the target is paused in advance when the targets have not yet overlapped (in the state of being captured), then the determination of the spatial coordinates of the target is paused. There will be a certain amount of erroneous data in the spatial coordinates of the target acquired at this time, and the prior art has no way to determine which data is erroneous data, so the timing is inappropriate. If the determination of the spatial coordinates of the target is paused in advance when the targets have not yet overlapped, the amount of advance pause to determine the spatial coordinates of the target cannot be determined. If it is determined in real time based on the image whether two targets overlap, the opportunity to pause collecting spatial data may be missed due to a low frame rate. For example, in the previous frame of the image, the first target and the second target have not overlapped, but in the next frame of the image, the first target and the second target have already appeared as follows. Figure 1 state. At this point, it is obvious that the opportunity to collect spatial data has been missed. For example, the prior art CN107545582A discloses a multi-target tracking method when targets overlap. Although the prior art realizes that target overlap will bring a series of problems, the prior art also proposes technical means to solve the technical problems. However, the prior art optimizes the target tracking algorithm when the targets have overlapped. In the process from the beginning of the target overlap (that is, the edges of the two targets touch) to the target overlapping a certain area, the spatial coordinates of the covered targets obtained by the computer are unreliable. Therefore, the prior art still has the technical problems proposed by the present invention. In addition, the algorithm of the prior art involves complex matrix calculations, which greatly increases the computing power burden of the computer.

[0054] Example 1

[0055] Figure 2 1 is a method flow chart of an embodiment of the present invention. As shown in the figure, the method of the present invention includes the following steps:

[0056] Step 1: The data processor determines the first target and the second target in the image; in one example, the data processor can be software in a computer, hardware in a computer, or firmware in a computer. It should be understood that when the data processor determines the first target and the second target in the image, the data processor needs to determine the beacon points of the first target and the second target. The method of determining the first target and the second target is a machine vision technology known in the art (an example of an algorithm for identifying targets based on machine vision technology can be found in the prior art CN117173475A and CN109333549A). For example, in one example, the user can set the target to "ping pong ball" in advance. At this time, based on the machine vision technology known in the art, the data processor can determine the two ping pong balls in the image based on the image, and the two ping pong balls are the first target and the second target.

[0057] Step 2: The data processor determines whether the distance between the first target and the second target is less than a threshold; in one example, the distance between the first target and the second target can be represented as the distance between the geometric centers of the two targets. In a specific example, for example, the current spatial coordinates of the geometric center of the first target are (x1, y1, z1), and the current spatial coordinates of the geometric center of the second target are (x2, y2, z2), then the distance between the first target and the second target can be expressed as d= . In one example, the threshold can be determined based on the relative speed between the first target and the second target, the frame rate at which the data processor acquires images (i.e., the number of frames of images acquired by the data processor per second), and the relative distance between the sensitive beacon points of the first target and the second target. The concept of sensitive beacon points will be further described in detail below. In one example, when the frame rate at which the data processor acquires images and the relative distance between the sensitive beacon points of the first target and the second target remain unchanged, the greater the relative speed between the first target and the second target, the greater the threshold should be, and vice versa; in one example, when the relative speed between the first target and the second target and the relative distance between the sensitive beacon points of the first target and the second target remain unchanged, the lower the frame rate at which the data processor acquires images, the greater the threshold should be, and vice versa; the main purpose of this design is to avoid the data processor still collecting spatial data of the target when the beacon point has been covered.

[0058] Step 3: If the distance between the first target and the second target is less than the threshold, the data processor determines the first motion trajectory of the first target based on the first spatial data of the first target, and determines the second motion trajectory of the second target based on the second spatial data of the second target; in one example, the specific method for determining the motion trajectory of the target can be: through the historical spatial data of the target (for example, all spatial data within a period of time before the current time point), the motion speed and motion direction of the target can be obtained. In a specific example, assuming that the spatial coordinates of the first target at time t1 are (x1, y1, z1), and the spatial coordinates at time t2 are (x2, y2, z2), the first motion trajectory of the first target can be expressed as ( , , ), it is understandable that ( , , ) is a vector, the vector modulus is the speed of the first target, and the vector direction is the direction of the first target. Similarly, the second trajectory of the second target can be determined based on this method. Considering that the target generally does not suddenly change its direction and speed, the speed and direction of the target obtained based on the historical spatial data of the target can be used as the trajectory of the target.

[0059] Step 4: The data processor determines the coverage relationship between the first target and the second target based on the first motion trajectory and the second motion trajectory;

[0060] Step 5: The data processor determines to suspend the collection of spatial data of the first target or the second target based on the covering relationship between the first target and the second target. In one example, suspending the collection of spatial data of the first target or the second target may be that the data processor suspends the tracking of the covered first target or the second target, which can save the computing power of the data processor. In the present invention, spatial data specifically refers to position data in a three-dimensional space. Since the data processor has stopped collecting spatial data of the covered target before the first target and the second target have covered each other, the data processor can be prevented from recording erroneous spatial data. Therefore, the solution of the present invention can avoid the interference of erroneous spatial data.

[0061] Example 2

[0062] In Embodiment 2, the first motion trajectory includes the motion direction and motion speed of the first target, and the second motion trajectory includes the motion direction and motion speed of the second target; in one example, the motion direction and motion speed of the target can be understood as the motion speed vector of the target;

[0063] Wherein, based on the first motion trajectory and the second motion trajectory, determining the coverage relationship between the first target and the second target includes:

[0064] A first predicted position of the first target is determined by a data processor based on the first motion trajectory; in one example, the first predicted position of the first target is a predicted position of the first target after a time period inferred based on the first motion trajectory, and the time period may be the inverse of a frame rate at which the data processor acquires an image, for example, if the frame rate is 60 frames, the time period may be 1 / 60 seconds.

[0065] The data processor determines a second predicted position of the second target based on the second motion trajectory; in one example, the second predicted position of the second target is a predicted position of the second target after a period of time inferred based on the second motion trajectory.

[0066] The data processor determines the covered target of the first target and the second target based on the first predicted position and the second predicted position. In one example, three conclusions can be drawn from determining the covered target of the first target and the second target, namely, the first target is covered by the second target, the second target is covered by the first target, or the first target and the second target will not overlap. It should be understood that the speed of the two targets when determining the aforementioned threshold may be different from the speed of the two targets when determining the coverage relationship. Because there is a certain time interval between the time of determining the aforementioned threshold and the time of determining the coverage relationship, the movement direction of the two targets may change during this time interval. Therefore, although when determining the aforementioned threshold, it may be considered that the two targets will overlap based on the relative speed of the two targets at that time, when determining the coverage relationship of the targets, it may also be determined that the first target and the second target will not overlap. The following is combined with Figure 3 and Figure 4 An embodiment of determining the covering relationship between the first target and the second target is further introduced.

[0067] Figure 3 FIG. 1 is a schematic diagram showing that the prediction targets of an embodiment of the present invention will overlap. Figure 3 As shown, there are a first target and a second target in the image, wherein the first target has a first beacon point and a second beacon point, the second target has a third beacon point and a fourth beacon point, and the first target moves to the left, and the second target moves to the right. Figure 3 The first predicted position is Figure 3 Somewhere to the left of the first target in , the second predicted position is Figure 3 Of course, it is understandable that there is also a situation where the first target and the second target do not overlap based on the first predicted position and the second predicted position because the aforementioned time period is too short. In this case, the aforementioned time period should be extended, and then the first predicted position and the second predicted position should be recalculated based on the extended time period, and then it is re-determined whether the targets will overlap. Figure 3 It is not shown, but it should be understood that the velocity vector of the first target should be a three-dimensional vector, that is, the first target has velocities in the x, y, and z directions, and similarly the second target should also have velocities in the x, y, and z directions. Since the first target and the second target have velocities in the z direction, it is possible that the first target moves outside the paper and the second target moves inside the paper. In this case, the first target is above and the second target is below, and the second target is covered by the first target. It is also possible that the first target moves inside the paper and the second target moves outside the paper. In this case, the first target is below and the second target is above, and the first target is covered by the second target. According to Figure 3In the state, since the first target and the second target are moving in opposite directions, the first target and the second target will inevitably overlap, so no matter which target is covered, the second beacon point or the third beacon point will be affected first. Therefore, based on the position of the beacon point and the velocity vector of the first target and the second target, it can be determined that the second beacon point and the third beacon point are sensitive beacon points of the first target and the second target. However, the first beacon point and the fourth beacon point are not sensitive beacon points of the first target and the second target.

[0068] Figure 4 FIG. 1 is a schematic diagram showing that the prediction targets of an embodiment of the present invention will not overlap. Figure 4 As shown, there are a first target and a second target in the image, wherein the first target has a first beacon point and a second beacon point, the second target has a third beacon point and a fourth beacon point, and the first target moves upward, and the second target moves upward. The first target and the second target move parallel to each other, and the two will not overlap. Therefore, there may be a judgment that the first target and the second target will not overlap. It is easy to understand that if it is judged that the first target and the second target will not overlap, there is no need to suspend the collection of spatial data of the first target or the second target.

[0069] Example 3

[0070] In Example 3, it is assumed that the covered target is the first target; wherein, based on the covering relationship between the first target and the second target, determining to suspend the collection of spatial data of the first target or the second target includes: the data processor determines to suspend the collection of spatial data of the first target based on the covered target being the first target. Similarly, it is assumed that the covered target is the second target; wherein, based on the covering relationship between the first target and the second target, determining to suspend the collection of spatial data of the first target or the second target includes: the data processor determines to suspend the collection of spatial data of the second target based on the covered target being the second target.

[0071] Example 4

[0072] In embodiment 4, the method further comprises:

[0073] After pausing the collection of spatial data of the first target, the data processor determines the expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target; it should be understood that since the data processor has suspended the collection of spatial data of the first target, the data processor cannot obtain the current motion trajectory of the first target, while the data processor continues to collect spatial data of the second target, so the data processor can still obtain the current motion trajectory of the second target.

[0074] The data processor determines, based on the expected coverage relationship between the first target and the second target, whether to continue to suspend the collection of the spatial data of the first target, or to resume the collection of the spatial data of the first target.

[0075] Determining the expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target includes:

[0076] The data processor determines a third predicted position of the first target based on the first motion trajectory; in one example, the third predicted position of the first target is a predicted position of the first target after a period of time inferred based on the first motion trajectory.

[0077] The data processor determines a fourth predicted position of the second target based on the current motion trajectory of the second target; in one example, the fourth predicted position of the second target is a predicted position of the second target after a period of time based on the current motion trajectory of the second target.

[0078] The data processor determines whether the first target is still covered by the second target based on the third predicted position and the fourth predicted position. Figure 5 and Figure 6 An embodiment of determining an expected coverage relationship between a first target and a second target is described.

[0079] Figure 5 FIG. 1 is a schematic diagram showing that a predicted target will change from an overlapping state to a non-overlapping state according to an embodiment of the present invention. Figure 5 As shown, the first target and the second target currently overlap, and the first target is covered by the second target, but because the velocity vector of the first target is to the right and the velocity vector of the second target is to the left, the two will be out of the overlapping state after a certain period of time (for example, the time is determined based on the speed and the distance covered by the first target). Therefore, it can be determined that the first target will not continue to be covered by the second target (after a certain period of time).

[0080] Figure 6 FIG. 1 is a schematic diagram showing that the predicted target of an embodiment of the present invention will maintain an overlapping state. Figure 6 As shown, the first target and the second target currently overlap, and the first target is covered by the second target, but because the velocity vector of the first target is upward and the velocity vector of the second target is upward, the velocity vectors of the two are parallel, therefore, it is determined that the first target will continue to be covered by the second target.

[0081] Example 5

[0082] In Embodiment 5, based on the expected coverage relationship between the first target and the second target, determining to continue suspending the collection of spatial data of the first target, or determining to resume the collection of spatial data of the first target includes:

[0083] If it is determined that the first target is no longer covered by the second target, the data processor determines to resume collecting the spatial data of the first target; in a specific implementation, the data processor first determines that the first target will no longer be covered by the second target in the manner described in Example 4, and the data processor can determine the time when the first target is no longer covered by the second target. At this time, as long as the data processor determines to resume collecting the spatial data of the first target based on the method of Example 4, the data processor can start the preparation work for collecting the spatial data of the first target, such as relocating the first target based on the image, determining the beacon points currently visible on the first target, etc., which can ensure that the data processor can resume collecting the spatial data of the first target in time. Subsequently, the data processor can request the actual image of the current first target and the second target from the image sensor when the first target is no longer covered by the second target. If the first target and the second target are no longer actually covered in the actual image, it is determined to resume collecting the spatial data of the first target. Otherwise, the collection of the spatial data of the first target is still suspended. The main purpose of this implementation is to prevent the erroneous resumption of collecting the spatial data of the first target and improve the robustness of the system.

[0084] If it is determined that the first object is continuously covered by the second object, the data processor determines to continue to suspend the collection of spatial data of the first object.

[0085] Example 6

[0086] The present invention provides a processing system for laser dot matrix binocular multi-target spatial data based on a microlens array, characterized in that the system comprises:

[0087] means for determining, by a data processor, a first object and a second object in an image;

[0088] A module for determining, by a data processor, whether a distance between a first target and a second target is less than a threshold;

[0089] a module for determining, by a data processor, a first motion trajectory of the first target based on first spatial data of the first target and a second motion trajectory of the second target based on second spatial data of the second target if the distance between the first target and the second target is less than a threshold;

[0090] A module for determining, by a data processor, a coverage relationship between a first target and a second target based on the first motion trajectory and the second motion trajectory;

[0091] A module for determining, by a data processor, to suspend the collection of spatial data of a first target or a second target based on an overlapping relationship between the first target and the second target.

[0092] In a preferred embodiment, the first motion trajectory includes the motion direction and motion speed of the first target, and the second motion trajectory includes the motion direction and motion speed of the second target;

[0093] Wherein, based on the first motion trajectory and the second motion trajectory, determining the coverage relationship between the first target and the second target includes:

[0094] determining, by a data processor, a first predicted position of a first target based on the first motion trajectory;

[0095] determining, by the data processor, a second predicted position of the second target based on the second motion trajectory;

[0096] A covered target among the first target and the second target is determined by the data processor based on the first predicted position and the second predicted position.

[0097] In a preferred embodiment, the covered target is the first target;

[0098] Wherein, based on the coverage relationship between the first target and the second target, determining to suspend the collection of spatial data of the first target or the second target includes:

[0099] The data processor determines to suspend collecting spatial data of the first target based on the covered target being the first target.

[0100] In a preferred embodiment, the system further comprises:

[0101] A module for determining, by a data processor, an expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target after pausing to collect the spatial data of the first target;

[0102] A module for determining, by a data processor, whether to continue suspending the collection of spatial data of the first target or to resume the collection of spatial data of the first target based on an expected coverage relationship between the first target and the second target.

[0103] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A method for processing laser dot matrix binocular multi-target spatial data, characterized in that: The method comprises: determining, by a data processor, a first object and a second object in the image; determining, by a data processor, whether a distance between the first target and the second target is less than a threshold; If the distance between the first target and the second target is less than a threshold, the data processor determines a first motion trajectory of the first target based on the first spatial data of the first target, and determines a second motion trajectory of the second target based on the second spatial data of the second target; wherein, when the frame rate of the image acquired by the data processor remains unchanged, the greater the relative speed between the first target and the second target, the greater the threshold; when the relative speed between the first target and the second target remains unchanged, the lower the frame rate of the image acquired by the data processor, the greater the threshold; Determining, by a data processor, a coverage relationship between the first target and the second target based on the first motion trajectory and the second motion trajectory; The data processor determines to suspend the collection of the spatial data of the first target or the second target based on the coverage relationship between the first target and the second target, The first motion trajectory includes the motion direction and motion speed of the first target, and the second motion trajectory includes the motion direction and motion speed of the second target; Wherein, based on the first motion trajectory and the second motion trajectory, determining the coverage relationship between the first target and the second target includes: The data processor determines a first predicted position of the first target based on the first motion trajectory; the first predicted position of the first target is a predicted position of the first target after a time period inferred based on the first motion trajectory, and the time period is the inverse of a frame rate at which the data processor acquires images; determining, by a data processor, a second predicted position of the second target based on the second motion trajectory; The data processor determines a covered target among the first target and the second target based on the first predicted position and the second predicted position, The covered target is the first target; Wherein, based on the coverage relationship between the first target and the second target, determining to suspend collection of spatial data of the first target or the second target includes: The data processor determines to suspend collecting the spatial data of the first target based on the fact that the covered target is the first target, The method further comprises: After pausing to collect the spatial data of the first target, a data processor determines an expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target; The data processor determines, based on the expected coverage relationship between the first target and the second target, whether to continue to suspend the collection of the spatial data of the first target, or to resume the collection of the spatial data of the first target. Determining the expected coverage relationship between the first target and the second target based on the first motion trajectory and the current motion trajectory of the second target includes: determining, by a data processor, a third predicted position of the first target based on the first motion trajectory; determining, by a data processor, a fourth predicted position of the second target based on the current motion trajectory of the second target; determining, by a data processor, whether the first target is still covered by the second target based on the third predicted position and the fourth predicted position, Determining, based on the expected coverage relationship between the first target and the second target, to continue suspending the collection of spatial data of the first target, or to resume the collection of spatial data of the first target includes: If it is determined that the first target is no longer covered by the second target, the data processor determines to resume collecting the spatial data of the first target; If it is determined that the first object is still covered by the second object, the data processor determines to continue to suspend the collection of spatial data of the first object.

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