Target object positioning method and device, storage medium and terminal

Abstract

The invention relates to the technical field of laser positioning, in particular to a target object positioning method and device, a storage medium and a terminal. The target object positioning method comprises a coordinate information acquisition step, a vertex loss function value calculation step, a positioning point selection step, a positioning point loss function value calculation step and a judgment iteration step, and the loss function value of a vertex and a positioning point is solved by using a laser point location. And the target object is quickly positioned by judging the size of the loss function value, so that the calculation complexity is reduced, and the algorithm operation speed is improved.

Description

Technical Field

[0001] The present invention relates to the field of laser positioning technology, and in particular to a target object positioning method and device, a storage medium, and a terminal. Background Art

[0002] In the application fields of biomedicine, chemical analysis and materials science, using laser to locate the position of the target object is an important step. However, most of the existing algorithms for locating the target object rely on complex probability distribution calculations, which are computationally intensive and require high computing resources, and are not suitable for processors with limited resources. Summary of the invention

[0003] In order to solve the above-mentioned shortcomings of the target object positioning algorithm in the prior art, the present invention provides a target object positioning method and device, storage medium, and terminal. The specific scheme is as follows: In a first aspect, the present invention provides a method for locating a target object, comprising the following steps: Coordinate information acquisition step: obtain the coordinate information emitted by the laser and falling near the target object The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; get The two-dimensional coordinates of three vertices selected near the laser point; wherein, ; The step of selecting a positioning point: taking any vertex among the three vertices as the origin, determining the center line between the origin and the midpoint of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; selecting each of the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; ; The calculation steps of the positioning point loss function value; according to The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points; Determine the iteration step; if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning points with the smallest loss function value among the positioning points respectively replace the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection step and the positioning point loss function value calculation step are repeated to continuously replace the three vertices corresponding to each other. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

[0004] In one embodiment, in the step of acquiring coordinate information, a photon counter is used to collect the distance between each of the laser points and the target object to obtain The distance between the laser point and the target object.

[0005] In one embodiment, in the coordinate information acquisition step, the coordinate information is acquired. The method for obtaining the two-dimensional coordinates of three vertices selected near a laser point comprises the following steps: calculate The average X-axis coordinate of the laser points middle and the Y-axis coordinate mean Y middle ; Calculate X middle and The average value of the distance between the X-axis coordinates of the laser points X gap , calculate Y middle and The average value Y of the Y-axis coordinates of the laser points gap ; Then the two-dimensional coordinates of the three vertices are (X middle -X gap , Y middle +Y gap )、(X middle -X gap , Y middle -Y gap )、(X middle +X gap , Y middle ).

[0006] In one embodiment, in the step of calculating the positioning point loss function value, the calculation The method for obtaining the loss function value of the positioning point comprises the following steps: Calculate each of the positioning points to The square value of the distance between the laser points, the formula for the square value of the distance is: ; In the formula, Indicates a certain positioning point to the The square value of the distance between laser points; , Respectively The horizontal and vertical coordinates of the laser points, , are the horizontal and vertical coordinates of the positioning point respectively; According to the positioning point to The square value of the distance between the laser points and the laser parameters are used to calculate the influence of each positioning point on the The intensity value of the laser point irradiation is given by: ; In the formula, Indicates that a certain positioning point is affected by the The intensity value of the laser point irradiation; , is the coefficient, which is determined according to the actual laser parameters; According to the positioning point The intensity value of the laser point irradiation is calculated respectively for each positioning point and The intensity ratio between the laser points. The formula for the intensity ratio is: ; In the formula, Represents a certain positioning point and the The intensity ratio between the laser points, It is represented by the position point and the The intensity value between the laser points; According to the laser The number of photons corresponding to each laser point is calculated separately The photon number ratio of each laser point is as follows: ; In the formula, Expressed as The ratio of the number of photons per laser point, Expressed as The number of photons corresponding to each laser point; According to the positioning point and The intensity ratio between the laser points and The loss function value of each positioning point is calculated based on the photon number ratio of each laser point. The formula of the loss function value of the positioning point is: ;in, Represents the loss function value of a certain positioning point.

[0007] In one embodiment, the step of laser dotting is also included, wherein the laser emits a group of laser pulses, which include A high level and During the high level period, the laser enables to emit laser pulses to form near the target object The laser points are positioned and the coordinate information acquisition step is executed, and the number of photons is collected at the same time; during the low level period, the laser is turned off and the number of photons is stopped.

[0008] In one embodiment, A high level and a front During the low level period, the calculation of each positioning point is performed. The square value of the distance between the laser points, and the calculation of the influence of each positioning point The intensity value of the laser point irradiation, calculation of each positioning point and The intensity ratio between the laser points in the step; During the low level period, the steps of calculating the loss function value of each positioning point and judging the iteration step are executed.

[0009] In one embodiment, the preset value is between 0.01 and 0.05.

[0010] In a second aspect, the present invention further provides a target object positioning device, comprising: Coordinate information acquisition module: used to obtain the coordinate information emitted by the laser and falling near the target object The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; obtain the ... The two-dimensional coordinates of three vertices selected near the laser point; among them, ; A positioning point selection module is used to take any vertex among the three vertices as the origin, determine the center line between the origin and the midpoint of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; select each of the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; ; Positioning point loss function value calculation module; used according to The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points; Iteration module; used to determine if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning point with the smallest loss function value among the positioning points respectively replaces the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection module and the positioning point loss function value calculation module are repeatedly executed to continuously use the coordinates of the three new vertices respectively. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

[0011] In a third aspect, the present invention further provides a storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the target object positioning method described in the above embodiment is executed.

[0012] In a fourth aspect, the present invention further provides a terminal, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor executes the target object positioning method described in the above embodiment when running the computer program.

[0013] Based on the above, compared with the prior art, the target object positioning method provided by the present invention can quickly determine the position of the target object through the design of the coordinate information acquisition step, the positioning point selection step, the positioning point loss function value calculation step, and the judgment iteration step, thereby avoiding complex probability distribution calculations, significantly reducing the calculation complexity, and improving the positioning speed and efficiency.

[0014] Other features and beneficial effects of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other beneficial effects of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. The positional relationships described in the drawings in the following description are based on the directions in which the components are drawn in the diagrams, unless otherwise specified.

[0016] Figure 1 A flowchart of the steps of a method for locating a target object provided by an embodiment of the present invention; Figure 2 A schematic diagram of selecting a positioning point on a center line in a positioning point selection step in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a target object positioning device provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; the technical features designed in different implementation modes of the present invention described below can be combined with each other as long as they do not conflict with each other; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that all terms (including technical terms and scientific terms) used in the present invention have the same meanings as those generally understood by ordinary technicians in the field to which the present invention belongs, and should not be understood as limitations on the present invention; it should be further understood that the terms used in the present invention should be understood to have the same meanings as these terms in the context of this specification and in the relevant fields, and should not be understood in an idealized or overly formal sense, unless explicitly defined in this invention.

[0019] In order to solve the problem that most target object positioning algorithms in the prior art rely on complex probability distribution calculations, resulting in insufficient computing power or resources, the present invention provides a target object positioning method and device, a storage medium, and a terminal, which use laser positioning and loss function value calculation to locate the position of the target object, thereby effectively improving the computing speed and reducing the processing pressure.

[0020] The technical solution of the present invention is described and illustrated in detail below through a variety of specific implementation methods in combination with different embodiments and the accompanying drawings of the specification.

[0021] Embodiment 1 See also Figure 1 This embodiment provides a method for locating a target object, comprising the following steps: S1, coordinate information acquisition step: obtaining the coordinate information emitted by the laser and falling near the target object The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; obtain the ... The two-dimensional coordinates of three vertices selected near the laser point; among them, .

[0022] Specifically, Each laser point is emitted by one or more lasers. Each laser point can be located anywhere near the target object and can be set reasonably according to actual needs. The value of can be, for example, 3, 4, 5, 6, 7, etc. The larger the value of is, the greater the amount of calculation is. Take 4, the amount of calculation will not be too large and the accuracy requirement can be met. The distance value between the laser point and the target object can be measured by selecting a reasonable tool according to the actual application scenario. For example, when the target object is a molecule, a photon counter can be used to measure the distance value between the laser point and the target object. Specifically, by acquiring the fluorescence of the molecule, a photon counter is used to collect the distance between each of the laser points and the fluorescence. Among them, the photon counter can use, for example, an avalanche diode to calculate the distance between the laser and the molecule to be measured that generates fluorescence, that is, the distance between the laser point and the molecule to be measured is calculated using the principle that when the distance between the laser molecules is closer, the molecule receives more laser energy and the fluorescence intensity generated is also stronger. The acquisition of the distance value helps to subsequently calculate the precise coordinates of the target object. Similarly, a photodetector (such as a photon counter) can be used to collect the number of photons emitted by the laser.

[0023] exist Three vertices are selected near the laser point, where the position of the vertex can be any position near the laser point, and this embodiment is not limited to this. As a preferred solution, obtain The method for obtaining the two-dimensional coordinates of three vertices selected near a laser point comprises the following steps: calculate The average X-axis coordinate of the laser points middle and the Y-axis coordinate mean Y middle ; Calculate X middle and The average value of the distance between the X-axis coordinates of the laser points X gap , calculate Y middle and The average value Y of the Y-axis coordinates of the laser points gap ; Then the two-dimensional coordinates of the three vertices are (X middle -X gap , Y middle +Y gap )、(X middle -X gap , Y middle -Y gap )、(X middle +X gap , Y middle ).

[0024] Compared with randomly selecting three vertices, the initial selection of three vertices can be more accurately close to the laser point and the target object, improve the accuracy of subsequent calculations, reduce the number of calculation iterations, and reduce the algorithm calculation burden. middle , Y middle , X gap , Y gap The specific values ​​of the two-dimensional coordinates of the three vertices can be X middle , Y middle , X gap , Y gap Any one or two of the above can be added or subtracted to obtain the result, but this embodiment is not limited thereto.

[0025] Of course, those skilled in the art may use the above-mentioned embodiment for the initial selection of the three vertices, or may select them arbitrarily, and may also use other formulas or methods to confirm the initial selection positions of the three vertices. Generally, appropriate formulas or methods are adopted for the purpose of approaching the target object, which all belong to the inventive concept of the present invention and fall within the protection scope of the present invention.

[0026] S2, a positioning point selection step; taking any vertex among the three vertices as the origin, determining the center line between the origin and the midpoints of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; selecting each on the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; .

[0027] In specific implementation, the distance from the origin on the center line to the midpoint of the line connecting the other two vertices among the three vertices is defined as the bisector segment. Positioning points, among which The value of can be, for example, 3, 4, 5, 6, 7, etc. The larger the value of is, the greater the amount of calculation is. Taking 4, the amount of calculation will not be too large and the accuracy requirement can be met. The specific method of selecting each positioning point can be arbitrarily selected, or it can be a corresponding multiple of the bisector segment for easy calculation. For example, a certain point can be selected from the origin to 2 times the bisector segment position, a certain point can be selected from the origin to 3 times the bisector segment position, a certain point can be selected from the origin to 3 / 2 times the bisector segment position, a certain point can be selected from the origin to 1 / 2 times the bisector segment position, etc. Specific as Figure 2 As shown, assuming that the three vertices are represented as U, V, and W, T is the midpoint of VW, and U is the origin, then the extended straight line of UT is the center line, and the line segment UT is the bisector. The positioning point is H from the origin to 2 times the bisector, I from the origin to 3 times the bisector, J from the origin to 3 / 2 times the bisector, and K from the origin to 1 / 2 times the bisector. The four positioning points selected on the center line are H, I, J, and K. The two-dimensional coordinates of each positioning point can be easily obtained according to the selection method of the positioning points.

[0028] It should be noted that the selection of the positioning points can also be other ways, for example, the positioning points can be selected from the position of the bisector from the origin to 2 / 5 times, 4 / 5 times, 1 / 4 times, 3 / 4 times, etc. Those skilled in the art can set it according to actual needs, and this embodiment is not limited to this. In fact, the number of positioning points selected corresponding to each vertex can be the same as described in this embodiment, or can be set to be different. Relatively speaking, the calculation of setting different ones is more complicated, which may be suitable for complex occasions.

[0029] S3, the step of calculating the loss function value of the positioning point; according to The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points.

[0030] For a single positioning point, it is affected by the nearby Therefore, if you want to calculate the loss function value of a single positioning point, you need to calculate the loss function of a single positioning point and Furthermore, the error loss between a single positioning point and a laser point is equal to the difference between the intensity ratio and the photon number ratio.

[0031] The intensity ratio is based on The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points are used to transmit The laser parameters of each laser point are calculated, wherein the laser parameters include the laser intensity that may affect the calculation result of the intensity ratio and other factors that affect the laser intensity attenuation. The formula of the intensity ratio can be corrected according to the specific laser intensity of the laser and other factors that affect the laser intensity attenuation. Specifically, the adjustment coefficient or error weight or correction formula is introduced through experiments or other methods to achieve accurate calculation of the intensity ratio.

[0032] The ratio of the number of photons emitted by the laser Specifically, the photon counter can be used to collect the number of photons corresponding to the laser points emitted by the laser. The laser points affect each other, so the ratio of the number of photons at a single laser point to the number of photons at all laser points is the ratio of the number of photons at that single laser point.

[0033] Here, it should be noted that the intensity ratio and the photon number ratio are not unique formulas. Since the laser beam may be scattered or otherwise lost during propagation, its intensity ratio and photon number ratio need to be corrected. Therefore, according to actual needs, those skilled in the art can adjust the formula according to actual applications in the process of calculating the intensity ratio and the photon number ratio, such as introducing a loss coefficient or introducing a deformation formula that varies with light or other factors to correct the intensity ratio and the photon number ratio. Such adjustments fall within the protection scope of the embodiments of the present invention.

[0034] S4, determine the iteration step; if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning points with the smallest loss function value among the positioning points respectively replace the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection step and the positioning point loss function value calculation step are repeated to continuously replace the three vertices corresponding to each other. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

[0035] During specific implementation, the calculated loss function value of the positioning point is compared with the preset value. If the loss function value of each positioning point is greater than the preset value, the step of replacing the iterative vertex is executed and the loss function value of the new vertex and its corresponding positioning point is calculated; if the minimum loss function value among each positioning point is less than or equal to the preset value, the step of replacing the iterative vertex is stopped, and the coordinates of the positioning point corresponding to the minimum loss function value are determined to be the coordinates of the target object, and the position of the target object can be obtained. Among them, the setting of the preset value can be reasonably set according to actual needs, and the accuracy of solving the position of the target object can be adjusted by adjusting the preset value. The smaller the preset value, the more accurate the result, but the corresponding calculation burden is also increased. Preferably, the preset value is between 0.01 and 0.05. In this embodiment, the preferred preset value is set to 0.02.

[0036] In the step of replacing the iterative vertex, the three vertices are mainly used to The positioning points with the smallest loss function values ​​among the positioning points respectively replace the three vertices to form three new vertices.

[0037] For example, suppose , 4 positioning points are selected for each vertex, and there are 12 positioning points in total. Let the three vertices be represented as A, B, and C respectively. The four positioning points corresponding to vertex A are Aa, Ab, Ac, and Ad respectively. The positioning point with the smallest loss function value among Aa, Ab, Ac, and Ad is Aa. The four positioning points corresponding to vertex B are Ba, Bb, Bc, and Bd respectively. The positioning point with the smallest loss function value among Ba, Bb, Bc, and Bd is Bc. The four positioning points corresponding to vertex C are Ca, Cb, Cc, and Cd respectively. The positioning point with the smallest loss function value among Ca, Cb, Cc, and Cd is Cb. Compare these twelve positioning points with the preset values. If these twelve positioning points are all greater than the preset values, the vertices need to be replaced, that is, A is replaced with Aa with the smallest loss function value, B is replaced with Bc with the smallest loss function value, and C is replaced with Cb with the smallest loss function value. The new three vertices are Aa, Bc, and Cb respectively. Next, the three new vertices Aa, Bc, and Cb are selected as anchor points and the loss function values ​​of the anchor points are solved. It is assumed that the anchor points corresponding to vertex Aa are Ae, Af, Ag, and Ah, and the loss function value of Ah is the smallest. The anchor points corresponding to vertex Bc are Be, Bf, Bg, and Bh, and the loss function value of Be is the smallest. The anchor points corresponding to vertex Cb are Ce, Cf, Cg, and Ch, and the loss function value of Cf is the smallest. The twelve new anchor points are compared with the preset values. If all twelve anchor points are greater than the preset values, the vertices need to be replaced, that is, vertex Aa is replaced with Ah with the smallest loss function value, vertex Bc is replaced with Be with the smallest loss function value, and vertex Cf is replaced with Cb with the smallest loss function value. The new three vertices are Ah, Be, and Cf, respectively... Repeated iteration until the loss function value of one of the twelve anchor points is less than or equal to the preset value, then the iteration is stopped, and the coordinates of the anchor point are determined to be the coordinates of the target object.

[0038] Regarding the step design of the above-mentioned method for locating the target object, by directly calculating the loss function value of the positioning point corresponding to the original three vertices, the three vertices can be updated and replaced at one time without increasing the calculation time, so as to quickly approach the position of the target object, thereby reducing the calculation complexity and greatly speeding up the calculation speed of locating the target object position.

[0039] It should be noted that, based on the concept of the present invention, those skilled in the art can also apply the method to the occasion of motion trajectory analysis. Specifically, the target object positioning method provided by the embodiment of the present invention is used to obtain the position of the target object multiple times, and then form a motion trajectory analysis. For example, it can be used in occasions such as molecular motion trajectory analysis. Of course, the target object positioning method provided by the embodiment of the present invention can also be applied to occasions in other fields such as cell positioning in biological tissues and pathogen positioning.

[0040] In an optional embodiment, in the step of calculating the positioning point loss function value, calculate The method for obtaining the loss function value of the positioning point comprises the following steps: S31, calculate each of the positioning points to The square value of the distance between the laser points, the formula for the square value of the distance is: ; In the formula, Indicates a certain positioning point to the The square value of the distance between laser points; , Respectively The horizontal and vertical coordinates of the laser points, , are the horizontal and vertical coordinates of the positioning point respectively; S32, according to the positioning point to The square value of the distance between the laser points and the laser parameters are used to calculate the influence of each positioning point on the The intensity value of the laser point irradiation is given by: ; In the formula, Indicates that a certain positioning point is affected by the The intensity value of the laser point irradiation; , is a coefficient, which is determined according to the actual laser parameters; it should be noted here that , The specific value of the adjustment coefficient can be determined according to actual laser parameters and relevant application conditions. Those skilled in the art can obtain the adjustment coefficient through a limited number of experimental tests.

[0041] S33, according to the positioning point being The intensity value of the laser point irradiation is calculated respectively for each positioning point and The intensity ratio between the laser points. The formula for the intensity ratio is: ; In the formula, Represents a certain positioning point and the The intensity ratio between the laser points, It is represented by the position point and the The intensity value between the laser points.

[0042] S34, according to the laser The number of photons corresponding to each laser point is calculated separately The photon number ratio of each laser point is as follows: ; In the formula, Expressed as The ratio of the number of photons per laser point, Expressed as The number of photons corresponding to each laser point.

[0043] S35, according to the positioning point and The intensity ratio between the laser points and The loss function value of each positioning point is calculated based on the photon number ratio of each laser point. The formula of the loss function value of the positioning point is: ;in, Represents the loss function value of a certain positioning point.

[0044] Let's take a positioning point Aa as an example. , , which illustrates the specific calculation process of the loss function value of the positioning point Aa. The calculation process of other positioning points can be obtained by referring to the following calculation process, which will not be repeated in this embodiment.

[0045] Specifically, the coordinates of the position Aa are set to Aa (Xa, Ya); the coordinates of the four laser points are respectively expressed as (X1, Y1), (X2, Y2), (X3, Y3), and (X4, Y4).

[0046] The formula for calculating the square of the distance between the positioning point Aa and the four laser points is as follows: The square value of the distance from the positioning point Aa to the laser point (X1, Y1) is: ; The square value of the distance from the positioning point Aa to the laser point (X2, Y2) is: ; The square value of the distance from the positioning point Aa to the laser point (X3, Y3) is: ; The square value of the distance from the positioning point Aa to the laser point (X4, Y4) is: ; The intensity values ​​of the positioning point Aa irradiated by the four laser points are calculated as follows: The intensity value of the positioning point Aa irradiated by the laser point (X1, Y1) is: ; The intensity value of the positioning point Aa irradiated by the laser point (X2, Y2) is: ; The intensity value of the positioning point Aa irradiated by the laser point (X3, Y3) is: ; The intensity value of the positioning point Aa irradiated by the laser point (X4, Y4) is: ; The intensity ratio between the positioning point Aa and the four laser points is calculated as follows: The intensity ratio of the positioning point Aa to the laser point (X1, Y1) is: ; The intensity ratio of the positioning point Aa to the laser point (X2, Y2) is: ; The intensity ratio of the positioning point Aa to the laser point (X2, Y2) is: ; The intensity ratio of the positioning point Aa to the laser point (X2, Y2) is: ; The photon ratio of the four laser points is calculated as follows: The photon ratio of the laser point (X1, Y1) is: ; The photon number ratio of the laser point (X2, Y2) is: ; The photon number ratio of the laser point (X3, Y3) is: ; The photon number ratio of the laser point (X4, Y4) is: ; The loss function value of the positioning point Aa is calculated as follows: The loss function value of the positioning point Aa is:

[0047] Preferably, the target object positioning method provided by the embodiment of the present invention further comprises a laser dot step, wherein the laser emits a group of laser pulses, which include A high level and During the high level period, the laser enables to emit laser pulses to form near the target object The laser points are positioned and the coordinate information acquisition step is executed, and the number of photons is collected at the same time; during the low level period, the laser is turned off and the number of photons is stopped.

[0048] In specific implementation, the laser emits according to the preset timing Laser pulses, each pulse corresponds to a high level stage. In the high level stage, the laser is enabled to emit laser pulses to form laser points. The laser points are used to perform subsequent coordinate information acquisition steps and collect photon counts through the photon counter. In the low level stage, the laser stops emitting laser pulses and stops collecting photons. Among them, the high level and the low level appear alternately and periodically. laser pulses, so the high level and low level each contain indivual.

[0049] In a preferred embodiment, A high level and a front During the low level period, the calculation of each vertex and positioning point is performed. The square value of the distance between the laser points, the calculation of the influence of each vertex and the positioning point The intensity value of the laser point irradiation, calculation of each vertex and positioning point and The intensity ratio between the laser points in the step; During the low level period, the steps of calculating the loss function value of each positioning point and judging the iteration step are executed.

[0050] Specifically, if all laser points are marked and a large number of calculations are concentrated in the fourth low level period after the last high level ends to perform algorithmic operations, the operation speed will be slow and the processor operation burden will be heavy. Here, the four high levels and the first three low levels have a lower processor load because no calculation is required, while the fourth low level has a heavier processor load because calculation is required. Based on the above problems, in this embodiment, by splitting the calculation of the loss function value of the positioning point and placing the calculations that are not related to the number of photons during the four high levels and the first three low levels with lower processor load, the processor load during the fourth low level can be greatly reduced, and the operation speed can also be improved.

[0051] The operation that is independent of the number of photons is the calculation of each of the vertices and the positioning points mentioned in this embodiment. The square value of the distance between the laser points, the calculation of the influence of each vertex and the positioning point The intensity value of the laser point irradiation, calculation of each vertex and positioning point and Since these calculations do not involve the calculation of the number of photons, they can be placed in the four high-level and the first three low-level periods for calculation, thereby reducing the calculation burden and saving the processor load.

[0052] Embodiment 2 See also Figure 3 The embodiment of the present invention also provides a target object positioning device, which at least includes a coordinate information acquisition module, a vertex loss function value calculation module, a positioning point selection module, a positioning point loss function value calculation module, and a judgment iteration module.

[0053] The coordinate information acquisition module is used to obtain the coordinate information emitted by the laser and falling near the target object. The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; obtain the ... The two-dimensional coordinates of three vertices selected near the laser point; among them, ; The positioning point selection module is used to take any vertex among the three vertices as the origin, determine the center line between the origin and the midpoint of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; select each of the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; ; The positioning point loss function value calculation module is used to calculate the The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points; The judgment iteration module is used to judge if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning point with the smallest loss function value among the positioning points respectively replaces the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection module and the positioning point loss function value calculation module are repeatedly executed to continuously use the coordinates of the three new vertices respectively. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

[0054] In one embodiment, a laser dotting module is further included to enable the laser to emit a group of laser pulses, which include A high level and During the high level period, the laser enables to emit laser pulses to form near the target object The laser points are positioned and the coordinate information acquisition step is executed, and photon collection is performed at the same time; during the low level period, the laser is turned off and photon collection is stopped.

[0055] In other optional embodiments, a processing module is also included for A high level and a front During the low level period, the calculation of each positioning point is performed. The square value of the distance between the laser points, and the calculation of the influence of each positioning point The intensity value of the laser point irradiation, calculation of each positioning point and The intensity ratio between the laser points in the step; During the low level period, the steps of calculating the loss function value of each positioning point and judging the iteration step are executed.

[0056] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0057] Embodiment 3 An embodiment of the present invention further provides a storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is executed by a processor, the target object positioning method described in any of the above embodiments is executed.

[0058] In a specific implementation, the storage medium is a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviated as: HDD) or a solid-state drive (SSD), etc.; the storage medium may also include a combination of the above types of memory.

[0059] Embodiment 4 See also Figure 4 An embodiment of the present invention further provides a terminal, the terminal comprising a memory and a processor, the memory storing a computer program that can be run on the processor, and the processor executing the target object positioning method described in any of the above embodiments when running the computer program.

[0060] In specific implementation, the number of processors may be one or more, and the processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned chips. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0061] The memory and the processor may be communicatively connected via a bus or other means, and the memory stores program instructions executable by at least one processor, and the program instructions are executed by at least one processor so that the processor executes a target object positioning method as described in any of the above embodiments.

[0062] In summary, compared with the prior art, the target object positioning method and device, storage medium, and terminal provided by the present invention effectively avoid complex probability distribution calculation algorithms, and can quickly locate the position of the target object through coordinated calculation of each step. It can be applied to devices with limited computing resources, effectively reduces computing costs and computing speed, improves the accuracy and efficiency of target object positioning, and has good application prospects.

[0063] In addition, those skilled in the art should understand that, although there are many problems in the prior art, each embodiment or technical solution of the present invention can be improved in only one or several aspects, without having to solve all the technical problems listed in the prior art or background technology at the same time. Those skilled in the art should understand that the content not mentioned in a claim should not be used as a limitation on the claim.

[0064] Although this article uses more terms such as target object, laser point, vertex, positioning point, loss function value, preset value, coordinate information acquisition module, vertex loss function value calculation module, positioning point selection module, positioning point loss function value calculation module, judgment iteration module, etc., it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention; the terms "first", "second", etc. (if any) in the description and claims of the embodiments of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the solutions described in the aforementioned embodiments may be modified, or some or all of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating a target object, characterized in that: The following steps are involved: Coordinate information acquisition step: obtain the coordinate information emitted by the laser and falling near the target object The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; get The two-dimensional coordinates of three vertices selected near the laser point; wherein, ; The step of selecting a positioning point: taking any vertex among the three vertices as the origin, determining the center line between the origin and the midpoint of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; selecting each of the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; ; The calculation steps of the positioning point loss function value; according to The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points; Determine the iteration step; if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning points with the smallest loss function value among the positioning points respectively replace the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection step and the positioning point loss function value calculation step are repeated to continuously replace the three vertices corresponding to each other. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

2. The target object positioning method according to claim 1, characterized in that: In the coordinate information acquisition step, a photon counter is used to collect the distance between each laser point and the target object to obtain The distance between each laser point and the target object.

3. The target object positioning method according to claim 1, characterized in that: In the coordinate information acquisition step, obtain The method for obtaining the two-dimensional coordinates of three vertices selected near the laser point comprises the following steps: calculate The average X-axis coordinate of the laser points middle and the Y-axis coordinate mean Y middle ; Calculate X middle and The average value of the distance between the X-axis coordinates of the laser points X gap , calculate Y middle and The average value Y of the Y-axis coordinates of the laser points gap ; Then the two-dimensional coordinates of the three vertices are (X middle -X gap , Y middle +Y gap )、(X middle -X gap , Y middle -Y gap )、(X middle +X gap , Y middle ).

4. The target object positioning method according to claim 1, characterized in that: In the calculation step of the anchor point loss function value, calculate The method for obtaining the loss function value of the positioning point comprises the following steps: Calculate each of the positioning points to The square value of the distance between the laser points, the formula for the square value of the distance is: ; In the formula, Indicates a certain positioning point to the The square value of the distance between the laser points; , Respectively The horizontal and vertical coordinates of the laser points, , are the horizontal and vertical coordinates of the positioning point respectively; According to the positioning point to The square value of the distance between the laser points and the laser parameters are used to calculate the influence of each positioning point on the The intensity value of the laser point irradiation is given by: ; In the formula, Indicates that a certain positioning point is affected by the The intensity value of the laser point irradiation; , is the coefficient, which is determined according to the actual laser parameters; According to the positioning point The intensity value of the laser point irradiation is calculated for each positioning point and The intensity ratio between the laser points. The formula for the intensity ratio is: ; In the formula, Represents a certain positioning point and the The intensity ratio between the laser points, It is represented by the position point and the The intensity value between the laser points; According to the laser The number of photons corresponding to each laser point is calculated separately The photon number ratio of each laser point is as follows: ; In the formula, Expressed as The ratio of the number of photons per laser point, Expressed as The number of photons corresponding to each laser point; According to the positioning point and The intensity ratio between the laser points and The loss function value of each positioning point is calculated based on the photon number ratio of each laser point. The formula of the loss function value of the positioning point is: ;in, Represents the loss function value of a certain positioning point.

5. The target object positioning method according to claim 4, characterized in that: It also includes a laser dotting step, where the laser emits a set of laser pulses, which include A high level and During the high level period, the laser enables to emit laser pulses to form near the target object The laser points are positioned and the coordinate information acquisition step is executed, and the number of photons is collected at the same time; during the low level period, the laser is turned off and the number of photons is stopped.

6. The target object positioning method according to claim 5, characterized in that: exist A high level and a front During the low level period, the calculation of each positioning point is performed. The square value of the distance between the laser points, and the calculation of the influence of each positioning point The intensity value of the laser point irradiation, calculation of each positioning point and The intensity ratio between the laser points is in the step; During the low level period, the steps of calculating the loss function value of each positioning point and judging the iteration step are executed.

7. The target object positioning method according to claim 1, characterized in that: The preset value is between 0.01 and 0.

05.

8. A target object positioning device, characterized in that: include: Coordinate information acquisition module; Used to obtain the laser emitted by the target object The two-dimensional coordinates of the laser points, The distance between each of the laser points and the target object and the distance between each of the laser points and the target object The number of photons corresponding to the laser point position; obtain the ... The two-dimensional coordinates of three vertices selected near the laser point; among them, ; A positioning point selection module is used to take any vertex among the three vertices as the origin, determine the center line between the origin and the midpoint of the line connecting the other two vertices among the three vertices, and each of the three vertices forms a center line; select each of the three center lines Positioning points to obtain The two-dimensional coordinates of the positioning points; ; The module for calculating the loss function value of the positioning point is used to calculate the loss function value of the positioning point according to the The two-dimensional coordinates of the laser points, The two-dimensional coordinates of the positioning points and the laser parameters are calculated respectively The positioning points are The intensity ratio of the laser point irradiation; according to the laser The number of photons corresponding to each laser point is calculated separately The ratio of the number of photons per laser point; The positioning points are The intensity ratio of the laser point irradiation and The photon number ratio of each laser point is calculated separately The loss function value of each of the positioning points; Iteration module; used to determine if If the loss function values ​​of the positioning points are greater than the preset value, the corresponding loss function of the three vertices is used. The positioning point with the smallest loss function value among the positioning points respectively replaces the three vertices to form three new vertices; based on the coordinates of the three new vertices, the positioning point selection module and the positioning point loss function value calculation module are repeatedly executed to continuously use the coordinates of the three new vertices respectively. The anchor point with the smallest loss function value among the anchor points replaces the three new vertices iteratively until If the minimum loss function value among the positioning points is less than or equal to a preset value, the coordinates of the positioning point corresponding to the minimum loss function value are determined as the coordinates of the target object.

9. A storage medium, characterized in that: The storage medium is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is executed by a processor, the target object positioning method according to any one of claims 1 to 7 is executed.

10. A terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor executes the target object positioning method according to any one of claims 1 to 7 when running the computer program.

Images