Passive target position sensing method and device

Abstract

The invention discloses a passive target position sensing method and device, and the method comprises the steps: firstly determining a target detection direction, and enabling an optical lens module to be aligned with the target detection direction; then capturing targets in a detection direction by using an optical lens module, identifying the captured targets by using an AI target detection module, obtaining the number and distribution of the captured targets, and forming a traversal set by using all the targets or interested targets; performing focusing on each target in the traversal set by using a focusing adjustment module and a detection module, acquiring an image distance value and a focal length value of each target during focusing by using the detection module, and performing target distance measurement by using a position sensing module according to the image distance value and the focal length value of each target during focusing; obtaining distance data of each target; and finally, carrying out distance measurement on the distance data of each target in the traversal set to form a data table corresponding to the target and the distance. The passive distance sensing of the target can be realized.

Description

Technical Field

[0001] The present invention relates to the field of dynamic sensing technology, and in particular to a passive target position sensing method and device. Background Art

[0002] Passive target position perception simply means completing target recognition and classification, and measuring the distance between a specific target object (target point) and an observation point (or reference point). The result is expressed as V, which is a vector that contains both the distance value and the direction.

[0003] Among them, commonly used target distance perception equipment and systems include radar systems, laser ranging systems, etc. Both of these target distance perception systems need to actively send out energy. After hitting the target, the reflection is received by the sensor through time difference or phase difference to calculate the distance and azimuth angle. Actively sending energy to complete target distance perception is widely used in the civilian field, but there are some drawbacks. One is that various energy waves or lasers interfere with each other, which reduces the accuracy of the system or even invalidates the data. The other is that it consumes a lot of energy, which may bring safety hazards, and the measurement distance, that is, the range is limited. Taking laser radar as an example, autonomous driving needs to perceive a farther distance from the front of the vehicle. In order to achieve this goal, it is necessary to increase the range of radar ranging, and then increase the power of the laser. Paradoxically, the increase in laser power will bring safety hazards. For example, there was news earlier that the laser radar used in a new energy vehicle may cause damage to a mobile phone camera.

[0004] This type of active radar actively sends energy for ranging, but the energy can be monitored, which will lead to exposure. It will cause reverse locking, putting the observation point in a very dangerous environment. In addition, the above radars all involve a lot of data processing in order to analyze what the target is and the parameters of the target. For example, the laser radar of a car periodically scans and measures the surrounding scenes to form a huge amount of point cloud data. How to process this huge amount of data and identify the target in the huge amount of point cloud data is even more difficult. This obviously increases the requirements for the computing power of the car, which is not conducive to real-time target detection and cost reduction.

[0005] Therefore, it becomes crucial to rely entirely on target or environmental energy to complete the above-mentioned ranging task without actively sending energy in the passive measurement system. Summary of the invention

[0006] The object of the present invention is to provide a passive target position sensing method and device, which completely relies on target or environmental energy to perform target ranging when the passive measurement system does not actively send energy.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A passive target position sensing device, comprising:

[0009] An optical lens module, comprising one or more optical lenses, for capturing a target;

[0010] The logic control module belongs to the general control center, receives signals transmitted by the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module, and issues corresponding control instructions to the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module;

[0011] AI target detection module, which includes multiple categories of AI detection algorithms, is used to identify targets captured by the optical lens module; the AI ​​detection algorithm can classify about 80 types of targets such as cats, dogs, people, and cars;

[0012] A focus adjustment module includes one or more actuators for adjusting the focal length, which is used to adjust the focus of the captured target; the actuator for adjusting the focal length includes a rotating mechanism (similar to thread rotation) and a micromotor, an ultrasonic motor drive, etc., which can be adjusted manually (for example, by rotating the focus rotating ring on the lens);

[0013] The detection module includes a focus detection unit, an image distance detection and focal length detection unit, wherein the focus detection unit includes one or more focus judgment execution mechanisms for judging whether to focus on the captured target; the image distance detection and focal length detection unit is used to obtain image distance values ​​and focal length values; image distance and focal length are parameters of the camera and can be measured using existing sensing means;

[0014] The position perception module measures the distance to the target based on the image distance and focal length values ​​obtained by the detection module and using the optical imaging principle.

[0015] According to the above technical solution, the optical lens module is used to capture the target, and the capture signal is transmitted to the logic control module. After receiving the signal transmitted by the logic control module, the logic control module issues a focus judgment instruction to the detection module. After receiving the focus judgment instruction, the detection module judges whether the target is in focus and transmits the focus judgment signal to the logic control module.

[0016] The detection module determines whether the target is in focus and transmits a corresponding signal to the logic control module;

[0017] If the signal transmitted by the detection module and received by the logic control module is a focused signal, the logic control module issues an image distance and focal length acquisition instruction to the detection module; after receiving the image distance and focal length acquisition instruction, the logic control module acquires the image distance and focal length, and transmits the acquired signal to the logic control module;

[0018] If the signal transmitted by the detection module received by the logic control module is a non-focus signal, the logic control module issues a focus adjustment instruction to the focus adjustment module, and the focus adjustment module performs focus adjustment after receiving the focus adjustment instruction until the detection module detects that the target is in focus and stops focus adjustment;

[0019] When the logic control module receives the image distance and focal length signals transmitted by the detection module, it issues a position sensing instruction to the position sensing module. After receiving the position sensing instruction, the position sensing module starts to perform target ranging and outputs the target ranging data to the logic control module for data processing.

[0020] According to the above technical solution, the focal length adjustment includes two focusing modes: manual focusing and automatic focusing.

[0021] Manual focusing refers to manually adjusting the focus by adjusting the actuator for adjusting the focal length in the focus adjustment module;

[0022] The automatic focusing refers to the focus adjustment module executing an automatic focusing algorithm to adjust the focus.

[0023] According to the above technical solution, the auto-focus algorithm calculates the contrast between the target boundary contour and the background, and dynamically adjusts the focal length. When the contrast between the target boundary contour and the background is at the maximum value, it is considered to be in focus.

[0024] According to the above technical solution, the specific execution steps of the target ranging include:

[0025] Acquiring the image distance value and the focal length value obtained by the detection module when the target is focused;

[0026] Calculate the object distance value according to the optical imaging formula;

[0027] The center point of the camera lens is obtained as the position data, and the distance data of the target is calculated according to the object distance value.

[0028] According to the above technical solution, the optical imaging formula is:

[0029]

[0030] Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

[0031] Another embodiment is also included, a passive target position sensing method, the steps of which include:

[0032] Determine the direction of target detection and align the optical lens module in the target detection direction;

[0033] The targets in the detection direction are captured using the optical lens module, and the captured targets are identified using the AI ​​target detection module to obtain the number and distribution of captured targets, and all targets or targets of interest are formed into a traversal set;

[0034] Focus adjustment module and detection module are used to focus on each target in the traversal set, and the detection module is used to obtain the image distance value and focal length value of each target when it is focused. The position sensing module is used to measure the target distance according to the image distance value and focal length value of each target when it is focused, and the distance data of each target is obtained;

[0035] The distance data of each target in the traversal set is measured to form a data table corresponding to the target and the distance.

[0036] According to the above technical solution, the specific execution steps of the target ranging include:

[0037] Obtain the image distance value and focal length value obtained by the detection module when the target is focused;

[0038] Calculate the object distance value according to the optical imaging formula;

[0039] Get the center point of the camera lens as position data, and calculate the distance data of the target according to the object distance value;

[0040] Among them, the optical imaging formula is:

[0041]

[0042] Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

[0043] Compared with the prior art, the beneficial effect achieved by the present invention is that the speed information of the target can be inferred by the known method of periodically refreshing the position perception data. The present invention can use the mature image-based AI target detection technology of the prior art, and use the mature image distance and focal length detection technology to calculate the object distance. The amount of calculation is very small, and the accurate measurement of the image distance and focal length is easy to achieve using the prior art, which is conducive to safe and low-power multi-target tracking as a whole. In addition, combined with binocular or multi-purpose algorithms, more three-dimensional and accurate information can also be obtained. The present invention can realize passive distance perception of the target, and the perception accuracy of the system can be improved through the known method of calibration for specific scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 It is a schematic diagram of the steps of a passive target position sensing method of the present invention;

[0046] Figure 2 It is a schematic diagram of the structural composition of a passive target position sensing device of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Example 1

[0049] A passive target position sensing device, comprising:

[0050] An optical lens module, comprising one or more optical lenses, for capturing a target;

[0051] The logic control module belongs to the general control center, receives signals transmitted by the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module, and issues corresponding control instructions to the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module;

[0052] AI target detection module, which includes multiple categories of AI detection algorithms for identifying targets captured by the optical lens module;

[0053] A focus adjustment module includes one or more actuators for adjusting the focal length, and is used to adjust the focus of the captured target; the focal length adjustment includes two focusing modes: manual focusing and automatic focusing. Manual focusing refers to manually adjusting the actuator for adjusting the focal length in the focus adjustment module to adjust the focus; for example, rotating the focus rotating ring on the lens;

[0054] Automatic focusing means that the focus adjustment module executes an automatic focus algorithm to adjust the focus. The automatic focus algorithm calculates the contrast between the target boundary contour and the background and dynamically adjusts the focal length. When the contrast between the target boundary contour and the background is the maximum value, it is considered to be in focus.

[0055] The detection module includes a focus detection unit, an image distance detection and focal length detection unit, wherein the focus detection unit includes one or more focus judgment execution mechanisms for judging whether to focus on the captured target; the image distance detection and focal length detection unit is used to obtain an image distance value and a focal length value;

[0056] The position sensing module measures the distance of the target based on the image distance and focal length values ​​obtained by the detection module and the principle of optical imaging. The specific implementation is:

[0057] Acquiring the image distance value and the focal length value obtained by the detection module when the target is focused;

[0058] Calculate the object distance value according to the optical imaging formula;

[0059] Get the center point of the camera lens as position data, and calculate the distance data of the target according to the object distance value;

[0060] Wherein, the optical imaging formula is:

[0061]

[0062] Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

[0063] Example 2

[0064] The optical lens module is used to capture the target, and the capture signal is transmitted to the logic control module. After receiving the signal transmitted by the logic control module, the logic control module issues a focus judgment instruction to the detection module. After receiving the focus judgment instruction, the detection module judges whether the target is in focus and transmits the focus judgment signal to the logic control module;

[0065] The detection module determines whether the target is in focus and transmits a corresponding signal to the logic control module;

[0066] If the signal transmitted by the detection module received by the logic control module is a focused signal, the logic control module issues an image distance and focal length acquisition instruction to the detection module; after receiving the image distance and focal length acquisition instruction, the logic control module acquires the image distance and focal length, and transmits the acquired signal to the logic control module;

[0067] If the signal transmitted by the detection module received by the logic control module is a non-focus signal, the logic control module issues a focus adjustment instruction to the focus adjustment module, and the focus adjustment module performs focus adjustment after receiving the focus adjustment instruction until the detection module detects that the target is in focus and stops focus adjustment;

[0068] When the logic control module receives the image distance and focal length signals transmitted by the detection module, it issues a position sensing instruction to the position sensing module. After receiving the position sensing instruction, the position sensing module starts to perform target ranging and outputs the target ranging data to the logic control module for data processing.

[0069] Example 3

[0070] A passive target position sensing method, the specific execution steps include:

[0071] Determine the direction of target detection and align the optical lens module in the target detection direction;

[0072] The targets in the detection direction are captured using the optical lens module, and the captured targets are identified using the AI ​​target detection module to obtain the number and distribution of captured targets, and all targets or targets of interest are formed into a traversal set;

[0073] Focus adjustment module and detection module are used to focus on each target in the traversal set, and the detection module is used to obtain the image distance value and focal length value of each target when it is focused. The position sensing module is used to measure the target distance according to the image distance value and focal length value of each target when it is focused, and the distance data of each target is obtained;

[0074] The distance data of each target in the traversal set is measured to form a data table corresponding to the target and the distance. The data table corresponding to the target and the distance is as follows:

[0075] Target 1 is a ship, and distance 1 is 1300 meters;

[0076] Target 2 is a car, and distance 2 is 50 meters;

[0077] Target 3 is a person, 15 meters away.

[0078] The specific execution steps of target ranging include:

[0079] Obtain the image distance value and focal length value obtained by the detection module when the target is focused;

[0080] Calculate the object distance value according to the optical imaging formula;

[0081] Get the center point of the camera lens as position data, and calculate the distance data of the target according to the object distance value;

[0082] Among them, the optical imaging formula is:

[0083]

[0084] Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

[0085] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0086] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A passive target position sensing device, characterized in that: include: An optical lens module, comprising one or more optical lenses, for capturing a target; The logic control module belongs to the general control center, receives signals transmitted by the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module, and issues corresponding control instructions to the optical lens module, AI target detection module, focus adjustment module, detection module and position sensing module; AI target detection module, which includes multiple categories of AI detection algorithms for identifying targets captured by the optical lens module; A focus adjustment module, comprising one or more actuators for adjusting the focal length, for adjusting the focus of the captured target; The detection module includes a focus detection unit, an image distance detection and focal length detection unit, wherein the focus detection unit includes one or more focus judgment execution mechanisms for judging whether to focus on the captured target; the image distance detection and focal length detection unit is used to obtain an image distance value and a focal length value; The position perception module measures the distance to the target based on the image distance and focal length values ​​obtained by the detection module and using the optical imaging principle.

2. A passive target position sensing device according to claim 1, characterized in that: The optical lens module is used to capture the target, and the capture signal is transmitted to the logic control module. After receiving the signal transmitted by the logic control module, the logic control module issues a focus judgment instruction to the detection module. After receiving the focus judgment instruction, the detection module judges whether the target is in focus and transmits the focus judgment signal to the logic control module; The detection module determines whether the target is in focus and transmits a corresponding signal to the logic control module; If the signal transmitted by the detection module and received by the logic control module is a focused signal, the logic control module issues an image distance and focal length acquisition instruction to the detection module; after receiving the image distance and focal length acquisition instruction, the logic control module acquires the image distance and focal length, and transmits the acquired signal to the logic control module; If the signal transmitted by the detection module received by the logic control module is a non-focus signal, the logic control module issues a focus adjustment instruction to the focus adjustment module, and the focus adjustment module performs focus adjustment after receiving the focus adjustment instruction until the detection module detects that the target is in focus and stops focus adjustment; When the logic control module receives the image distance and focal length signals transmitted by the detection module, it issues a position sensing instruction to the position sensing module. After receiving the position sensing instruction, the position sensing module starts to perform target ranging and outputs the target ranging data to the logic control module for data processing.

3. A passive target position sensing device according to claim 1, characterized in that: The focal length adjustment includes two focusing modes: manual focusing and automatic focusing. Manual focusing refers to manually adjusting the focus by adjusting the actuator for adjusting the focal length in the focus adjustment module; The automatic focusing refers to the focus adjustment module executing an automatic focusing algorithm to adjust the focus.

4. A passive target position sensing device according to claim 3, characterized in that: The automatic focusing algorithm calculates the contrast between the target boundary contour and the background, and dynamically adjusts the focal length. When the contrast between the target boundary contour and the background is the maximum, it is considered to be in focus.

5. A passive target position sensing device according to claim 1, characterized in that: The specific execution steps of the target ranging include: Acquiring the image distance value and the focal length value obtained by the detection module when the target is focused; Calculate the object distance value according to the optical imaging formula; The center point of the camera lens is obtained as the position data, and the distance data of the target is calculated according to the object distance value.

6. A passive target position sensing device according to claim 1, characterized in that: The optical imaging formula: Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

7. A passive target position sensing method, characterized in that: The steps include: Determine the direction of target detection and align the optical lens module in the target detection direction; The targets in the detection direction are captured using the optical lens module, and the captured targets are identified using the AI ​​target detection module to obtain the number and distribution of captured targets, and all targets or targets of interest are formed into a traversal set; Focus adjustment module and detection module are used to focus on each target in the traversal set, and the detection module is used to obtain the image distance value and focal length value of each target when it is focused. The position sensing module is used to measure the target distance according to the image distance value and focal length value of each target when it is focused, and the distance data of each target is obtained; The distance data of each target in the traversal set is measured to form a data table corresponding to the target and the distance.

8. A passive target position sensing method according to claim 7, characterized in that: The specific execution steps of the target ranging include: Obtain the image distance value and focal length value obtained by the detection module when the target is focused; Calculate the object distance value according to the optical imaging formula; Get the center point of the camera lens as position data, and calculate the distance data of the target according to the object distance value; Among them, the optical imaging formula is: Wherein, f represents the focal length, d0 represents the object distance, and di represents the image distance.

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