Data processing method and electronic equipment

Abstract

The invention provides a data processing method and electronic equipment, and is applied to the technical field of data processing. The data processing method comprises the steps that detection data collected by a target sensor at multiple moments are obtained, the target sensor is used for emitting first signals in at least two directions in a detection area and receiving second signals, and the detection data are determined based on energy of the second signals; the second signal is a signal reflected by a target object in the first signal contact detection area; according to the difference of the detection data collected at the multiple moments, state information of at least one target object in the detection area is determined, and the state information at least comprises motion state information.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a data processing method and electronic equipment. Background Art

[0002] Distance sensors are typically used to measure the distance to an object. Measuring an object's motion requires the help of other sensors. However, as electronic device integration space shrinks, implementing multiple measurement functions with the same sensor is a pressing issue. Summary of the Invention

[0003] In view of this, the present disclosure provides a data processing method and an electronic device.

[0004] According to a first aspect of the present disclosure, a data processing method is provided, comprising: acquiring detection data collected by a target sensor at multiple moments, the target sensor being used to transmit a first signal in at least two directions in a detection area and to receive a second signal, the detection data being determined based on energy of the second signal, the second signal being a signal reflected by the first signal contacting a target object in the detection area; and determining state information of at least one target object in the detection area based on differences in the detection data collected at multiple moments, the state information including at least motion state information.

[0005] According to an embodiment of the present disclosure, in a case where multiple moments include two moments, the status information of at least one target object in the detection area is determined based on the difference in detection data collected at multiple moments, including: determining a first mapping relationship corresponding to each moment based on the first detection data collected / corresponding to the two moments, the first mapping relationship representing information on reflected energy at each position in the detection area at the moment; determining energy change information at different positions in the detection area based on the two first mapping relationships; and determining the status information of at least one target object based on the energy change information.

[0006] According to an embodiment of the present disclosure, in a case where multiple moments include at least three moments, the at least three moments form multiple sub-periods; based on the differences in the detection data collected at the multiple moments, the state information of at least one target object in the detection area is determined, including: based on the second detection data collected / corresponding to the at least three moments, determining a second mapping relationship corresponding to the sub-period, the second mapping relationship representing information on reflected energy at each position in the detection area within the time period; based on the multiple second mapping relationships, determining energy change information at different positions in the detection area; based on the energy change information, determining the state information of at least one target object.

[0007] According to an embodiment of the present disclosure, the method also includes: obtaining the first energy and the second energy corresponding to the target position according to the mapping relationship corresponding to multiple moments, the moment corresponding to the first energy is earlier than the moment corresponding to the second energy; and determining the energy change information based on the difference between the first energy and the second energy.

[0008] According to an embodiment of the present disclosure, energy change information is determined based on the difference between the first energy and the second energy, including: when the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value, and the first energy difference is greater than the second energy difference, determining that the target object is close to the target sensor; when the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value, and the first energy difference is less than the second energy difference, determining that the target object is far away from the target sensor; wherein the first energy difference represents the difference between the first energy and the second energy corresponding to the first target position, the second energy difference represents the difference between the first energy and the second energy corresponding to the second target position, and the distance between the first target position and the target sensor is greater than the distance between the second target position and the target sensor.

[0009] According to an embodiment of the present disclosure, energy change information is determined based on the difference between the first energy and the second energy, including: if there is no similarity between the second energy difference and the first energy difference greater than or equal to a preset value, determining that the target object has left the detection area.

[0010] According to an embodiment of the present disclosure, energy change information is determined based on the difference between the first energy and the second energy, including: when there is no similarity between the first energy difference and the second energy difference greater than or equal to a preset value, determining that the target object enters the detection area.

[0011] According to an embodiment of the present disclosure, energy change information is determined based on the difference between the first energy and the second energy, including: when the similarity between the sum of the energy differences of multiple target positions in the second mapping relationship and the first energy difference in the first mapping relationship is greater than a preset value, determining that the first target position at the moment corresponding to the first mapping relationship has multiple target objects; and / or when the similarity between the sum of the energy differences of multiple target positions in the first mapping relationship and the second energy difference in the second mapping relationship is greater than a preset value, determining that the second target position at the moment corresponding to the second mapping relationship has multiple target objects.

[0012] A second aspect of the present disclosure provides a data processing device, including: an acquisition module, used to acquire detection data collected by a target sensor at multiple moments, the target sensor is used to transmit a first signal in at least two directions in a detection area and receive a second signal, the detection data is determined based on the energy of the second signal, and the second signal is a signal reflected by the first signal contacting the target object in the detection area; a determination module, used to determine state information of at least one target object in the detection area based on the difference in the detection data collected at multiple moments, the state information including at least motion state information.

[0013] A third aspect of the present disclosure provides an electronic device, comprising: a target sensor, integrated in the electronic device, the target sensor being used to transmit a first signal in at least two directions in a detection area and receive a second signal, the second signal being a signal reflected by the first signal contacting a target object in the detection area; a processor, integrated in the electronic device, the processor being used to obtain detection data collected by the target sensor at multiple moments, the detection data being determined based on the energy of the reflected signal; and determining, based on the difference in the detection data collected at multiple moments, status information of at least one target object in the detection area, the status information including at least motion status information.

[0014] A fourth aspect of the present disclosure further provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above-mentioned data processing method.

[0015] The fifth aspect of the present disclosure further provides a computer program product, comprising a computer program, which implements the above-mentioned data processing method when executed by a processor.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0018] Figure 1A The working diagram of the TOF sensor in the related art is schematically shown;

[0019] Figure 1B A schematic diagram schematically illustrates a mapping relationship according to an embodiment of the present disclosure;

[0020] Figure 1C Schematic diagram showing the distance measurement results of the TOF sensor in the related art

[0021] Figure 2 The following schematically shows a flow chart of a data processing method according to an embodiment of the present disclosure;

[0022] Figure 3A Schematically shows a flow chart for determining target object state information according to an embodiment of the present disclosure;

[0023] Figure 3B Schematically shows a flow chart for determining target object state information according to another embodiment of the present disclosure;

[0024] Figure 4A One of the schematic diagrams of energy change information according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 4B A second schematic diagram schematically illustrates energy change information according to an embodiment of the present disclosure;

[0026] Figure 4C A third schematic diagram schematically illustrates energy change information according to an embodiment of the present disclosure;

[0027] Figure 4D A fourth schematic diagram schematically illustrates energy change information according to an embodiment of the present disclosure;

[0028] Figure 4E A fifth schematic diagram schematically illustrates energy change information according to an embodiment of the present disclosure;

[0029] Figure 4F A sixth schematic diagram schematically illustrating energy change information according to an embodiment of the present disclosure;

[0030] Figure 5 A block diagram schematically illustrates a structure of a data processing device according to an embodiment of the present disclosure; and

[0031] Figure 6 The block diagram schematically shows an electronic device suitable for implementing the data processing method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0033] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0034] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0035] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0036] The embodiments of the present disclosure provide a data processing method and an electronic device. Before introducing the technical solutions provided by the embodiments of the present disclosure, the related technologies involved in the present disclosure are first described.

[0037] Distance sensors are typically used to measure the distance to an object. Measuring an object's motion requires the help of other sensors. However, as electronic device integration space shrinks, implementing multiple measurement functions with the same sensor is a pressing issue.

[0038] In one example, when the distance measuring sensor is a TOF (Time of Flight) sensor, the distance can be determined based on a histogram of distance and signal strength. Figure 1A The field of view (FOV) of the TOF sensor's optical system is 27°, and within the field of view, there is target 2 at the first position, target 1 at the second position, and target 3 at the third position. The distance between two adjacent targets is at least 100 cm. The TOF sensor transmits a signal, which is reflected after encountering target 1, target 2, and target 3. After the reflected signal is received by the TOF sensor, a high-precision timer is used to measure the time difference between the signal's transmission and return, and the distance between target 1, target 2, and target 3 and the TOF sensor is obtained. Figure 1B, the maximum distance measured by the TOF sensor is 5m, and 5m is divided into 128 parts, each of which is 37.5mm long. Then in the histogram, the width of each column of the histogram is also 37.5mm. The TOF sensor emits 10,000 laser pulses during the measurement process. Each laser pulse encounters 3 targets and then reflects. After the reflected signal is received by the TOF sensor, a time difference (i.e., a distance value) is measured, and finally 10,000 data points are obtained. These 10,000 data points are distributed to the 128 columns of the histogram according to distance, and the number of data points in each column is counted (i.e., photon count or signal intensity). The distance corresponding to the column with the highest count in the histogram is the true distance of the target (because the reflected signal of the real target will be concentrated in a certain column, forming an obvious peak). Columns with lower counts can be considered as noise. Figure 1B The highest point of each column is connected by a curve, which can form the following Figure 1C The schematic diagram shown is the signal strength corresponding to the target at different positions.

[0039] An embodiment of the present disclosure provides a data processing method, including: obtaining detection data collected by a target sensor at multiple moments, the target sensor being used to transmit a transmission signal in at least two directions to a detection area and receive a reflection signal, the detection data being determined based on the energy of the reflection signal, the reflection signal being a signal reflected when / after the transmission signal contacts a target object in the detection area; and determining status information of at least one target object in the detection area based on differences in the detection data collected at multiple moments.

[0040] The following will be passed Figures 2 to 4F The data processing method of the embodiment of the present disclosure is described in detail.

[0041] The data processing method of the embodiment of the present disclosure can be applied to an electronic device with a target sensor. The electronic device can be a mobile phone, a smart screen, a tablet computer, a wearable electronic device, an in-vehicle electronic device, an augmented reality (AR) device, a virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a projector, an augmented reality (AR)\virtual reality (VR) device, a media player, a television set, and other devices. The embodiment of the present disclosure does not impose any special restrictions on the specific form of the device. The operating system of the electronic device may include but is not limited to Flyme operating system, Android operating system, IOS operating system, Symbian operating system, BlackBerry operating system, Windows Phone operating system, etc.

[0042] Figure 2 The flowchart of the data processing method according to the embodiment of the present disclosure is schematically shown.

[0043] like Figure 2 As shown, the data processing method of this embodiment includes operations S210 to S220.

[0044] In operation S210, detection data collected by the target sensor at multiple moments is acquired. The target sensor is used to transmit a first signal in at least two directions in a detection area and receive a second signal. The detection data is determined based on the energy of the second signal. The second signal is a signal reflected by the first signal contacting a target object in the detection area.

[0045] In operation S220 , state information of at least one target object in the detection area is determined based on differences in the detection data collected at multiple moments, where the state information includes at least motion state information.

[0046] For example, a target sensor can be a ranging sensor capable of actively transmitting multi-directional transmission signals (first signals) and receiving reflected signals (second signals). The detection area can be the spatial range within which the target sensor's signals can radiate. The target sensor can include a first component (transmitter) and a second component (receiver). The first component is configured to transmit transmission signals in at least two directions toward the detection area. When / after the transmission signals contact a target object in the detection area, a reflected signal is generated. The second component is configured to receive the reflected signal and, based on the time difference between the transmission signal and the reflected signal, determine the distance between the target object and the target sensor, thereby implementing the target sensor's ranging function. For example, the target sensor can be a millimeter-wave radar array or a time-of-flight laser sensor.

[0047] The target object can be a person, object, animal, etc. located in the detection area.

[0048] The detection data collected at multiple moments can be the energy values ​​of the reflected signal at multiple consecutive or discontinuous moments. The energy values ​​can be the intensity of the reflected signal. At different moments, the target sensor transmits multi-directional signals. These signals are reflected by the target object, forming reflected signals. The target sensor receives the reflected signals and measures their intensity. Reflection signals at different locations within the detection area have different intensities. Therefore, detection data for the target sensor within the detection area can be obtained at each moment.

[0049] The difference in detection data at multiple moments may be a change in the energy of the reflected signal at different moments.

[0050] The state information may include the motion information and existence information of the target object, for example, the target object leaves the detection area, the target object enters the detection area, the target object moves in the detection area, etc.

[0051] In the process of using the target sensor to measure the status information of the target object, the target sensor transmits multi-directional transmission signals to the detection area. The transmission signals are reflected by the target object to form reflection signals. The target sensor receives the reflection signals and can measure the signal strength of the reflection signals. According to the changes in the strength of the reflection signals at different positions in the detection area at different times, the status information of the target object in the detection area is determined.

[0052] It can be understood that, based on the ranging function of the target sensor, the detection data of the basic ranging function of the target sensor is used to obtain the change in the energy of the reflected signal of the target object in the detection area at different times, so as to further determine the state information of the target object based on the determination of the distance between the target object and the target sensor, so that the target sensor has both the ranging function and the function of measuring the motion state of the object.

[0053] Figure 3A The flowchart of determining target object status information according to an embodiment of the present disclosure is schematically shown.

[0054] As described above, in the case where the multiple moments include two moments, in operation S220, the state information of at least one target object in the detection area is determined based on the difference in the detection data collected at the multiple moments. In one possible implementation, Figure 3A As shown, the operation may further include operations S221a to S223a.

[0055] In operation S221a, a first mapping relationship corresponding to each moment is determined based on first detection data collected / corresponding to the two moments, where the first mapping relationship represents information about reflected energy at each position in the moment detection area.

[0056] In operation S222a, energy change information at different positions in the detection area is determined according to the two first mapping relationships.

[0057] In operation S223a, state information of at least one target object is determined based on the energy change information.

[0058] Exemplarily, the multiple moments include two moments, and the two moments may be two consecutive moments or two intervals.

[0059] The first detection data may be the reflected signals at different positions in the detection area received by the target sensor at each moment, that is, the original data measured by the target sensor at each moment.

[0060] The first mapping relationship can be the signal strength corresponding to the reflected signal at different positions in the detection area at each moment. For example, the first mapping relationship can be a histogram of position-signal strength at each moment, or a table of position-signal strength at each moment. This embodiment of the present disclosure does not specifically limit this.

[0061] In one embodiment, different objects have different reflectivities, thus causing the intensities of the reflected signals to be different.

[0062] By plotting position-signal strength histograms at two different moments in time, we can determine changes in signal strength at different locations within the detection area. For example, in the histogram corresponding to the first moment, the reflected signal strength at location A in the detection area is 150dBm, indicating that the target object was present at location A at that moment. In the histogram corresponding to the second moment, the reflected signal strength at location A in the detection area is 10dBm (possibly due to ambient noise), indicating that the target object is no longer present at location A at that moment. This indicates that the signal strength at location A in the detection area decreased between the first and second moments, indicating that the target object's position within the detection area has changed, indicating that the target object has moved.

[0063] If the two moments are consecutive (the first moment and the second moment), the target object's state information over the consecutive time period can be determined based on the detection data at the two consecutive moments. This state information over the consecutive moments can be used to understand the target object's continuous state. For example, the target object may have been approaching the target sensor between the first moment and the second moment.

[0064] In the case where there is an interval between two moments (a first moment and a third moment), the state information of the target object between the first and third moments can be determined based on the detection data from the two intervals. The state information within the interval does not reveal the target object's continuous state; it only determines the target object's final state change within the interval. For example, if the target object appears to be close to the target sensor between the first and second moments, but is close to the target sensor between the first and second moments and further away from the target sensor between the second and third moments, but the distance of approach is greater than the distance of retreat, the final result will be that the target object is close to the target sensor.

[0065] Figure 3B The flowchart of determining target object status information according to another embodiment of the present disclosure is schematically shown.

[0066] As described above, when the multiple moments include at least three moments, the at least three moments form multiple sub-periods. In operation S220, the state information of at least one target object in the detection area is determined based on the difference in the detection data collected at the multiple moments. In another possible implementation method, such as Figure 3B As shown, the operation may further include operations S221b to S223b.

[0067] In operation S221b, a second mapping relationship corresponding to a sub-period is determined based on the second detection data collected at least three times, where the second mapping relationship represents information on reflected energy at each position in the detection area within the period.

[0068] In operation S222b, energy change information at different positions in the detection area is determined according to the plurality of second mapping relationships.

[0069] In operation S223b, state information of at least one target object is determined based on the energy change information.

[0070] Exemplarily, at least three moments can be divided into multiple continuous time periods and multiple non-continuous time periods. For example, T1, T2, T3, T4, and T5 are multiple continuous time periods. T1, T2, T3, T4, and T5 can be divided into a first time period: T1-T3, and a second time period: T3-T5, where the first time period and the second time period are two continuous time periods.

[0071] The second mapping relationship can be the average value of the signal strength corresponding to the reflected signals at different locations in the detection area during each time period, or the sum of the signal strength corresponding to the reflected signals at different locations in the detection area during each time period. For example, the second mapping relationship can be a histogram of position-signal strength for each time period, or a table of position-signal strength for each time period. This is not specifically limited in the present disclosed embodiments.

[0072] In one example, different objects have different reflectivities, thus causing the strength of the reflected signal to be different.

[0073] Using the position-signal strength histograms corresponding to two different time periods, we can determine changes in signal strength at different locations within the detection area. For example, in the histogram corresponding to the first time period, the average reflected signal strength at location A in the detection area at times T1, T2, and T3 is 100 dBm, indicating that the target object was present at location A during the first time period. In the histogram corresponding to the second time period, the average reflected signal strength at location A in the detection area at times T3, T4, and T5 is 5 dBm (which could be due to ambient noise), indicating that the target object was absent from location A during the second time period. This indicates that the signal strength at location A in the detection area decreased between the first and second time periods, indicating that the target object's position within the detection area changed, indicating that the target object moved.

[0074] If the two time periods are consecutive (a first time period and a second time period), the state information of the target object over the consecutive time periods can be determined based on the detection data of the two consecutive time periods. The state information over the consecutive time periods can be used to understand the continuous state of the target object. For example, the target object is continuously approaching the target sensor between the first time period and the second time period.

[0075] If the two time periods are separated by an interval (a first period and a third period), the state information of the target object between the first and third periods can be determined based on the detection data from the two intervals. The state information within the interval does not reveal the target object's continuous state; it only determines the target object's final state change within the interval. For example, if the target object appears to be close to the target sensor between the first and second periods, but is close to the target sensor between the first and second periods and away from the target sensor between the second and third periods, but the distance of approach is greater than the distance of distance, the final result will be that the target object is close to the target sensor.

[0076] As described above, when the multiple moments include at least three moments, in operation S220, based on the differences in the detection data collected at the multiple moments, the state information of at least one target object in the detection area is determined. In another possible implementation, the operation may further include the following operations: sequentially determining multiple groups of two moments according to a binary search method; determining, based on the third detection data of the two moments in each group, a third mapping relationship corresponding to each of the two moments in each group; determining, based on the third mapping relationship of the two moments in each group, energy change information at different locations in the detection area; and determining, based on the energy change information, the state information of the at least one target object.

[0077] In one example, T1, T2, T3, T4, and T5 are multiple consecutive time points. T1, T2, T3, T4, and T5 can be divided into a first group (T1 and T3) and a second group (T3 and T5) using a binary search. In the first group, the histogram corresponding to time T1 shows that the reflected signal strength at position A in the detection area is 150 dBm, and the histogram corresponding to time T3 also shows that the reflected signal strength at position A in the detection area is 150 dBm. This indicates that the target object remained at position A in the detection area from time T1 to T3 and did not move. However, to more accurately determine whether the target object truly remained stationary from time T1 to T3, T1, T2, and T3 can be divided into a third group (T1 and T2) and a fourth group (T2 and T3) using a binary search. In the third group, the histogram corresponding to time T1 shows that the reflected signal strength at position A in the detection area is 150 dBm, and the histogram corresponding to time T2 also shows that the reflected signal strength at position A in the detection area is 150 dBm. In the histogram corresponding to time T3, the reflected signal strength at position A in the detection area is 150 dBm. This indicates that the target object remained at position A in the detection area from time T1 to T3 and did not move. Similarly, for the second group (T3 and T5), the above method can be used to determine the target object's motion status within the detection area from T3 to T5.

[0078] As described above, for determining energy change information at different positions in the detection area based on the mapping relationship, in one achievable manner, the operation may further include: obtaining a first energy and a second energy corresponding to the target position based on the mapping relationship corresponding to multiple moments, the moment corresponding to the first energy being earlier than the moment corresponding to the second energy; and determining the energy change information based on the difference between the first energy and the second energy.

[0079] For example, the multiple moments may be two consecutive or non-consecutive moments, or two consecutive or non-consecutive time periods corresponding to the multiple moments. Therefore, the multiple corresponding mapping relationships may be a first mapping relationship corresponding to two moments, or a second mapping relationship corresponding to at least three moments divided into multiple time periods.

[0080] The target position may be a position corresponding to a reflection signal intensity greater than a preset threshold value in the mapping relationship. The preset threshold value represents the energy value of the reflection signal of different types of target objects. For example, when the target object is a person, the energy value corresponding to the reflection signal corresponding to the person is a first preset threshold value. When the target object is a puppy, the energy value corresponding to the reflection signal corresponding to the puppy is a second preset threshold value. When the target object is a table, the energy value corresponding to the reflection signal corresponding to the table is a third preset threshold value.

[0081] In one example, based on the position-signal strength histogram corresponding to two different moments, the change in signal strength at different positions in the detection area can be determined. For example, in the histogram corresponding to the first moment, the strength of the reflected signal at position A in the detection area is 150dBm, indicating that there is a target object at position A at the first moment. In the histogram corresponding to the second moment, the strength of the reflected signal at position A in the detection area is 150dBm, indicating that there is still a target object at position A at the second moment. The energy change information of the strength of the reflected signal at position A in the detection area at the two moments is 0. This means that the signal strength at position A in the detection area has not changed between the first moment and the second moment, indicating that there is a target object at position A in the detection area from the first moment to the second moment and the target object has not moved.

[0082] In another example, based on the position-signal strength histogram corresponding to two different time periods, the change in signal strength at different locations in the detection area can be determined. For example, in the histogram corresponding to the first time period, the average value of the reflected signal strength at position A in the detection area at times T1, T2, and T3 is 100dBm, indicating that there was a target object at position A during the first time period. In the histogram corresponding to the second time period, the average value of the reflected signal strength at position A in the detection area at times T3, T4, and T5 is 5dBm (which may be ambient noise), indicating that there was no target object at position A during the second time period. The energy change information of the reflected signal strength at position A in the detection area between the two time periods is 95dBm. This indicates that there was a target object at position A in the detection area from the first time period to the second time period, but the position of the target object has moved.

[0083] Figure 4A One of the schematic diagrams of energy change information according to an embodiment of the present disclosure is schematically shown.

[0084] As described above, energy change information is determined based on the difference between the first energy and the second energy. In one implementation, the operation may further include determining that the target object is close to the target sensor if the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value and the first energy difference is greater than the second energy difference.

[0085] Among them, the first energy difference represents the difference between the first energy and the second energy corresponding to the first target position, the second energy difference represents the difference between the first energy and the second energy corresponding to the second target position, and the distance between the first target position and the target sensor is greater than the distance between the second target position and the target sensor.

[0086] For example, the first energy is the signal strength corresponding to the target position at the first moment / time period, that is, the strength of the reflected signal corresponding to different positions in the detection area at the first moment. The second energy is the signal strength corresponding to the target position at the second moment / time period, that is, the strength of the reflected signal corresponding to different positions in the detection area at the second moment. The first target position and the second target position are two different positions in the detection area.

[0087] The first energy difference is the difference between the signal strength at the first target position in the detection area at the first moment and the second moment. The second energy difference is the difference between the signal strength at the second target position in the detection area at the first moment and the second moment.

[0088] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4AAs shown in the histogram corresponding to the first moment, the intensity of the reflected signal at the 8th marker (first target location) in the detection area is 150dBm (first energy), and the intensity of the reflected signal at the 4th marker (second target location) is 10dBm (second energy), with a first energy difference of 140dBm. In the histogram corresponding to the second moment, the intensity of the reflected signal at the 8th marker (first target location) in the detection area is 5dBm (first energy), and the intensity of the reflected signal at the 4th marker (second target location) is 140dBm (second energy), with a second energy difference of -135dBm. The similarity between the first and second energy differences is (1-(145-130) / 145)*100%=89.6%≥85% (preset value). Furthermore, the first energy difference is greater than the second energy difference (the absolute values ​​of the two energy differences are not used here, so the first energy difference is greater than the second energy difference. However, negative energy differences must be taken as absolute values ​​during the calculation). At the first moment, the target object was 300 mm from the sensor (the eighth marker), and at the second moment, it was 150 mm from the sensor (the fourth marker). This indicates that the target object was approaching the target sensor from the first moment to the second.

[0089] It should be noted that the preset value is not specifically limited in the disclosed embodiments and can be adjusted based on actual needs. Because the intensity of the reflected signal varies depending on the object's position relative to the target sensor (closer or farther away), the preset value can be set to account for this variation.

[0090] Figure 4B The second schematic diagram of energy change information according to an embodiment of the present disclosure is schematically shown.

[0091] As described above, energy change information is determined based on the difference between the first energy and the second energy. In another possible implementation, the operation may further include determining that the target object is moving away from the target sensor when the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value and the first energy difference is less than the second energy difference.

[0092] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4BAs shown in the histogram corresponding to the first moment, the intensity of the reflected signal at the 8th marker (first target position) in the detection area is 150dBm (first energy), and the intensity of the reflected signal at the 12th marker (second target position) is 20dBm (second energy), with a first energy difference of 135dBm. In the histogram corresponding to the second moment, the intensity of the reflected signal at the 8th marker (first target position) in the detection area is 15dBm (first energy), and the intensity of the reflected signal at the 12th marker (second target position) is 140dBm (second energy), with a second energy difference of -120dBm. The similarity between the first and second energy differences is (1-(135-120) / 135)*100%=88.9%≥85% (preset value). Furthermore, if the first energy difference is greater than the second energy difference, the target object is 800 mm from the sensor (the eighth marker) at the first moment and 450 mm from the sensor (the 12th marker) at the second moment. This indicates that the target object is moving away from the target sensor from the first moment to the second moment.

[0093] Figure 4C The third schematic diagram schematically shows energy change information according to an embodiment of the present disclosure.

[0094] As described above, energy change information is determined based on the difference between the first energy and the second energy. In one implementation, this operation may further include determining that the target object has left the detection area if the second energy difference does not have a similarity greater than or equal to a preset value with the first energy difference.

[0095] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4C As shown, in the histogram corresponding to the first moment, the intensity of the reflected signal from the eighth marker (the first target position) in the detection area is 220 dBm (first energy). In the histogram corresponding to the second moment, the intensity of the reflected signal from the eighth marker (the first target position) in the detection area is 20 dBm (first energy), and the first energy difference is 200 dBm. Furthermore, the second energy difference between the first and second histograms for other target positions (except the first target position) does not have a similarity with the first energy difference greater than or equal to 85% (preset value). If the first energy difference is positive, then there was a target object 800 mm from the sensor at the first moment, but no target object was present in the detection area at the second moment, indicating that the target object left the detection area between the first and second moments.

[0096] Figure 4D A fourth schematic diagram of energy change information according to an embodiment of the present disclosure is schematically shown.

[0097] As described above, based on the difference between the first energy and the second energy, energy change information is determined. In one achievable manner, the operation may further include: if there is no similarity between the first energy difference and the second energy difference greater than or equal to a preset value, determining that the target object has entered the detection area.

[0098] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4D As shown, in the histogram corresponding to the first moment, the reflected signal intensity at the eighth marker (the first target position) in the detection area is 20dBm (first energy). In the histogram corresponding to the second moment, the reflected signal intensity at the eighth marker (the first target position) in the detection area is 200dBm (first energy), and the first energy difference is -200dBm. Furthermore, the second energy difference between the first and second histograms for other target positions (except the first target position) does not have a similarity with the first energy difference greater than or equal to 85% (preset value). If the first energy difference is negative, then there was no target object in the detection area at the first moment, but there was a target object 800mm away from the sensor at the second moment, indicating that the target object entered the detection area between the first and second moments.

[0099] Figure 4E The fifth schematic diagram schematically shows energy change information according to an embodiment of the present disclosure.

[0100] As described above, energy change information is determined based on the difference between the first energy and the second energy. In one achievable embodiment, the operation may further include: determining that the first target position at the time corresponding to the first mapping relationship has multiple target objects when the similarity between the sum of the energy differences of the multiple target positions in the second mapping relationship and the first energy difference in the first mapping relationship is greater than a preset value.

[0101] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4EAs shown, in the histogram corresponding to the first moment, the reflected signal strength at the 4th marker (second target location) in the detection area is 120dBm (first energy), the reflected signal strength at the 8th marker (first target location) is 10dBm (first energy), and the reflected signal strength at the 10th marker (third target location) is 100dBm (first energy). In the histogram corresponding to the second moment, the reflected signal strength at the 4th marker (second target location) in the detection area is 10dBm (second energy), the reflected signal strength at the 8th marker (first target location) is 210dBm (second energy), and the reflected signal strength at the 10th marker (third target location) is 15dBm (second energy). The first energy difference at the first target location is -200dBm. The second energy difference at the second target location is 110dBm. The third energy difference at the third target location is 85dBm. The similarity between the sum of the second and third energy differences and the first energy difference is (1-(200-195) / 200)*100%=97.5%≥85% (preset value), and the first energy difference is negative. At the first moment, target object A is located 150 mm from the sensor (the fourth marker post). At the first moment, there is no target object at the 300 mm distance from the sensor (the 10th marker post). At the first moment, target object B is located 375 mm from the sensor (the 10th marker post). At the second moment, there is no target object at the 150 mm distance from the sensor (the fourth marker post). At the second moment, there are two target objects, target objects A and target object B, at the 300 mm distance from the sensor (the 10th marker post). At the second moment, there is no target object at the 375 mm distance from the sensor (the 10th marker post). This indicates that from the first moment to the second moment, target objects A and B approached each other and moved together to the first target position.

[0102] Figure 4F A sixth schematic diagram schematically illustrates energy change information according to an embodiment of the present disclosure.

[0103] As described above, energy change information is determined based on the difference between the first energy and the second energy. In one achievable embodiment, the operation may further include: if the similarity between the sum of the energy differences of the multiple target positions in the first mapping relationship and the second energy difference in the second mapping relationship is greater than a preset value, determining that the second target position at the time corresponding to the second mapping relationship has multiple target objects.

[0104] In one example, the change in signal strength at different positions in the detection area can be determined based on the position-signal strength histogram corresponding to two different moments. Figure 4EAs shown, in the histogram corresponding to the first moment, the reflected signal strength at the 4th marker (second target location) in the detection area is 10dBm (first energy), the reflected signal strength at the 8th marker (first target location) is 210dBm (first energy), and the reflected signal strength at the 10th marker (third target location) is 15dBm (first energy). In the histogram corresponding to the second moment, the reflected signal strength at the 4th marker (second target location) in the detection area is 120dBm (second energy), the reflected signal strength at the 8th marker (first target location) is 10dBm (second energy), and the reflected signal strength at the 10th marker (third target location) is 100dBm (second energy). The first energy difference at the first target location is 200dBm. The second energy difference at the second target location is -110dBm. The third energy difference at the third target location is -85dBm. The similarity between the sum of the second and third energy differences and the first energy difference is (1-(200-195) / 200)*100%=97.5%≥85% (preset value), and the first energy difference is positive. At the first moment, there is no target object at the position 150 mm from the sensor (the 4th marking post). At the first moment, there are target objects A and B at the position 300 mm from the sensor (the 10th marking post). At the first moment, there is no target object at the position 375 mm from the sensor (the 10th marking post). At the second moment, there is a target object at the position 150 mm from the sensor (the 4th marking post). At the second moment, there is no target object at the position 300 mm from the sensor (the 10th marking post). At the second moment, there is a target object at the position 375 mm from the sensor (the 10th marking post). This means that from the first moment to the second moment, target object A and target object B move away from each other from the same position and move to the second target position and the third target position respectively. However, whether target object A and target object B are located at the second target position and the third target position respectively needs to be further determined.

[0105] As described above, the data processing method of this embodiment may further include the following operations: determining basic energy values ​​at different positions in the detection area based on detection data collected at multiple moments, the basic energy value representing the amount of energy reflected by the detection signal when there is no initial object at the position in the detection area; in response to obtaining third detection data at the target moment, determining that there is an initial object in the detection area when the energy values ​​at different positions in the detection area in the third detection data are higher / lower than the basic energy value.

[0106] For example, it is possible to determine whether there is a movable object in the detection area. The basic energy value may be the energy value corresponding to the reflected signal at different positions in the detection area without the influence of the movable object.

[0107] For example, Figure 1A For example, suppose that within the detection area, Target 1 is a bush, Target 2 is a tree, and Target 3 is a bicycle. Target 3 is a mobile object. During detection, Targets 1 and 2 are unlikely to move relative to the environment. Therefore, the energy values ​​of the reflected signals generated at the locations of Targets 1 and 2 are the base energy values, while the energy values ​​of the reflected signals generated at Target 3 are not the base energy values. The base energy value at Target 3 can be the energy value corresponding to the reflected signal after Target 3 leaves the detection area. By determining the minimum energy values ​​corresponding to different locations within the detection area based on detection data corresponding to multiple time points, the energy values ​​corresponding to each location within the detection area can be determined when there are no other moving objects. Specifically, the energy values ​​for each location within the detection area when there are only Targets 1 and 2, without the influence of Target 3. If Target 4 enters Location A within the detection area at the target time, the energy value of the reflected signal at Location A at the target time is higher than the energy value at Location A when no objects are present. Therefore, based on the third detection data at the target time, analysis indicates the presence of a mobile object at Location A. If the energy value at Location B at the target time is lower than the energy value at Location B in the previous period, it indicates that the object at Location B has moved.

[0108] Based on the above data processing method, the present disclosure also provides a data processing device. Figure 5 The device is described in detail.

[0109] Figure 5 The structural block diagram of the data processing device according to an embodiment of the present disclosure is schematically shown.

[0110] like Figure 5 As shown, the data processing device 300 of this embodiment includes an acquisition module 310 and a determination module 320 .

[0111] Acquisition module 310 is configured to acquire detection data collected by a target sensor at multiple time instants. The target sensor is configured to transmit a first signal in at least two directions within a detection area and receive a second signal. The detection data is determined based on the energy of the second signal, which is a signal reflected from the first signal contacting a target object within the detection area. In one embodiment, acquisition module 310 may be configured to perform operation S210 described above and will not be further described here.

[0112] The determination module 320 is used to determine the state information of at least one target object in the detection area based on the difference in the detection data collected at multiple times, where the state information includes at least motion state information. In one embodiment, the determination module 320 can be used to perform the operation S220 described above, which will not be repeated here.

[0113] According to embodiments of the present disclosure, any multiple modules in acquisition module 310 and determination module 320 may be combined into a single module, or any one of them may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in a single module. According to embodiments of the present disclosure, at least one of acquisition module 310 and determination module 320 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or may be implemented in hardware or firmware through any other reasonable means of circuit integration or packaging, or may be implemented in any one of software, hardware, and firmware, or any appropriate combination thereof. Alternatively, at least one of acquisition module 310 and determination module 320 may be at least partially implemented as a computer program module that, when executed, performs the corresponding functionality.

[0114] Figure 6 The block diagram schematically shows an electronic device suitable for implementing the data processing method according to an embodiment of the present disclosure.

[0115] like Figure 6 As shown, the electronic device 400 according to an embodiment of the present disclosure includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiment of the present disclosure.

[0116] Various programs and data required for the operation of the electronic device 400 are stored in RAM 403. The processor 401, ROM 402, and RAM 403 are connected to each other via a bus 404. The processor 401 performs various operations of the method flow according to the embodiment of the present disclosure by executing the programs in ROM 402 and / or RAM 403. It should be noted that the programs may also be stored in one or more memories other than ROM 402 and RAM 403. The processor 401 may also perform various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in one or more memories.

[0117] According to an embodiment of the present disclosure, electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to bus 404. Electronic device 400 may also include one or more of the following components connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or modem. Communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 410 as needed, so that computer programs read from the removable media can be installed into storage section 408 as needed.

[0118] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when executed, implements the electronic device control method according to the embodiments of the present disclosure.

[0119] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, and may include, for example, but not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the ROM 402 and / or RAM 403 described above, and / or one or more memories other than ROM 402 and RAM 403.

[0120] The embodiments of the present disclosure also include a computer program product, which includes a computer program containing program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the data processing method provided by the embodiments of the present disclosure.

[0121] The computer program executes the above functions defined in the system / device of the embodiment of the present disclosure when the processor 401 executes the computer program. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0122] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 409, and / or installed from a removable medium 411. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0123] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from the removable medium 411. When the computer program is executed by the processor 401, the above-mentioned functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the systems, devices, means, modules, units, etc. described above can be implemented by computer program modules.

[0124] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of this disclosure may be combined and / or coupled in various ways, even if such combinations and / or couplings are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or coupled in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or couplings are intended to fall within the scope of this disclosure.

[0127] The embodiments of the present disclosure are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be used in combination to advantage. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A data processing method, comprising: Acquiring detection data collected at multiple moments by a target sensor, the target sensor being configured to transmit a first signal in at least two directions within a detection area and receive a second signal, the detection data being determined based on energy of the second signal, the second signal being a signal reflected by the first signal contacting a target object within the detection area; State information of at least one target object in the detection area is determined according to differences in the detection data collected at the multiple moments, where the state information at least includes motion state information.

2. The method according to claim 1, wherein when the multiple moments include two moments, determining the state information of at least one target object in the detection area based on the difference in the detection data collected at the multiple moments comprises: Determining a first mapping relationship corresponding to each moment based on the first detection data collected / corresponding to the two moments, respectively, the first mapping relationship representing information about reflected energy at each position in the detection area at the moment; determining energy change information at different positions in the detection area according to the two first mapping relationships; State information of the at least one target object is determined based on the energy change information.

3. The method according to claim 1, wherein when the plurality of time moments include at least three time moments, the at least three time moments form a plurality of sub-periods; Determining, based on differences in the detection data collected at the multiple moments, state information of at least one target object in the detection area, includes: Determining, based on the second detection data collected / corresponding to the at least three moments, a second mapping relationship corresponding to the sub-period, the second mapping relationship representing information about reflected energy at each position in the detection area within the period; determining energy change information at different positions in the detection area according to the plurality of second mapping relationships; State information of the at least one target object is determined based on the energy change information.

4. The method according to claim 2 or 3, further comprising: Acquire a first energy and a second energy corresponding to a target position according to the mapping relationship corresponding to the multiple moments, wherein the moment corresponding to the first energy is earlier than the moment corresponding to the second energy; The energy change information is determined based on a difference between the first energy and the second energy.

5. The method according to claim 4, wherein determining the energy change information based on the difference between the first energy and the second energy comprises: When the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value, and the first energy difference is greater than the second energy difference, determining that the target object is close to the target sensor; When the similarity between the first energy difference and the second energy difference is greater than or equal to a preset value and the first energy difference is less than the second energy difference, determining that the target object is far away from the target sensor; The first energy difference represents the difference between the first energy and the second energy corresponding to the first target position, the second energy difference represents the difference between the first energy and the second energy corresponding to the second target position, and the distance between the first target position and the target sensor is greater than the distance between the second target position and the target sensor.

6. The method according to claim 4, wherein determining the energy change information based on the difference between the first energy and the second energy comprises: If there is no similarity between the second energy difference and the first energy difference that is greater than or equal to a preset value, it is determined that the target object has left the detection area.

7. The method according to claim 4, wherein determining the energy change information based on the difference between the first energy and the second energy comprises: In a case where there is no similarity between the first energy difference and the second energy difference that is greater than or equal to a preset value, it is determined that the target object enters the detection area.

8. The method according to claim 4, wherein determining the energy change information based on the difference between the first energy and the second energy comprises: When the similarity between the sum of the energy differences of the multiple target positions in the second mapping relationship and the first energy difference in the first mapping relationship is greater than a preset value, determining that the first target position at the time corresponding to the first mapping relationship has multiple target objects; and / or When the similarity between the sum of energy differences of multiple target positions in the first mapping relationship and the second energy difference in the second mapping relationship is greater than a preset value, it is determined that the second target position at the time corresponding to the second mapping relationship has multiple target objects.

9. The method according to claim 1, further comprising: determining, based on the detection data collected / corresponding to the multiple moments, basic energy values ​​at different positions in the detection area, the basic energy values ​​representing the amount of energy reflected by the detection signal when no initial object is present at the position in the detection area; In response to acquiring third detection data at a target time, if energy values ​​at different positions of the detection area in the third detection data are higher / lower than the basic energy value, it is determined that the initial object exists in the detection area.

10. An electronic device comprising: a target sensor, integrated into the electronic device, configured to transmit a first signal in at least two directions within a detection area and receive a second signal, the second signal being a signal reflected by the first signal contacting a target object within the detection area; A processor is integrated into the electronic device, the processor is used to obtain detection data collected by the target sensor at multiple moments, the detection data is determined based on the energy of the reflected signal; and based on the difference in the detection data collected at the multiple moments, the state information of at least one target object in the detection area is determined, the state information including at least motion state information.

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