Target sensing method and device and storage medium

Abstract

The invention discloses a target sensing method and device and a storage medium. At least one pixel position of a target active device on a sensing array is identified by receiving a first signal from the target active device on a target object, a first number of pixels around the at least one pixel position are scanned according to the at least one pixel position of the target active device on the sensing array, and a second number of pixels around the at least one pixel position are scanned according to the first number of pixels. The first information is carried in the first signal and is associated with the target object, the first information comprises the attribute information of the target object, the identification distance of the target sensing scheme is long, and the target sensing scheme is not limited by shielding of the target object, so that the reliability of target sensing is improved.

Description

Target perception method, device and storage medium Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a target perception method, device and storage medium. Background Art

[0002] In many scenarios such as autonomous driving, smart transportation, smart factories / homes / medical care, etc., it is necessary to accurately identify target objects.

[0003] Figure 1 shows a schematic diagram of an existing QR code recognition technology. Using an image sensor to identify a QR code on a target object and extract information, the target object's identifier (ID) can be obtained, along with other inherent information such as size, power supply method, and maximum power consumption. However, this technology has a short recognition range and cannot recognize a QR code if it is partially obscured.

[0004] As shown in Figure 2, this is a schematic diagram of the structure of an existing target recognition system based on artificial intelligence (AI). The application of AI algorithms can identify the shape and type of specific target objects, but cannot distinguish the target ID or extract other information. In addition, recognition is more difficult when the target object is partially obscured.

[0005] It can be seen that how to improve the reliability of target perception is an urgent problem to be solved.

[0006] Summary of the Invention

[0007] The present application provides a target perception method, device and storage medium to improve the reliability of target perception.

[0008] In a first aspect, a target perception method is provided, the method comprising: receiving a first signal from a target active device on a target object; identifying at least one pixel position of the target active device on a sensing array; scanning a first number of pixels around the at least one pixel position based on the at least one pixel position of the target active device on the sensing array; and obtaining first information associated with the target object carried in the first signal, the first information comprising attribute information of the target object.

[0009] In this aspect, by receiving a first signal from a target active device on a target object, identifying at least one pixel position of the target active device on a sensing array, scanning a first number of pixels around the at least one pixel position according to the at least one pixel position of the target active device on the sensing array, and obtaining first information associated with the target object carried in the first signal, the first information includes attribute information of the target object. The target perception scheme has a long recognition distance and is not restricted by occlusion of the target object. Therefore, the accuracy of target perception and the distance of target recognition are improved, thereby improving the reliability of target perception.

[0010] For example, the first number may be set when the target sensing device leaves the factory, or may be configured through operation administration and maintenance (OAM) or network configuration. The first number may be an empirical value or an experimental value, for example, 1 to 20 pixels around the target active device on the sensing array.

[0011] In a possible implementation, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0012] In this implementation, the target object can be readily identified based on the attribute information of the target object.

[0013] In another possible implementation, the identifier of the target object includes at least one of the following: an Internet protocol (IP) address corresponding to the target object, a medium access control (MAC) address corresponding to the target object, or a user identifier.

[0014] In yet another possible implementation, the first information further includes at least one of the following: the size of the target object, the motion state of the target object, the communication rate, or the bandwidth.

[0015] In this implementation, the characteristics of the target object can be further identified and understood based on the above-mentioned first information.

[0016] In yet another possible implementation, before receiving the first signal from the target active device on the target object, the method further includes: scanning pixels on the sensing array.

[0017] In this implementation, when the target sensing device is in the initial state, the target sensing device is in the sensing mode, and the target sensing device can slowly scan the pixels on the sensing array (for example, all the pixels on the sensing array) in sequence, and perceive objects in the environment at a low speed, just like ordinary sensing devices (such as rolling shutter cameras, lidars, addressable sensing arrays).

[0018] In another possible implementation, receiving the first signal from the target active device on the target object includes: scanning a pixel value of at least one pixel position on the sensing array that is greater than or equal to a first threshold, and receiving the first signal from the target active device on the target object.

[0019] In yet another possible implementation, the method further includes: receiving a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; and acquiring communication data carried in the second signal.

[0020] In this implementation, the target perception device can also receive a second signal from the target active device, and the second signal can carry communication data such as pictures, videos, and voice, thereby achieving high-speed communication and realizing the integration of target perception and communication.

[0021] In yet another possible implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located.

[0022] In this implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located, and the first signal and the second signal do not interfere with each other, which can improve signal reliability.

[0023] In another possible implementation, the method further includes: respectively receiving multiple first signals from multiple target active devices on the target object, wherein each of the multiple first signals corresponds to a center frequency; obtaining multiple first information carried in the multiple first signals; and sensing the target object based on the multiple first information.

[0024] In this implementation, by respectively receiving multiple first signals from multiple target active devices on the target object, the target object can be perceived more reliably, the perception performance can be improved, and the recognition precision and accuracy of the target object can be increased.

[0025] In yet another possible implementation, there is a first frequency offset between the frequency of each first signal in the plurality of first signals and the corresponding center frequency of the sensing array.

[0026] In this implementation, a slight frequency difference (wavelength difference) between the target active device and the sensing array can be used to form a signal strength difference between the target active device and other reflectors in the environment.

[0027] In another possible implementation, the difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

[0028] In another possible implementation, a plurality of the sensing arrays are provided on the target object, the target active device is a broadband signal source, and a center frequency of the target active device does not coincide with a center frequency of any one of the plurality of sensing arrays; scanning pixels on the sensing arrays includes: scanning pixels on the plurality of sensing arrays; and receiving a first signal from the target active device on the target object includes: receiving the first signal from the target active device on the target object when a pixel value of at least one pixel position on any one of the plurality of sensing arrays is greater than or equal to a first threshold.

[0029] In this implementation, the target active device is a broadband signal source, and the target sensing device includes multiple sensing arrays. The multiple sensing arrays in the target sensing device can perform target identification and positioning of the broadband signal source. The target active device can be simultaneously identified by the multiple sensing arrays of the target sensing device, which can improve the accuracy and efficiency of target identification.

[0030] In yet another possible implementation, the target active device includes a signal source and / or a retroreflector.

[0031] In yet another possible implementation, the target active device is the retroreflector, and the first signal is obtained by the retroreflector modulating the first information onto reflected light.

[0032] In this implementation, by utilizing the retro-reflector as the target active device, no additional spectrum resources are occupied, while high-precision positioning and target identification can be achieved. The communication rate depends on the modulation bandwidth of the retro-reflector.

[0033] A target sensing device is also provided below. The target sensing device can implement the method described in the first aspect above. For example, the target sensing device can be a terminal, an electronic device, or a chip system of a terminal or electronic device. The above method can be implemented through software, hardware, or hardware executing corresponding software.

[0034] In a second aspect, a target sensing device is provided, comprising: a first receiving unit for receiving a first signal from a target active device on a target object; an identification unit for identifying at least one pixel position of the target active device on a sensing array; a scanning unit for scanning a first number of pixels around the at least one pixel position of the target active device on the sensing array; and a first acquisition unit for acquiring first information associated with the target object carried in the first signal, the first information including attribute information of the target object.

[0035] In a possible implementation, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0036] In another possible implementation, the identifier of the target object includes at least one of the following: an IP address corresponding to the target object, a MAC address corresponding to the target object, or a user identifier.

[0037] In yet another possible implementation, the first information further includes at least one of the following: the size of the target object, the motion state of the target object, the communication rate, or the bandwidth.

[0038] In yet another possible implementation, the scanning unit is further configured to scan pixels on the sensing array.

[0039] In another possible implementation, the first receiving unit is configured to scan at least one pixel position on the sensing array and find that the pixel value is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

[0040] In another possible implementation, the apparatus further includes: a second receiving unit, configured to receive a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; and a second acquiring unit, configured to acquire communication data carried in the second signal.

[0041] In yet another possible implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located.

[0042] In another possible implementation, the device further includes: a third receiving unit, configured to respectively receive multiple first signals from multiple target active devices on the target object, wherein each of the multiple first signals corresponds to a center frequency; a third acquiring unit, configured to acquire multiple first information carried in the multiple first signals; and a sensing unit, configured to sense the target object based on the multiple first information.

[0043] In yet another possible implementation, there is a first frequency offset between the frequency of each first signal in the plurality of first signals and the corresponding center frequency of the sensing array.

[0044] In another possible implementation, the difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

[0045] In another possible implementation, the target sensing device includes a plurality of the sensing arrays, the target active device is a broadband signal source, and the center frequency of the target active device does not coincide with the center frequency of any of the plurality of sensing arrays; the scanning unit is configured to scan pixels on the plurality of the sensing arrays; and the first receiving unit is configured to scan to a pixel value of at least one pixel position on any of the plurality of sensing arrays that is greater than or equal to a first threshold, and receive the first signal from the target active device on the target object.

[0046] In yet another possible implementation, the target active device includes a signal source and / or a retroreflector.

[0047] In yet another possible implementation, the target active device is the retroreflector, and the first signal is obtained by the retroreflector modulating the first information onto reflected light.

[0048] According to a third aspect, a target sensing device is provided, comprising: a sensing module; the sensing module comprising: a sensing array, a first receiver, and a first processor; the first receiver is configured to receive a first signal from a target active device on a target object; the first processor is configured to identify at least one pixel position of the target active device on the sensing array; the sensing array is configured to scan a first number of pixels around the at least one pixel position of the target active device on the sensing array according to the at least one pixel position of the target active device; and the first processor is further configured to obtain first information associated with the target object carried in the first signal, the first information comprising attribute information of the target object.

[0049] In a possible implementation, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0050] In another possible implementation, the identifier of the target object includes at least one of the following: an IP address corresponding to the target object, a MAC address corresponding to the target object, or a user identifier.

[0051] In yet another possible implementation, the first information further includes at least one of the following: the size of the target object, the motion state of the target object, the communication rate, or the bandwidth.

[0052] In yet another possible implementation, the sensing array is further configured to scan pixels on the sensing array.

[0053] In yet another possible implementation, the first receiver is configured to scan at least one pixel position on the sensing array and find that the pixel value is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

[0054] In another possible implementation, the apparatus further includes a communication module; the communication module includes a second receiver and a second processor; the second receiver is further used to receive a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; and the second processor is further used to obtain communication data carried in the second signal.

[0055] In yet another possible implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located.

[0056] In another possible implementation, the perception module and the communication module are integrated, and the perception module and the communication module share an antenna and / or lens; or the perception module and the communication module are separate, and the perception module and the communication module use different antennas and / or lenses.

[0057] In another possible implementation, the first receiver is further used to respectively receive multiple first signals from multiple target active devices on the target object, wherein each of the multiple first signals corresponds to a center frequency; the first processor is further used to obtain multiple first information carried in the multiple first signals; and the first processor is further used to perceive the target object based on the multiple first information.

[0058] In yet another possible implementation, there is a first frequency offset between the frequency of each first signal in the plurality of first signals and the corresponding center frequency of the sensing array.

[0059] In another possible implementation, the difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

[0060] In another possible implementation, the sensing module includes a plurality of sensing arrays, the target active device is a broadband signal source, and the center frequency of the target active device does not overlap with the center frequency of any of the plurality of sensing arrays; the plurality of sensing arrays are used to respectively scan pixels on the plurality of sensing arrays; and the first receiver is further used to scan to a pixel value of at least one pixel position on any of the plurality of sensing arrays that is greater than or equal to a first threshold, and receive the first signal from the target active device on the target object.

[0061] In yet another possible implementation, the target active device includes a signal source and / or a retroreflector.

[0062] In yet another possible implementation, the target active device is the retroreflector, and the first signal is obtained by the retroreflector modulating the first information onto reflected light.

[0063] In yet another possible implementation, the sensing module further includes a sensing signal source, and the sensing signal source is used to provide energy to the retroreflector.

[0064] In which, the above-mentioned target perception device may also include a memory coupled to the first processor and / or the second processor; the first processor is configured to support the perception module to perform the corresponding functions in the above-mentioned method, and the second processor is configured to support the communication module to perform the corresponding functions in the above-mentioned method. The memory stores the computer programs (or computer executable instructions) and / or data necessary for the device. Optionally, the memory can be located inside the target perception device and integrated with the processor; it can also be located outside the target perception device.

[0065] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the program or instruction is executed by a processor, the method described in any aspect or any implementation of the first aspect is executed.

[0066] In a fifth aspect, a computer program product is provided, which, when executed on a computing device, enables the method described in any aspect or any implementation of the first to seventh aspects to be executed.

[0067] In a sixth aspect, a circuit is provided, the circuit being coupled to a memory and being used to execute the method described in any aspect or any implementation of the first aspect. The circuit may include a chip circuit.

[0068] In a seventh aspect, a chip is provided for use in a target sensing device, wherein the chip is configured to execute the method described in any aspect or any implementation of the first aspect.

[0069] In an eighth aspect, a chip module is provided, which is applied to a target sensing device, including a transceiver component and a chip, wherein the chip is used to execute the method described in any aspect or any implementation of the above-mentioned first aspect.

[0070] In the ninth aspect, a target perception system is provided, comprising a sending device and a target perception device implemented according to any aspect or any one of the second aspects above, wherein the sending device comprises a target object and a target active device arranged on the target object, and the target perception device is used to perceive the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] FIG1 is a schematic diagram of an existing two-dimensional code recognition technology;

[0072] FIG2 is a schematic diagram of the structure of an existing target recognition system based on artificial intelligence;

[0073] FIG3 is a schematic diagram of the structure of a target sensing device provided in an embodiment of the present application;

[0074] FIG4 is a flow chart of a target perception method provided in an embodiment of the present application;

[0075] FIG5 is a schematic diagram of a target perception system according to an embodiment of the present application;

[0076] FIG6 is a schematic diagram of a target perception process according to an embodiment of the present application;

[0077] FIG7 is a schematic diagram of a process for identifying and locating a target active device according to an embodiment of the present application;

[0078] FIG8 is a schematic diagram of an existing camera optical communication system;

[0079] FIG9 is a flow chart of another target perception method provided in an embodiment of the present application;

[0080] FIG10 is a schematic diagram of another target perception system according to an embodiment of the present application;

[0081] FIG11 is a schematic diagram of a process of integrating perception and communication provided in an embodiment of the present application;

[0082] FIG12a is a schematic diagram of the integration of a perception module and a communication module according to an embodiment of the present application;

[0083] FIG12 b is a schematic diagram of an example of an embodiment of the present application in which the perception module and the communication module are separated;

[0084] FIG13 is a flow chart of another target perception method provided in an embodiment of the present application;

[0085] FIG14 is a schematic structural diagram of a basic dual-wavelength target perception system provided in an embodiment of the present application;

[0086] FIG15 is a schematic diagram of a multi-wavelength sensing array and multi-target active devices provided in an embodiment of the present application;

[0087] FIG16 is a frequency response diagram of a multi-wavelength sensing array and a multi-target active device provided in an embodiment of the present application;

[0088] FIG17 is a flow chart of another target perception method provided in an embodiment of the present application;

[0089] FIG18 is a schematic diagram of a multi-wavelength sensing array and a broadband signal source provided in an embodiment of the present application;

[0090] FIG19 is a schematic diagram of the frequency response of a multi-wavelength sensing array and a broadband signal source according to an embodiment of the present application;

[0091] FIG20 is a schematic diagram of another target perception system according to an embodiment of the present application;

[0092] Figure 21 is a structural schematic diagram of a target sensing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0093] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0094] In response to the problems raised in the background technology that the current target perception technology has a short recognition distance and is difficult to recognize when the target object or the QR code on the target object is partially blocked, the present application provides a target perception solution, which receives a first signal from a target active device on the target object, identifies at least one pixel position of the target active device on the sensing array, scans a first number of pixels around the at least one pixel position based on the at least one pixel position of the target active device on the sensing array, and obtains first information associated with the target object carried in the first signal, where the first information includes attribute information of the target object. The target perception solution has a long recognition distance and is not restricted by the obstruction of the target object, thereby improving the reliability of target perception.

[0095] As shown in FIG3 , which is a schematic diagram of the structure of a target sensing device provided in an embodiment of the present application, the target sensing device 3000 includes a sensing module 301 , which includes a sensing array 3011 , a first receiver 3012 , and a first processor 3013 .

[0096] Among them, the first receiver 3012 is used to receive a first signal from a target active device on a target object; the first processor 3013 is used to identify at least one pixel position of the target active device on the sensing array; the sensing array 3011 is used to scan a first number of pixels around the at least one pixel position based on the at least one pixel position of the target active device on the sensing array; and the first processor 3013 is further used to obtain first information associated with the target object carried in the first signal, where the first information includes attribute information of the target object.

[0097] In one possible implementation, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0098] In another possible implementation, the identifier of the target object includes at least one of the following: an Internet protocol (IP) address corresponding to the target object, a medium access control (MAC) address corresponding to the target object, or a user identifier.

[0099] In yet another possible implementation, the first information further includes at least one of the following: a size of the target object, a motion state of the target object, a communication rate, or a bandwidth.

[0100] In yet another possible implementation, the sensing array 3011 is further configured to scan pixels on the sensing array.

[0101] In yet another possible implementation, the first receiver 3012 is configured to scan to a pixel value of at least one pixel position on the sensing array that is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

[0102] In another possible implementation, the target perception device 3000 further includes a communication module 302 , which includes a second receiver 3021 and a second processor 3022 .

[0103] The second receiver 3021 is further configured to receive a second signal from the target active device, wherein the communication rate of the second signal is greater than the communication rate of the first signal; and the second processor 3022 is further configured to obtain communication data carried in the second signal.

[0104] In one exemplary embodiment, the second receiver 3021 and the first receiver 3012 may be independent components.

[0105] In another example, the second receiver 3021 and the first receiver 3012 may be an integrated component.

[0106] In one exemplary embodiment, the first processor 3013 and the second processor 3022 may be independent components.

[0107] In another example, the first processor 3013 and the second processor 3022 may be an integrated component.

[0108] The processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0109] In another possible implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located.

[0110] In another possible implementation, the perception module 301 can be integrated with the communication module 302, and the perception module 301 and the communication module 302 share an antenna and / or lens; or the perception module 301 can be separated from the communication module 302, and the perception module 301 and the communication module 302 use different antennas and / or lenses.

[0111] In another possible implementation, the first receiver 3012 is further used to respectively receive multiple first signals from multiple target active devices on the target object, wherein each of the multiple first signals corresponds to a center frequency; the first processor 3013 is further used to obtain multiple first information carried in the multiple first signals; and the first processor 3013 is further used to perceive the target object based on the multiple first information.

[0112] In yet another possible implementation, there is a first frequency offset between the frequency of each first signal in the plurality of first signals and the center frequency of the corresponding sensing array.

[0113] In another possible implementation, the difference between the first frequency offset and the first difference is greater than or equal to the second threshold, or the first frequency offset is a first multiple of the first difference, where the first difference is the difference between two adjacent center frequencies.

[0114] In another possible implementation, the sensing module 301 includes multiple sensing arrays 3011, the target active device is a broadband signal source, and the center frequency of the target active device does not overlap with the center frequency of any of the multiple sensing arrays; the multiple sensing arrays 3011 are used to respectively scan pixels on the multiple sensing arrays; the first receiver 3012 is further used to scan at least one pixel position on any of the multiple sensing arrays, where the pixel value is greater than or equal to a first threshold, and receive the first signal from the target active device on the target object.

[0115] In yet another possible implementation, the target active device includes a signal source and / or a retroreflector.

[0116] In yet another possible implementation, the target active device is a retroreflector, and the first signal is obtained by modulating the first information onto reflected light by the retroreflector.

[0117] In another possible implementation, the sensing module 301 further includes a sensing signal source (not shown in the figure), which is used to provide energy to the retroreflector.

[0118] The target sensing device in the embodiments of the present application can be any electronic device or part of an electronic device, such as a terminal. Among them, the terminal can also be referred to as a terminal device, user equipment (UE), a mobile station, a mobile terminal, etc. The terminal can be widely used in various scenarios, for example, device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0119] The target sensing device in the embodiment of the present application may also be any network device or part of a network device. The network device may be a device that can communicate with a terminal. The network device may be any device with wireless transceiver capabilities. Including but not limited to: base station (NodeB), evolved base station (eNodeB), base station in the fifth generation (5G) communication system, base station or network device in future communication system, access node in WiFi system, wireless relay node, wireless backhaul node, etc. The network device may also be a wireless controller in a cloud radio access network (CRAN) scenario. The network device may also be a small station, a transmission reference point (TRP), etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0120] The target sensing method provided by the embodiment of the present application is described in detail below based on the above target sensing device:

[0121] FIG4 is a flow chart of a target sensing method provided in an embodiment of the present application. The method can be applied to the target sensing device described above. For example, the method may include the following steps:

[0122] S401. Scan pixels on the sensing array.

[0123] As shown in Figure 5, a schematic diagram of a target sensing system according to an embodiment of the present application is shown. The target sensing device can serve as a signal receiving end. The target sensing device is used to sense a target object. In this embodiment, a target active device is provided on the target object. For example, the target active device can be fixed to the target object by gluing, welding, or the like. The target active device serves as a signal transmitting end, emitting and / or reflecting light (signal).

[0124] Exemplarily, the target active device may be a signal source or a retroreflector.

[0125] Among them, if the target active device is a signal source, the target sensing device may not need to include a signal source.

[0126] If the target active device is a retroreflector, since retroreflectors reflect light or other high-frequency electromagnetic signals along their incident direction, if the retroreflector is passive, it can only change the intensity of the reflected light and cannot add a modulated signal to the reflected light. However, the retroreflector in this embodiment is active and can simultaneously change the intensity and phase of the reflected light and modulate the reflected light to achieve communication. Therefore, the target sensing device needs to include a signal source to provide the active signal to the retroreflector.

[0127] As shown in Figure 5 , the target sensing device is used to sense target objects 1 and 2. Target object 1 is provided with a signal source, while target object 2 is provided with a retroreflector. Figure 5 is merely an example; both target objects may be provided with a signal source or a retroreflector, and this embodiment does not limit this.

[0128] As previously described, the target sensing device includes a sensing array, a first receiver, and a first processor. The first receiver and first processor are not shown in FIG5 . The sensing array includes one or more pixels. As shown in FIG5 , each small square can be considered a pixel. Of course, FIG5 is merely a schematic representation.

[0129] The target active device on the target object (such as the signal source on the target object 1 and the retroreflector on the target object 2) can emit light. The target sensing device scans the pixels on the sensing array. The flashing light is projected or projected onto the sensing array, causing the pixel value of the sensing array to change, and therefore, it can be scanned by the target sensing device. As shown in Figure 5, the signal source on the target object 1 and the retroreflector on the target object 2 can respectively project or project light onto some pixels of the sensing array. Among them, projection refers to using a group of light rays to project the shape of an object (here refers to the target active device) onto a plane (here refers to the sensing array), which is called "projection". The image obtained on the plane is also called "projection". Projection can be divided into orthographic projection and oblique projection. Orthographic projection means that the center line of the projection line is perpendicular to the projection plane, and the projection center line is not perpendicular to the projection plane, which is called oblique projection. The "projection" in this embodiment can be orthographic projection or oblique projection.

[0130] In addition to the target active device on the target object projecting light onto the sensing array, there may also be some reflectors in the environment. These reflectors can also project light onto the sensing array. This embodiment can control the energy intensity (or light intensity) of the target active device so that the energy intensity of the target active device is higher than that of the reflectors in the environment. Of course, the energy intensity of the target active device can also be controlled so as not to be too strong, thereby overexposing the sensing array.

[0131] As shown in Figure 5, light is projected onto the sensing array, and the sensing array generates a frequency response; the signal source itself also has its own frequency response. There is a frequency offset (Δf) between the center frequency of the signal source (f+Δf) and the center frequency (f) of the sensing array. Exemplarily, Δf can be a positive or negative number. There is no frequency offset between the center frequency of the retroreflector and the center frequency of the sensing array, that is, the center frequency of the retroreflector is the same as the center frequency of the sensing array. That is, a signal source or retroreflector with an adjacent frequency is applied at the transmitting end, so that the energy intensity in the transmitting end area is significantly higher than that of other reflectors, but it does not overexpose or saturate the sensing array.

[0132] As shown in Figure 6, it is a flowchart of target perception according to an example of an embodiment of the present application. When the target perception device is in the initial state, the target perception device is in the perception mode, and the target perception device can slowly scan the pixels on the perception array (for example, all pixels on the perception array) in sequence, and perceive objects in the environment at a low speed, just like ordinary perception devices (such as rolling shutter cameras, lidars, and addressable perception arrays). At this time, no target active device is scanned and projected onto the perception array. Although light is projected onto the perception array from reflectors in the environment, the target perception device can be set to deem that no target active device on the target object is scanned when the pixel value of at least one pixel position scanned onto the perception array is less than a first threshold.

[0133] Since the target sensing device is in an initial state and has not yet scanned the target active device, this step is an optional step and is represented by a dotted line in the figure.

[0134] S402. Receive a first signal from a target active device on a target object.

[0135] The target sensing device scans the pixels on the sensing array. When the target active device on the target object is scanned and projects light onto the sensing array, causing the pixel value of the sensing array to change, it is considered that the target active device is sensed.

[0136] As previously mentioned, reflective objects in the environment can also project light onto the sensing array. For example, in this embodiment, the target sensing device may detect a target active device when the pixel value of at least one pixel position on the sensing array is greater than or equal to a first threshold.

[0137] After sensing the target active device, the target sensing device receives a first signal from the target active device on the target object. Exemplarily, the first signal is a low-speed waveform. For example, the first signal can be a video, a time series, etc.

[0138] The first signal may be continuously sent by the target active device.

[0139] S403. Identify at least one pixel position of a target active device on the sensing array.

[0140] The target active device is projected onto the sensing array, potentially onto some pixel locations on the sensing array. As shown in Figure 6, after the target sensing device scans or detects the target active device, it switches from sensing mode to recognition mode, performing three-dimensional (3D) positioning of the target active device and identifying at least one pixel location of the target active device on the sensing array.

[0141] FIG7 is a schematic diagram of a process for identifying and locating a target active device according to an embodiment of the present application. The process includes the following steps:

[0142] 1. First, the image or energy distribution map is binarized to extract the areas with higher energy density.

[0143] 2. Next, edge extraction and target tracking information are performed on the target area. As shown in Figure 7, the edges of target area a1 are extracted to obtain area a2. Furthermore, since the target object may be changing dynamically, the target sensing device can obtain real-time tracking information of the target object.

[0144] 3. Then, the incident angle direction of the signal source is obtained based on the image or energy distribution diagram.

[0145] 4. Then, different algorithms are applied to estimate the distance from the target active device (such as the signal source) to the receiving end.

[0146] Among them, there are two algorithms for estimating the distance from the signal source to the receiver:

[0147] (a) Binocular ranging;

[0148] (b) Since the energy density in the area where the signal source is located is too high, it is difficult for sensing devices such as lidar to obtain distance information within the area. Interpolation algorithms can also be used to infer the distance of the signal source based on adjacent units in the sensing array.

[0149] Binocular ranging works by using two cameras (sensing arrays) to fuse images from both eyes and observe the differences between them. This difference is called a disparity image. Based on disparity images and the principle of similar triangles, the distance from the target object to the imaging device can be calculated.

[0150] The interpolation 3D positioning algorithm requires the use of active sensing devices such as lidar or millimeter-wave radar. These active sensing devices use signals reflected from the target object for 3D positioning or ranging. The interpolation 3D positioning algorithm in this embodiment works as follows: Because the light intensity of the target signal source is too high, it obscures the reflected signal, making it difficult for the lidar to directly extract the distance information or 3D coordinates of the target signal source. Therefore, the interpolation 3D positioning algorithm in this embodiment first selects areas with low light intensity near the signal source, reads their distance information or 3D coordinates, and then applies the interpolation algorithm to estimate the 3D coordinates of the signal source.

[0151] 5. Finally, using the obtained incident angle direction and the distance of the signal source, the 3D coordinates of the signal source can be obtained, and a digital filter algorithm can be applied to make the result more accurate.

[0152] By adopting the target active device positioning algorithm, the distance information in the neighborhood of the target active device is interpolated to estimate the distance of the target active device, so that the three-dimensional coordinates of the target active device can be accurately obtained.

[0153] S404 . Scan a first number of pixels around at least one pixel position of a target active device on the sensing array.

[0154] After identifying the pixel position of the target active device, the target sensing device switches to a synaesthesia mode, reads the area near at least one pixel position of the target active device, and performs a small-range scan. For example, based on the at least one pixel position of the target active device on the sensing array, a first number of pixels surrounding the at least one pixel position can be scanned. As shown in FIG6 , after identifying the at least one pixel position of the target active device on the sensing array, the scanning range is determined to be the first number of pixels surrounding the at least one pixel position, i.e., reading a partial area, thereby increasing the scanning rate (i.e., refresh rate or frame rate) and receiving the first signal more quickly. For example, the first number can be set at the time the target sensing device leaves the factory, or can be configured through operations, administration, and maintenance (OAM) or network configuration. The first number can be an empirical or experimental value, for example, 1 to 20 pixels surrounding the target active device on the sensing array. For example, if the target sensing device in this embodiment uses an existing rolling shutter camera, the pixels in the gray area are scanned; if the target sensing device in this embodiment uses a customized sensing array, the pixels in the dashed box area can be scanned.

[0155] FIG8 is a schematic diagram of an existing optical camera communication (OCC) system, which uses the OCC system to identify changes in the brightness of a light-emitting diode (LED) lamp, thereby extracting information carried by the LED lamp. The transmitting end is an LED or LED array, and the receiving end is an image sensor. However, when using this technology, the communication rate of the image sensor is too low and is limited by the image sensor's frame rate. This embodiment can improve the refresh rate of the target sensing device by optimizing the scanning process. In addition, in FIG8 , because the brightness of the light source needs to be much higher than other objects in the environment, the image sensor can only sense the light source and has difficulty sensing other objects in the environment, causing the image sensor to be overexposed. This embodiment controls the energy intensity of the target active device so that the energy intensity of the target active device is significantly higher than other reflectors in the environment, but does not overexpose or saturate the sensing array. This allows the target object to be sensed by the target sensing device while preventing the sensing array from being overexposed.

[0156] The target sensing device of this embodiment includes a sensing mode, an identification mode, and a synaesthesia mode. When the target active device is not scanned, the target sensing device is in the sensing mode and performs a large-scale scan. After the target active device is identified, it switches to the synaesthesia mode, scans a first number of pixels around at least one pixel position, and obtains trace information of the target active device in the first number of pixels around at least one pixel position. This can increase the scanning rate (i.e., refresh rate or frame rate) and receive the first signal faster.

[0157] S405. Obtain first information associated with the target object carried in the first signal.

[0158] After the target sensing device receives the first signal, the first signal carries first information associated with the target object. For example, the first information includes attribute information of the target object. Thus, the target sensing device can perceive the basic situation of the target object based on the first information associated with the target object.

[0159] Exemplarily, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0160] For example, a database of object identifiers can be pre-created, including identifiers of multiple objects. After acquiring the identifier of a target object, the target sensing device can uniquely identify the target object based on the identifier. For example, the identifier of the target object includes at least one of the following: an Internet Protocol (IP) address corresponding to the target object, a Media Access Control (MAC) address corresponding to the target object, or a user identifier.

[0161] The type of the target object may include, for example, a car, various articles of use, etc. After acquiring the type of the target object, the target sensing device may identify which type the target object belongs to.

[0162] The target active device may encode the name of the target object and send it to the target sensing device via a first signal. After receiving the first signal, the target sensing device decodes the name of the target object, thereby being able to identify the target object.

[0163] Furthermore, the first information may also include at least one of the following: the size of the target object, the motion state of the target object, the communication rate or bandwidth. By carrying more first information in the first signal, the target sensing device can identify the target object more comprehensively and accurately.

[0164] In this embodiment, by using the target active device as a marker of the target object, the target sensing device receives a first signal from the target active device (wherein the first signal may be an optical signal within a period of time and may be sent in the form of a video or time series) and obtains the first information associated with the target object carried in the first signal, thereby enabling the target object to be quickly and accurately identified and located.

[0165] As mentioned above, the center frequency of the sensing array in this embodiment is f. Since the accuracy of the target sensing device based on low-frequency radio is difficult to guarantee, and since the low-frequency radio has strong penetrability, the sensing ability is weak for target objects with low reflectivity. Therefore, the center frequency of the sensing array in the target sensing device of this embodiment adopts a higher frequency. Exemplarily, the target sensing device of the embodiment of the present application is particularly suitable for high-frequency electromagnetic waves, such as optical frequency bands (including infrared, visible light, ultraviolet light, etc.), terahertz frequency bands, and millimeter wave bands.

[0166] The use of high-frequency electromagnetic waves has the following advantages: (1) The receiving antenna or receiver unit of high-frequency electromagnetic waves is small in size, and large-scale antenna arrays or receiver arrays are easy to implement in terms of technology; (2) Because the wavelength of high-frequency electromagnetic waves is short, their perception accuracy is higher; (3) The penetration of high-frequency electromagnetic waves is weak, and the receiving end can perceive stronger reflected signals, so its perception ability is stronger.

[0167] According to an embodiment of the present application, a target perception method is provided. By receiving a first signal from a target active device on a target object, at least one pixel position of the target active device on a sensing array is identified. Based on the at least one pixel position of the target active device on the sensing array, a first number of pixels surrounding the at least one pixel position are scanned, and first information associated with the target object carried in the first signal is obtained. The first information includes attribute information of the target object. This target perception solution has a long recognition range and is not limited by occlusion of the target object. In contrast, the AI-based or QR code-based image recognition systems mentioned in the background art require labeled data, trained models, and a significant amount of computing power to distinguish information such as the target's shape, position, and motion state. This embodiment utilizes a target active device to mark the target object, enabling the transmission of target object information. This eliminates the need for algorithm training and QR code scanning. This embodiment can identify the target object as long as the target active device is flashing. Therefore, this embodiment improves the accuracy and distance of target perception, thereby enhancing the reliability of target perception.

[0168] In addition, the target sensing device of this embodiment has a sensing mode and a synaesthesia mode, and can switch between the two modes. When no target active device is scanned, it is in the sensing mode and performs a large-area scan. After the target active device is identified, it switches to the synaesthesia mode, scanning only the surrounding area and obtaining trace information of the target active device in the surrounding area.

[0169] The above embodiments describe how a target sensing device can be used to sense and identify a target object. The following embodiments will also describe how a target sensing device can achieve integrated sensing and communication:

[0170] As shown in Figure 9, a flow chart of another target perception method provided in an embodiment of the present application is provided. This method can be applied to a target perception device. The target perception device includes a perception module and may also include a communication module. The communication module may include a second receiver and a second processor. The communication module may receive a second signal (e.g., a high-speed communication signal) sent by a target active device, thereby enabling the target perception device to achieve integrated perception and communication.

[0171] Exemplarily, the method may include the following steps:

[0172] S901. Scan pixels on the sensing array.

[0173] S902. Receive a first signal from a target active device on a target object.

[0174] S903. Identify at least one pixel position of a target active device on the sensing array.

[0175] S904. Scan a first number of pixels around at least one pixel position of a target active device on the sensing array.

[0176] S905. Obtain first information associated with the target object carried in the first signal.

[0177] The above steps S901 to S905 are the process of the sensing module of the target sensing device sensing the target object according to the first signal sent by the target active device. Detailed descriptions can be made with reference to the relevant steps of the embodiment shown in FIG4 , which will not be repeated here.

[0178] S906. Receive a second signal from the target active device.

[0179] In this embodiment, by controlling the energy intensity of the target active device, the target sensing device can communicate and sense simultaneously.

[0180] The target perception device can also be in high-speed communication mode at the same time. The target active device can send a second signal while sending the first signal, and high-speed communication can be performed between the target active device and the communication module. When the target active device is within the perception range of the target perception device, a high-speed communication link can be established between the target active device and the communication module of the target perception device. It is understandable that step S906 (high-speed communication mode) and steps S903 (identification mode) and S904 (synaesthesia mode) can be performed simultaneously, because step S906 depends on the communication module, and steps S903 and S904 depend on the perception module.

[0181] The signal sent by the target active device includes a first signal and a second signal. That is, the signal sent by the target active device is composed of the superposition of the first signal (which can be a low-speed baseband signal) and the second signal (which can be a high-speed frequency band signal). This superposition process is usually a linear operation without information loss, such as summation, product, convolution, etc. The sensing array in the sensing module can receive the first signal, and the communication module can receive the second signal. Specifically, it can be the second receiver in the communication module that receives the second signal. The communication rate of the second signal is greater than the communication rate of the first signal. For example, the communication rate of the second signal is at the megabit (M) level, and the communication rate of the first signal is at the kilobit (KB) level. The first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located (generally, it means that there is no overlap at all), that is, the first signal and the second signal do not interfere with each other.

[0182] Illustratively, the communication module in this embodiment may be an array or a single module.

[0183] The communication between the target active device and the communication module in the target sensing device can be cellular communication.

[0184] S907. Obtain the communication data carried in the second signal.

[0185] After receiving the second signal from the target active device, the communication module obtains the communication data carried in the second signal. Specifically, the second processor in the communication module can parse the second signal received by the second receiver to obtain the communication data carried in the second signal.

[0186] In this embodiment, the first signal may include attribute information of the target object, while other information of the target object is carried as much as possible in the second signal, which can improve the communication rate. For example, the second signal may include but is not limited to pictures, videos, voice, control information, text, etc.

[0187] With this embodiment, the perception module can accurately identify and locate the target object and extract the low-speed signal sent by the target active device for auxiliary perception; while the communication module can extract the high-speed communication signal sent by the target active device.

[0188] The process shown in FIG9 is further described below by way of example:

[0189] As shown in Figure 10, a schematic diagram of the structure of another target perception system provided in an embodiment of the present application is provided. Unlike the target perception device shown in Figure 5, this target perception device includes a perception module and may also include a communication module. The communication module may include a second receiver and a second processor. The communication module can receive a second signal (e.g., a high-speed communication signal) sent by the target active device, thereby enabling the target perception device to achieve integrated perception and communication.

[0190] Based on the target perception system shown in Figure 10, as shown in Figure 11, an embodiment of the present application further provides a schematic flow diagram of the integration of perception and communication, wherein processes 0, 1, and 2 are the same as processes 0, 1, and 2 shown in Figure 6, and are not repeated here. In addition, in process 1a (the target perception device is in high-speed communication mode), the target active device can send a second signal while sending the first signal, and high-speed communication can be performed between the target active device and the communication module. When the target active device is within the perception range of the target perception device, a high-speed communication link between the target active device and the communication module of the target perception device can be established. It is understandable that process 1a (high-speed communication mode) can be performed simultaneously with process 1 (identification mode) and process 2 (synaesthesia mode), because process 1a depends on the communication module, and processes 1 and 2 depend on the perception module.

[0191] As shown in Figure 10, the signal sent by the target active device includes a first signal and a second signal. That is, the signal sent by the target active device is composed of the superposition of the first signal (which can be a low-speed baseband signal) and the second signal (which can be a high-speed frequency band signal). This superposition process is usually a linear operation without information loss, such as summation, product, convolution, etc. The sensing array in the sensing module can receive the first signal, and the communication module can receive the second signal. Specifically, it can be the second receiver in the communication module that receives the second signal. The communication rate of the second signal is greater than the communication rate of the first signal. For example, the communication rate of the second signal is at the megabit (M) level, and the communication rate of the first signal is at the kilobit (KB) level. The first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located (generally, it means that there is no overlap at all), that is, the first signal and the second signal do not interfere with each other.

[0192] Exemplarily, the communication module in FIG10 may be an array or a single module.

[0193] The communication between the target active device and the communication module in the target sensing device can be cellular communication.

[0194] After receiving the second signal from the target active device, the communication module obtains the communication data carried in the second signal. Specifically, the second processor in the communication module can parse the second signal received by the second receiver to obtain the communication data carried in the second signal.

[0195] In this embodiment, the first signal may include attribute information of the target object, while other information of the target object is carried as much as possible in the second signal, which can improve the communication rate. For example, the second signal may include but is not limited to pictures, videos, voice, control information, text, etc.

[0196] With this embodiment, the perception module can accurately identify and locate the target object and extract the low-speed signal sent by the target active device for auxiliary perception; while the communication module can extract the high-speed communication signal sent by the target active device.

[0197] Furthermore, for target sensing devices suitable for high frequencies, their signal strength is generally weak, and antennas or lenses are usually required to increase their signal strength. For example, for millimeter wave and terahertz bands, antennas are usually used to amplify signals; for infrared, visible light, and ultraviolet bands, lenses are usually used to amplify signals. As shown in Figure 12a, this is a schematic diagram of the integration of the sensing module and the communication module in an embodiment of the present application. The sensing array and the communication module in the sensing module can be integrated on the same chip, sharing an antenna / lens, thereby reducing the size of the target sensing device. In addition, the sensing module and the communication module are integrated on the same chip, sharing an antenna / lens, and their communication range and sensing range are matched. The sensing module and the antenna / lens do not need to be calibrated; however, the process of integrating the two modules into the same chip is more complicated, which may weaken the performance of communication and sensing.

[0198] Figure 12b shows a schematic diagram of a separate perception module and communication module in an example embodiment of the present application. The perception module and communication module are deployed on separate chips and use different antennas / lenses. This approach simplifies the process and does not compromise communication and perception performance. However, clock synchronization between the perception module and the communication module can be complex, and the antennas / lenses used by the two chips require calibration to ensure that their communication and perception ranges match.

[0199] According to a target perception method provided by an embodiment of the present application, a first signal is received from a target active device on a target object, at least one pixel position of the target active device on a sensing array is identified, and based on the at least one pixel position of the target active device on the sensing array, a first number of pixels around the at least one pixel position are scanned, and first information associated with the target object carried in the first signal is obtained, where the first information includes attribute information of the target object. The target perception scheme has a long recognition distance and is not restricted by occlusion of the target object, thereby improving the reliability of target perception; and a second signal from the target active device can be received, where the second signal can carry communication data such as pictures, videos, and voice, thereby achieving high-speed communication and realizing the integration of target perception and communication.

[0200] The above embodiment describes the process of the target sensing device sensing a signal of a single wavelength (single frequency). The following embodiment will describe the process of the target sensing device sensing a signal of multiple wavelengths (multiple frequencies).

[0201] As shown in Figure 13, it is a flowchart of another target perception method provided in an embodiment of the present application. Exemplarily, the method may include the following steps:

[0202] S1301. Scan pixels on the sensing array.

[0203] For the specific implementation of this step, reference may be made to step S401 of the embodiment shown in FIG4 , and details thereof will not be repeated here.

[0204] S1302. Receive a plurality of first signals respectively from a plurality of target active devices on a target object.

[0205] As shown in Figure 14, a structural diagram of a basic dual-wavelength target perception system provided in an embodiment of the present application is provided, in which the receiving end (i.e., the target perception device) includes a perception module and a communication module. Among them, the perception module includes a low-speed perception array, a first receiver, and a first processor (not shown in the figure). If the target active device is a retroreflector, the perception module may also include a perception end signal source. The communication module may be a high-speed communication terminal. The transmitting end includes a signal source and a synaesthesia signal generator. The signal generator generates a superimposed first signal (which may be a low-speed baseband signal) and a second signal (which may be a high-speed frequency band signal). The perception array in the perception module can receive the first signal, and the communication module can receive the second signal. The first frequency band where the first signal is located and the second frequency band where the second signal is located do not overlap and do not interfere with each other.

[0206] The sensing module, or sensing end array / signal source, has a center frequency of f; the communication module has a center frequency of f + Δf; and when the target active device is the signal source, its center frequency is f ± Δf. This means there is a slight first frequency offset Δf between the target active device and the sensing array. This slight frequency difference (wavelength difference) between the target active device and the sensing array can be used to create a signal strength difference between the target active device and other reflectors in the environment.

[0207] To improve the performance of the target sensing device, multiple target active devices can be installed on the target object. Figure 15 shows a schematic diagram of a multi-wavelength sensing array and multiple target active devices provided in an embodiment of the present application. It can be assumed that the target sensing device includes multiple sensing arrays: sensing array 1 through sensing array n; and the target object at the transmitting end can include n target active devices. This allows the target sensing device to receive multiple first signals from the multiple target active devices on the target object.

[0208] Each of the multiple first signals corresponds to a center frequency f i ±kΔf, where i is the frequency index of the sensing module (sensing array), k is the frequency index of the target active device, k = 1, 2, 3, ..., m, i = 1, 2, 3, .....n. It can be assumed that the target sensing device has multiple sensing modules, such as sensing module 1, sensing module 2, ..... sensing module n in Figure 15. Each sensing module includes a sensing array and may also include a sensing end signal source. The sensing end array / signal source has a center frequency of f i, i=1,2,3,…..n. The frequency f of each first signal in the plurality of first signals i ±kΔf and the corresponding center frequency f of the sensing array i There is a first frequency offset kΔf between the two. The first frequency offset may be set when the target sensing device leaves the factory, or may be configured through an operation administration and maintenance (OAM) method or a base station.

[0209] In one example, the difference between the first frequency offset and the first difference is greater than or equal to the second threshold. The first difference is the difference between two adjacent center frequencies (f i+1 -f i ).

[0210] In another example, the first frequency deviation is a first multiple of the first difference. The first difference is the difference between two adjacent center frequencies (f i+1 -f i For example, the first multiple is 0.1, that is, the first frequency deviation is 0.1*(f i+1 -f i The embodiment of the present application does not limit the setting of the first multiple, and generally the first multiple is less than 1.

[0211] In Figure 15 , the sensing array in each sensing module corresponds to a target active device of a different frequency and is configured to receive a first signal from the corresponding target active device.

[0212] As shown in Figure 16, which is a frequency response diagram of a multi-wavelength sensing array and a multi-target active device according to an embodiment of the present application, it can be seen that the frequency responses of the sensing array and the target signal source overlap, but their center frequencies also have a slight frequency deviation.

[0213] S1303. Obtain multiple first information carried in multiple first signals.

[0214] After receiving the multiple first signals, the target sensing device can obtain the multiple first information carried in the multiple first signals, which is conducive to improving the recognition accuracy of the target object. The specific implementation process can refer to step S405 of the embodiment shown in Figure 4.

[0215] S1304. Perceive the target object based on the multiple first information.

[0216] The target sensing device senses the target object based on multiple first information, which can improve the recognition precision and accuracy of the target object.

[0217] According to a target perception method provided in an embodiment of the present application, by respectively receiving multiple first signals from multiple target active devices on the target object, the target object can be perceived more reliably, the perception performance can be improved, and the recognition precision and accuracy of the target object can be improved.

[0218] The above embodiment describes a scenario where each of the multiple first signals corresponds to a center frequency. By separately receiving multiple first signals from multiple target active devices on a target object, the target sensing device can more reliably sense the target object and improve sensing performance. The following embodiment describes a scenario where the target active device is a broadband signal source and the target sensing device includes multiple sensing arrays:

[0219] As shown in Figure 17, it is a flowchart of another target perception method provided by an embodiment of the present application. Exemplarily, the method may include the following steps:

[0220] S1701. Scan pixels on multiple sensing arrays.

[0221] In this embodiment, the target sensing device may include one or more sensing arrays. The description will be made using an example in which the target sensing device includes multiple sensing arrays. When the target sensing device is in an initial state, the pixels on each of the multiple sensing arrays are scanned. The specific implementation of scanning each sensing array is similar to that of step S401 in the embodiment shown in FIG. 4 , and will not be further described here.

[0222] As shown in FIG18, a schematic diagram of a multi-wavelength sensing array and a broadband signal source provided in an embodiment of the present application, the target sensing device includes n sensing arrays, where n is a positive integer. The center frequency of the n sensing arrays is f i , where i = 1, 2, ... n, i.e. the center frequencies of the n sensing arrays are recorded as f1, f2, ..., f n As shown in FIG19, it is a frequency response diagram of a multi-wavelength sensing array and a broadband signal source according to an embodiment of the present application. In this embodiment, the target active device is a broadband signal source with a center frequency of f (n+1) , whose center frequency is not the same as the center frequency f1~f n overlap.

[0223] The sensing array of the target sensing device and the target active device at the transmitting end have different frequency responses, so that the energy intensity in the area where the target active device is located is higher than that of other reflectors in the environment, but it does not saturate or overexpose the sensing array, so that there is an appropriate intensity difference between the target active device and other reflectors in the environment.

[0224] S1702. Receive a first signal from a target active device on a target object.

[0225] Different from the aforementioned embodiment, the multiple sensing arrays in the target sensing device can perform target identification and positioning of broadband signal sources, that is, the target active device can be simultaneously identified by the multiple sensing arrays of the target sensing device, which can improve the accuracy and efficiency of target identification.

[0226] When the pixel value of at least one pixel position on any one of the multiple sensing arrays is greater than or equal to the first threshold, the target sensing device receives a first signal from the target active device on the target object, which may be specifically step S402 of the embodiment shown in Figure 4 and will not be repeated here.

[0227] S1703. Identify at least one pixel location of a target active device on each sensing array in a plurality of sensing arrays.

[0228] The specific implementation of this step may be step S403 of the embodiment shown in FIG4 , and will not be described in detail here.

[0229] S1704. Scan a first number of pixels around at least one pixel position of a target active device on each sensing array in the plurality of sensing arrays.

[0230] The specific implementation of this step can be step S404 of the embodiment shown in FIG4 , and will not be described in detail here.

[0231] S1705. Obtain first information associated with the target object carried in the first signal.

[0232] The specific implementation of this step can be step S405 of the embodiment shown in FIG4 , and will not be described in detail here.

[0233] According to a target perception method provided in an embodiment of the present application, the target active device is a broadband signal source, and the target perception device includes multiple perception arrays. The multiple perception arrays in the target perception device can perform target identification and positioning of the broadband signal source. The target active device can be simultaneously identified by the multiple perception arrays of the target perception device, which can improve the accuracy and efficiency of target identification.

[0234] In another embodiment, as shown in Figure 20, a schematic diagram of another target perception system provided by an embodiment of the present application is provided. In this target perception system, the principles of the target perception device are similar to those of the previous embodiments: the energy intensity of the target active device is higher than that of other reflectors in the environment, but not so high as to overexpose or saturate the sensing array, ensuring an appropriate intensity difference between the target active device and the ambient reflection. However, unlike the previous embodiments, this target active device is a retroreflector, and the sensing module includes a signal source; the sensing module cannot use passive sensing elements such as cameras. The frequency of the retroreflector is the same as that of the sensing array. The operating principle of a retroreflector is to reflect light or other high-frequency electromagnetic wave signals along the direction of their incidence. If the retroreflector were passive, it would only change the intensity of the reflected light and could not add a modulated signal to the reflected light. However, the retroreflector in this embodiment is active, capable of simultaneously changing the intensity and phase of the reflected light and modulating the reflected light, so that first information associated with the target object is modulated onto the emitted light, generating a first signal, thereby achieving the perception function.

[0235] This embodiment uses the retroreflector as the target active device, without occupying additional spectrum resources, while achieving high-precision positioning and target identification. Its communication rate depends on the modulation bandwidth of the retroreflector.

[0236] It is understandable that in order to realize the functions in the above-mentioned embodiments, the above-mentioned target perception device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0237] Based on the same concept of the above target sensing method, the present embodiment further provides a schematic structural diagram of a target sensing device, as shown in Figure 21. The target sensing device can be used to implement the functions of the target sensing device in the above method embodiment, and thus can also achieve the beneficial effects possessed by the above method embodiment.

[0238] As shown in Figure 21, the target sensing device 2100 includes a first receiving unit 2101, an identification unit 2102, a scanning unit 2103, and a first acquisition unit 2104. Furthermore, the target sensing device 2100 may also include a second receiving unit 2105, a second acquisition unit 2106, a third receiving unit 2107, a third acquisition unit 2108, and a sensing unit 2109 (indicated by dotted lines in the figure). The target sensing device 2100 is used to implement the functions of the target sensing device in the method embodiments shown in Figures 4, 9, 13, and 17 above.

[0239] Among them, the first receiving unit 2101 is used to receive a first signal from a target active device on a target object; the identification unit 2102 is used to identify at least one pixel position of the target active device on the sensing array; the scanning unit 2103 is used to scan a first number of pixels around the at least one pixel position of the target active device on the sensing array; and the first acquisition unit 2104 is used to acquire first information associated with the target object carried in the first signal, the first information including attribute information of the target object.

[0240] In a possible implementation, the attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

[0241] In another possible implementation, the identifier of the target object includes at least one of the following: an IP address corresponding to the target object, a MAC address corresponding to the target object, or a user identifier.

[0242] In yet another possible implementation, the first information further includes at least one of the following: the size of the target object, the motion state of the target object, the communication rate, or the bandwidth.

[0243] In another possible implementation, the scanning unit 2103 is further configured to scan pixels on the sensing array.

[0244] In another possible implementation, the first receiving unit 2101 is configured to scan at least one pixel position on the sensing array and find that the pixel value is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

[0245] In another possible implementation, the second receiving unit 2105 is configured to receive a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; and the second acquiring unit 2106 is configured to acquire communication data carried in the second signal.

[0246] In yet another possible implementation, the first frequency band where the first signal is located does not overlap with the second frequency band where the second signal is located.

[0247] In another possible implementation, the third receiving unit 2107 is used to respectively receive multiple first signals from multiple target active devices on the target object, wherein each first signal in the multiple first signals corresponds to a center frequency; the third acquiring unit 2108 is used to acquire multiple first information carried in the multiple first signals; and the sensing unit 2109 is used to sense the target object based on the multiple first information.

[0248] In yet another possible implementation, there is a first frequency offset between the frequency of each first signal in the plurality of first signals and the corresponding center frequency of the sensing array.

[0249] In another possible implementation, the difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

[0250] In another possible implementation, the target sensing device includes a plurality of the sensing arrays, the target active device is a broadband signal source, and the center frequency of the target active device does not coincide with the center frequency of any one of the plurality of sensing arrays; the scanning unit 2103 is configured to scan pixels on the plurality of the sensing arrays; and the first receiving unit 2101 is configured to scan at least one pixel position on any one of the plurality of sensing arrays, where the pixel value is greater than or equal to a first threshold, and receive the first signal from the target active device on the target object.

[0251] In yet another possible implementation, the target active device includes a signal source and / or a retroreflector.

[0252] In yet another possible implementation, the target active device is the retroreflector, and the first signal is obtained by the retroreflector modulating the first information onto reflected light.

[0253] For more detailed descriptions of the above-mentioned units, reference can be made to the relevant descriptions in the method embodiments shown in FIG. 4 , FIG. 9 , FIG. 13 , and FIG. 17 , and no further details are given here.

[0254] According to an embodiment of the present application, a target sensing device is provided, which receives a first signal from a target active device on a target object, identifies at least one pixel position of the target active device on a sensing array, scans a first number of pixels around the at least one pixel position based on the at least one pixel position of the target active device on the sensing array, and obtains first information associated with the target object carried in the first signal, where the first information includes attribute information of the target object. The target sensing scheme has a long recognition distance and is not restricted by occlusion of the target object, thereby improving the reliability of target perception; and can also receive a second signal from the target active device, where the second signal can carry communication data such as pictures, videos, and voice, thereby achieving high-speed communication and integrating target perception and communication.

[0255] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a compact disc read-only memory (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. Of course, the processor and the storage medium can also be present in a network device or a terminal as discrete components.

[0256] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive.

[0257] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0258] In the present application, "at least one" means one or more, and "more" means two or more. "At least one of the following: ..." or similar expressions means any one of the listed items or any combination of these items. For example, "at least one of the following: A, B and C", or "at least one of the following: A, B or C", can all mean: A exists alone, B exists alone, C exists alone, A and B exist at the same time, B and C exist at the same time, A and C exist at the same time, and A, B and C exist at the same time, where A, B, and C can be singular or plural. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship.

[0259] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A target perception method, It is characterized in that The method comprises: receiving a first signal from a target active device on a target object; identifying at least one pixel location of the target active device on a sensing array; Scanning a first number of pixels around at least one pixel position of the target active device on the sensing array; First information associated with the target object and carried in the first signal is acquired, where the first information includes attribute information of the target object.

2. The method according to claim 1, It is characterized in that The attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

3. The method according to claim 2, It is characterized in that The identification of the target object includes at least one of the following: an Internet Protocol IP address corresponding to the target object, a Media Access Control MAC address corresponding to the target object, or a user identification.

4. The method according to any one of claims 1 to 3, It is characterized in that The first information further includes at least one of the following: the size of the target object, the motion state of the target object, the communication rate or the bandwidth.

5. The method according to any one of claims 1 to 4, It is characterized in that Before receiving the first signal from the target active device on the target object, the method further includes: Pixels on the sensing array are scanned.

6. The method according to claim 5, It is characterized in that The receiving a first signal from a target active device on a target object comprises: A pixel value of at least one pixel position scanned on the sensing array is greater than or equal to a first threshold, and a first signal from a target active device on the target object is received.

7. The method according to any one of claims 1 to 6, It is characterized in that The method further comprises: receiving a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; Acquire the communication data carried in the second signal.

8. The method according to claim 7, It is characterized in that A first frequency band where the first signal is located does not overlap with a second frequency band where the second signal is located.

9. The method according to any one of claims 1 to 8, It is characterized in that The method further comprises: Respectively receiving a plurality of first signals from a plurality of target active devices on the target object, wherein each of the plurality of first signals corresponds to a center frequency; Acquire multiple first information carried in the multiple first signals; The target object is sensed according to the plurality of first information.

10. The method according to claim 9, It is characterized in that There is a first frequency offset between the frequency of each first signal of the plurality of first signals and the corresponding center frequency of the sensing array.

11. The method according to claim 10, It is characterized in that The difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

12. The method according to any one of claims 1 to 8, It is characterized in that A plurality of the sensing arrays are arranged on the target object, the target active device is a broadband signal source, and a center frequency of the target active device does not overlap with a center frequency of any of the plurality of sensing arrays; The scanning of pixels on the sensing array comprises: Scanning a plurality of pixels on the sensing array; The receiving a first signal from a target active device on a target object comprises: A pixel value of at least one pixel position on any one of the plurality of sensing arrays is scanned to be greater than or equal to a first threshold, and a first signal from a target active device on the target object is received.

13. The method according to any one of claims 1 to 12, It is characterized in that The target active device includes a signal source and / or a retro-reflector.

14. The method according to claim 13, It is characterized in that The target active device is the retro reflector, and the first signal is obtained by the retro reflector modulating the first information onto reflected light.

15. A target sensing device, It is characterized in that The device comprises: A first receiving unit, configured to receive a first signal from a target active device on a target object; an identification unit, configured to identify at least one pixel position of the target active device on the sensing array; a scanning unit, configured to scan a first number of pixels around at least one pixel position of the target active device on the sensing array according to the at least one pixel position of the target active device; The first acquisition unit is used to acquire first information associated with the target object and carried in the first signal, where the first information includes attribute information of the target object.

16. The device according to claim 15, It is characterized in that The attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

17. The device according to claim 16, It is characterized in that The identification of the target object includes at least one of the following: an Internet Protocol IP address corresponding to the target object, a Media Access Control MAC address corresponding to the target object, or a user identification.

18. The device according to any one of claims 15 to 17, It is characterized in that The first information further includes at least one of the following: a size of the target object, a motion state of the target object, a communication rate, or a bandwidth.

19. The device according to any one of claims 15 to 18, It is characterized in that The scanning unit is also used to scan pixels on the sensing array.

20. The device according to claim 19, It is characterized in that The first receiving unit is used to scan at least one pixel position on the sensing array and find that the pixel value is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

21. The device according to any one of claims 15 to 20, It is characterized in that The device also includes: a second receiving unit, configured to receive a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; The second acquiring unit is used to acquire the communication data carried in the second signal.

22. The device according to claim 21, It is characterized in that A first frequency band where the first signal is located does not overlap with a second frequency band where the second signal is located.

23. The device according to any one of claims 15 to 22, It is characterized in that The device also includes: a third receiving unit, configured to respectively receive a plurality of first signals from a plurality of target active devices on the target object, wherein each of the plurality of first signals corresponds to a center frequency; A third acquisition unit, configured to acquire a plurality of first information carried in the plurality of first signals; A sensing unit is used to sense the target object according to the multiple first information.

24. The device according to claim 23, It is characterized in that There is a first frequency offset between the frequency of each first signal of the plurality of first signals and the corresponding center frequency of the sensing array.

25. The device according to claim 24, It is characterized in that The difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

26. The device according to any one of claims 15 to 22, It is characterized in that The target sensing device comprises a plurality of sensing arrays, the target active device is a broadband signal source, and the center frequency of the target active device does not coincide with the center frequency of any of the plurality of sensing arrays; The scanning unit is used to scan the pixels on the plurality of sensing arrays; The first receiving unit is used to scan that a pixel value of at least one pixel position on any one of the multiple sensing arrays is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

27. The device according to any one of claims 15 to 26, It is characterized in that The target active device includes a signal source and / or a retro-reflector.

28. The device according to claim 27, It is characterized in that The target active device is the retro reflector, and the first signal is obtained by the retro reflector modulating the first information onto reflected light.

29. A target sensing device, It is characterized in that The device comprises: a sensing module; the sensing module comprises: a sensing array, a first receiver and a first processor; The first receiver is used to receive a first signal from a target active device on a target object; The first processor is used to identify at least one pixel position of the target active device on the sensing array; The sensing array is configured to scan a first number of pixels around at least one pixel position of the target active device on the sensing array according to the at least one pixel position of the target active device; The first processor is further used to obtain first information associated with the target object and carried in the first signal, where the first information includes attribute information of the target object.

30. The device according to claim 29, It is characterized in that The attribute information of the target object includes at least one of the following: an identifier of the target object, a type of the target object, or a name of the target object.

31. The device according to claim 30, It is characterized in that The identification of the target object includes at least one of the following: an Internet Protocol IP address corresponding to the target object, a Media Access Control MAC address corresponding to the target object, or a user identification.

32. The device according to any one of claims 29 to 31, It is characterized in that The first information further includes at least one of the following: a size of the target object, a motion state of the target object, a communication rate, or a bandwidth.

33. The device according to any one of claims 29 to 32, It is characterized in that The sensing array is also used to scan pixels on the sensing array.

34. The device according to claim 33, It is characterized in that The first receiver is used to scan at least one pixel position on the sensing array and find that the pixel value is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

35. The device according to any one of claims 29 to 34, It is characterized in that The device also includes a communication module; the communication module includes a second receiver and a second processor; The second receiver is further configured to receive a second signal from the target active device, wherein a communication rate of the second signal is greater than a communication rate of the first signal; The second processor is further used to obtain communication data carried in the second signal.

36. The device according to claim 35, It is characterized in that A first frequency band where the first signal is located does not overlap with a second frequency band where the second signal is located.

37. The device according to claim 35 or 36, It is characterized in that The sensing module and the communication module are integrated, and the sensing module and the communication module share an antenna and / or a lens; or The sensing module and the communication module are separate, and the sensing module and the communication module use different antennas and / or lenses.

38. The device according to any one of claims 29 to 37, Features: The first receiver is further configured to respectively receive a plurality of first signals from a plurality of target active devices on the target object. signal, wherein each of the plurality of first signals corresponds to a center frequency; The first processor is further configured to obtain a plurality of first information carried in the plurality of first signals; The first processor is further configured to sense the target object based on the plurality of first information.

39. The device according to claim 38, It is characterized in that There is a first frequency offset between the frequency of each first signal of the plurality of first signals and the corresponding center frequency of the sensing array.

40. The device according to claim 39, It is characterized in that The difference between the first frequency offset and the first difference is greater than or equal to a second threshold, or the first frequency offset is a first multiple of the first difference, wherein the first difference is the difference between two adjacent center frequencies.

41. The device according to any one of claims 29 to 37, It is characterized in that The sensing module includes a plurality of sensing arrays, the target active device is a broadband signal source, and the center frequency of the target active device does not overlap with the center frequency of any of the plurality of sensing arrays; The plurality of sensing arrays are used to respectively scan pixels on the plurality of sensing arrays; The first receiver is further used to scan that a pixel value of at least one pixel position on any one of the multiple sensing arrays is greater than or equal to a first threshold, and receive a first signal from a target active device on the target object.

42. The device according to any one of claims 29 to 41, It is characterized in that The target active device includes a signal source and / or a retro-reflector.

43. The device according to claim 42, It is characterized in that The target active device is the retro reflector, and the first signal is obtained by the retro reflector modulating the first information onto reflected light.

44. The device according to claim 43, It is characterized in that The sensing module further comprises a sensing signal source, and the sensing signal source is used to provide energy to the retroreflector.

45. A target sensing device, It is characterized in that The method comprises a processor and a storage medium, wherein the storage medium stores instructions, and when the instructions are executed by the processor, the method according to any one of claims 1 to 14 is implemented.

46. ​​A computer readable storage medium, It is characterized in that The computer-readable storage medium comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 14 to be implemented.

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