CN101937505B - Target detection method and equipment and used image acquisition device thereof - Google Patents

Target detection method and equipment and used image acquisition device thereof Download PDF

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CN101937505B
CN101937505B CN2009101081679A CN200910108167A CN101937505B CN 101937505 B CN101937505 B CN 101937505B CN 2009101081679 A CN2009101081679 A CN 2009101081679A CN 200910108167 A CN200910108167 A CN 200910108167A CN 101937505 B CN101937505 B CN 101937505B
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image
light
target
light intensity
background
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CN101937505A (en
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师丹玮
周琨
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深圳泰山在线科技有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/11Region-based segmentation
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/174Segmentation; Edge detection involving the use of two or more images

Abstract

本发明涉及一种目标检测方法,包括以下步骤:控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与背景对所述光脉冲信号的反射能力不同;控制图像传感器对所述待测目标与背景进行图像采集,其中所述图像传感器包括多个图像采集区域,并交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像;对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 The present invention relates to a method for detecting a target, comprising the steps of: controlling the modulation of light emitting device emitting a first light pulse having a light intensity signal and the second light intensity target to be detected and a background, wherein the first light intensity and the second light intensity are not equal, and the target to be detected different from the background reflectance of the optical pulse signal; controls the image sensor and the target to be detected background image acquisition, wherein said image sensor comprises a plurality of image acquisition area, and alternately in the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark elements; image-containing light and dark pattern identifying unit to distinguish the said target to be detected and the background. 本发明还提供了一种目标检测设备及其使用的图像采集装置。 The present invention also provides an object detecting apparatus and an image acquisition device used. 实施本发明的方法和设备能够在强光下准确地检测目标物,且设备简单,成本低。 Embodiment of the present invention is a method and apparatus capable of accurately detecting light at the object, and the apparatus is simple, and low cost.

Description

一种目标检测方法和设备及其使用的图像采集装置技术领域[0001] 本发明涉及目标检测领域,更具体地说,涉及一种目标检测方法和设备及其使用的图像采集装置。 BACKGROUND image pickup apparatus and method for detecting a target device and its use [0001] The present invention relates to object detection, and more particularly, relates to an apparatus for image acquisition target detection apparatus and method of use thereof. 背景技术[0002] 典型的成像系统一般由目标检测、目标捕获、目标高精度跟踪和目标识别等功能模块组成。 [0002] A typical imaging systems in general, the target is captured by a target detection, target recognition and target tracking precision functional modules. 其中,目标检测作为系统中前端的处理环节,是成像系统的一个重要组成部分也是其中的一个关键技术和难点问题。 Wherein the object detection system as part of the distal end of the handle, is an important part of one of the key technical problems and difficulties of the imaging system. 只有及时地检测到场景中的目标,才能保证后继的目标跟踪和识别等一系列处理工作的顺利开展。 Only the timely detection of the target in the scene, in order to ensure the smooth development of a series of subsequent processing of target tracking and recognition. [0003] 由于日光中含各种波段的光,目标检测技术很容易受外界光线特别是太阳光的影响。 [0003] Since the sunlight containing light of various wavelength bands, target detection technique is especially sunlight easily affected external light. 目标检测设备在室外使用,若待测目标有较强背景光,特别是受太阳光或强光直射,则测量的准确性将受到严重影响。 The object detecting apparatus used outdoors, if the target to be detected with a large amount of background light, especially by the sunlight or direct sunlight, the accuracy of the measurement will be seriously affected. [0004] 如何解决强光对目标检测的干扰一直是有待解决的困扰和制约成像系统实用性能的瓶颈问题和技术难点。 [0004] how to solve the interference light detection target has been to be bottlenecks and technical difficulties to solve problems and constraints of practical imaging system performance. 目前已引起国内外专家的高度重视并围绕这一课题开展了深入广泛的研究。 It has attracted great attention of domestic and foreign experts conducted in-depth and extensive research around this topic. [0005] 解决目标检测技术中阳光干扰的现有技术方案主要有以下两种。 [0005] prior art solutions target detection in sunlight interference There are two main. [0006] 第一种方法是通过加滤波片或加太阳光遮挡器件,滤掉可见光,仅保留所需波段的光信号。 [0006] A first method is to filter or occlusion by adding device adding sunlight, visible light filtered off, leaving only the optical signal of desired wavelength band. 中国专利申请号为No. 200820052299的专利公开了一种可在室外太阳光下使用的光幕,其包括单片机;所述单片机分别与红外接收头和红外发射头连接,所述红外接收头本体正前面装有遮光器。 Chinese Patent Application No. Patent No. 200820052299 discloses a light curtain used in an outdoor sunlight, comprising a microcontroller; the microcontroller is respectively connected to the infrared receiver and the infrared emission head, the infrared receiver body n with the front shutter. 而中国专利申请号为No. 99238839的专利提供了一种抗阳光干扰的红外线探头。 The Chinese patent application number No. 99238839 patent provides infrared probe as an anti-sun interference. 它包括壳体、位于壳体顶部的滤光镜片、置于壳体底部的红外发射管和红外接收管及红外管间的隔挡件,包容壳体顶部、底部之间的空腔为台状空腔,台状空腔的顶部横截面积大于底部,台状空腔的侧表面为粗糙表面。 It comprises a housing, located at the top of the sheet filter housing, placed at the bottom of the housing the infrared emission barrier member between the tube and the infrared receiver and the infrared tubes, inclusive top housing, the bottom of the cavity between the table-like cavity, the table top cross-sectional area larger than the bottom shape of the cavity, the cavity side surface of the table-like surface is roughened. [0007] 上述方法不能从根本上解决问题,而且滤波会导致灵敏度降低,因此系统需提高发射功率,抵消掉滤光导致的灵敏度下降。 [0007] The method can not fundamentally solve the problem, but will lead to lower the sensitivity of the filter, so the system needs to increase the transmission power, canceling out the decrease in sensitivity caused by the filter. 此外,系统加滤波片或遮挡器件使系统成本增闻,使用不方便。 Furthermore, the system filter or occlusion device plus system cost by smell, inconvenient to use. [0008] 第二种方法是对红外解码电路进行信号补偿,来消除外界光源的干扰。 [0008] The second method is to compensate for an infrared signal decoding circuit, to eliminate the interference of external light source. 美国专利申请号为No. 20040056199的专利公开了一种日光下的红外探测系统。 U.S. Patent Application No. 20040056199 Patent No. discloses an infrared detection system under daylight. 该系统用一个模块来检测环境光的存在,并开始进行信号补偿,以尽量减少影响环境光对系统的性能。 The system uses a module to detect the presence of ambient light, and start the compensation signal to minimize the effects of ambient light on system performance. 此种方法的系统较复杂,成本高,不容易实现。 Systems of this method is more complex, high cost, not easy to achieve. 发明内容[0009] 本发明要解决的技术问题在于,在强光背景下检测目标物体,针对现有技术的上述系统复杂成本高的缺陷,提供一种目标检测方法和设备及其使用的图像采集装置。 SUMMARY OF THE INVENTION [0009] The present invention is to solve the technical problem that the detection target object in the light background, and high cost for the above-mentioned drawbacks of complex systems of the prior art, and to provide an object detection apparatus and method using image acquisition device. [0010] 本发明解决其技术问题所采用的技术方案是:通过使调制光发射装置发射具有第一光强度和第二光强度的光脉冲信号,将图像传感器分为多个图像采集区域,并交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像,对其进行识别以区分所述待测目标与所述背景。 [0010] aspect of the present invention to solve the technical problem is that: by making modulated light signal emitting means to emit light pulses having a first light intensity and a second light intensity, the image sensor is divided into a plurality of image acquisition area, and alternately in the first light intensity and the second light intensity is sequentially scanned to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark cells, to be identified with the distinguishing the target background. [0011] 本发明提供了一种目标检测方法,包括以下步骤:[0012] 控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;[0013] 控制图像传感器对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域,并交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像;[0014] 对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0011] The present invention provides a target detection method comprising the steps of: [0012] controlling a light emitting device emitting modulated optical pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first light intensity is not equal to the second light intensity, and the target to be detected and the background different from the reflectivity of the optical pulse signal; [0013] controls the image sensor of the object to be measured and the background image acquisition wherein said image sensor comprises a plurality of image acquisition regions, and alternately in the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark elements; [0014] identification of a pattern of light and dark image-containing unit to distinguishing the target and the background. [0015] 在本发明所述的目标检测方法中,所述图像传感器包含的多个图像采集区域配置成:使得在采集的含有明暗相间图案单元的图像中,使得在形成含有明暗相间图案单元的图像中,待测目标的图像落在两个或两个以上所述图像采集区域上。 [0015] In the target detecting method according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the light and dark pattern is formed containing units image, the image falling on the object to be measured two or more image acquisition area. [0016] 在本发明所述的目标检测方法中,所述多个图像采集区域连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 [0016] In the target detecting method according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor. [0017] 在本发明所述的目标检测方法中,对所述含有明暗相间图案单元的图像进行识别包括差分识别及模板识别。 [0017] In the target detecting method according to the present invention, the image containing the light and dark pattern recognition unit comprises a differential template recognition and identification. [0018] 在本发明所述的目标检测方法中,对所述含有明暗相间图案单元的图像进行差分识别,包括:[0019] S10:选择模板,确定与之对应的像素点判断条件,并生成一空白图像作为工作图[0020] S20 :以扫描方式在所述含有明暗相间图案单元的图像上选择待检像素;[0021] S30:根据所述像素点判断条件,判断待检像素是否为待测目标像素点,是则转S40,否则转S50 ;[0022] S40 :在所述工作图像上,对与待检像素位置相同的像素进行填充,使其为亮;[0023] S50:判断所述含有明暗相间图案单元的图像是否扫描完,如是则程序结束,否则检测下一个像素,即转S20。 [0018] In the target detecting method according to the present invention, the image containing the light and dark pattern recognition unit performs a differential, comprising: [0019] S10: selecting a template, the determination condition determining pixels corresponding thereto, and generates a working as a blank image in FIG. [0020] S20: in scan mode selection of pixels in the image to be examined comprising the light and dark pattern unit; [0021] S30: the determination condition of the pixel, to be determined whether the subject pixel is to be measuring target pixel, the switch S40 is, otherwise turn to S50; [0022] S40: working on the image, to be subject to the same pixel position is filled, it is bright; [0023] S50: the determination whether the image of said light and dark pattern unit contains scanned, the routine ends the case, otherwise the pixel is detected, i.e., turn S20. [0024] 本发明还提供了一种目标检测设备,包括:[0025] 调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;[0026]图像传感器,用于对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域;[0027] 控制单元,用于控制图像传感器交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像,并对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0024] The present invention also provides an object detecting apparatus, comprising: [0025] a modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first a light intensity of the second light intensity not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; [0026] image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas; [0027] a control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity to the plurality of image acquisition regions sequentially scanned to obtain an image containing a pattern of light and dark cells, and containing the light and dark image of the pattern unit be identified in distinguishing the target and the background. [0028] 在本发明所述的目标检测设备中,所述图像传感器包含的多个图像采集区域配置成:使得在采集的含有明暗相间图案单元的图像中,使得在形成含有明暗相间图案单元的图像中,待测目标的图像落在两个或两个以上所述图像采集区域上。 [0028] In the object detection apparatus according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the light and dark pattern is formed containing units image, the image falling on the object to be measured two or more image acquisition area. [0029] 在本发明所述的目标检测设备中,所述多个图像采集区域连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 [0029] In the object detection apparatus according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor. [0030] 本发明还提供了一种图像采集装置,包括:[0031] 调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;[0032]图像传感器,用于对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域;[0033] 控制单元,用于控制图像传感器交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像。 [0030] The present invention also provides an image pickup apparatus, comprising: [0031] a modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the first a light intensity of the second light intensity not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; [0032] image sensor for the target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image pickup areas; [0033] a control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity to the plurality of image acquisition regions sequentially scanned to obtain an image containing a pattern of light and dark cells. [0034] 在本发明所述的图像采集装置中,所述图像传感器包含的多个图像采集区域配置成:使得在采集的含有明暗相间图案单元的图像中,使得在形成含有明暗相间图案单元的图像中,待测目标的图像落在两个或两个以上所述图像采集区域上。 [0034] In the image pickup apparatus according to the present invention, the plurality of image capture area of ​​the image sensor is configured to comprise: an image containing such light and dark pattern elements in the collection, so that the light and dark pattern is formed containing units image, the image falling on the object to be measured two or more image acquisition area. [0035] 在本发明所述的图像采集装置中,所述多个图像采集区域连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 [0035] In the image pickup apparatus according to the present invention, the plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor. [0036] 本发明还提供了另一种目标检测方法,包括以下步骤:[0037] 控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;[0038] 控制图像传感器在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像;[0039] 对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0036] The present invention also provides another method for detecting a target, comprising the steps of: [0037] controlling a light emitting device emitting modulated optical pulse signal having a first light intensity and a second light intensity and a background target to be detected, wherein first light intensity and the second light intensity not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; [0038] controls the image sensor in the first and the second light intensity two image acquisition at the target to be detected light intensity and the background, wherein the image of the measured object having a light intensity due to said first and said second light intensity alternation to produce light and dark pattern unit comprising image; [0039] the image of the light and dark pattern unit comprising identifying the target to be detected to distinguish the background. [0040] 本发明还提供了另一种目标检测设备,包括:[0041] 调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中所述待测目标与所述背景对所述光脉冲信号的反射能力不同;[0042] 图像传感器,用于在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像;[0043] 控制单元,用于对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0040] The present invention also provides another object detecting apparatus, comprising: [0041] a modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background different from the reflectivity of the optical pulse signal; [0042] an image sensor, a light intensity in the first and the second light intensity and the object to be measured the background image acquisition, where the target image containing an image of the measured light and dark pattern unit intensity due to the first light and the second light intensity generated alternation; [0043] a control unit for comprising light and dark on the image of the pattern unit be identified in distinguishing the target and the background. [0044] 本发明还提供了另一种图像采集装置,包括:[0045] 调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中所述待测目标与所述背景对所述光脉冲信号的反射能力不同;图像传感器, 用于在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生的含有明暗相间图案单元的图像。 [0044] The present invention also provides another image pickup apparatus, comprising: [0045] The modulated light emitting means, for emitting light pulse signal having a first light intensity and a second light intensity target to be detected and a background, wherein the target to be detected and the background of the different reflectivity of the optical pulse signal; an image sensor, a light intensity in said first and said second measured light intensity of the target and the background image acquisition, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit of the first light intensity and the second light intensity resulting from alternation. [0046] 实施本发明的目标检测方法和设备,有效解决了传统目标检测技术中由于受太阳光干扰严重不能准确进行检测的难题。 [0046] The target detection method and apparatus of the present invention effectively solve the problem of the conventional art, target detection is not accurately be detected due to severe interference sunlight. 本发明的设备不需要额外加滤波片或其它遮挡装置,也不需要设计复杂电路来对信号进行补偿,只需控制可调制光发射装置和图像传感器的工作方式即可。 The present invention does not require extra blocking filter or other means, does not require a complicated circuit designs to compensate for the signal, a modulation mode of operation can be simply controlled light emitting device and the image sensor can. 此外,本发明设备和装置采用的图像传感器,只需普通CMOS或CCD图像传感器即可产生很好的检测效果,而不需要采用昂贵的高端图像传感器,极大地降低了成本。 Further, the image sensor device of the present invention and the apparatus employed, just an ordinary CMOS image sensor or a CCD detector can produce good results, without the need to use expensive high-end image sensor, greatly reducing the cost. 本发明的方法和设备容易实现,操作简单,而且在强光背景下能准确检测目标物,效果好,基本无形变。 The method and apparatus of the present invention is easy to implement, simple operation, and can accurately detect the light background object, effective, substantially undeformed. 附图说明[0047] 下面将结合附图及实施例对本发明作进一步说明,附图中:[0048] 图1是日光中所含的各种波段光示意图;[0049] 图2是本发明的目标检测方法实施例的流程图;[0050] 图3是本发明的目标检测设备和图像采集装置实施例的结构图;[0051] 图4a_b是本发明的目标检测方法两个不同实施例形成的明暗图像示意图;[0052] 图5是本发明的目标检测方法实施例的模板检测法的程序流程图;[0053] 图6a_b是本发明的目标检测方法实施例的模板检测法示意图;[0054] 图7a_c是本发明的目标检测方法和设备实施例的结果示意图。 BRIEF DESCRIPTION [0047] conjunction with the following drawings and embodiments of the present invention is further illustrated drawings in which: [0048] FIG. 1 is included in the various daylight schematic band light; [0049] FIG. 2 is the invention a flowchart of a method of target detection; [0050] FIG. 3 is a configuration diagram of an embodiment of the present invention, the target detecting device and an image capture apparatus; [0051] FIG 4a_b is a target detection method of the present invention is formed of two different embodiments of a schematic view of light and shade image; [0052] FIG. 5 is a flowchart of a program template detection target detection method according to the embodiment of the present invention; [0053] FIG 6a_b template is a schematic diagram of the detection target detection method of the present embodiment of the invention; [0054] FIG 7a_c is a result diagram of the embodiment of the target detection method and apparatus of the present invention. 具体实施方式[0055] 如图1所示,为日光中所含的各种波段光示意图。 DETAILED DESCRIPTION [0055] FIG. 1, for the various bands of light contained in sunlight FIG. 从图中可以看到,日光中包含各种波段的光,如红光、蓝光、紫光等。 Can be seen from the figure, daylight comprising light of various wavelength bands, such as red, blue, violet and the like. 因此,在强光或日光背景下,目标检测技术很容易受外界光线特别是太阳光的影响。 Thus, in bright light or sunlight background, object detection technology is easily affected by external light in particular by sunlight. [0056] 如图2所示,为本发明的目标检测方法的流程图,包括以下步骤:[0057] 在步骤SI中,控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;反射能力的不同可能是由于反射率、距离远近不同或者其它一些影响反射能力的因素;在本实施例中,选择在待测目标表面涂上一层高性能反光材料来提高其反射能力,或直接贴附上反光薄膜,如镀铝反光聚脂薄膜等。 [0056] The method for detecting a target flowchart shown in Figure 2, the present invention comprises the steps of: [0057] In step SI, the control device emits modulated light emitting target to be detected and having a first light intensity and background a second optical pulse signal light intensity, wherein the intensity of the first light and the second light intensity not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; reflectivity difference may be due to reflectance, of distance, or some other different reflectance factors; in this example, select a high-performance reflective material coated on the surface of target to be detected to increase its reflectance, or attached directly affixed reflective film, such as aluminum reflective polyester film or the like. [0058] 在步骤S2中,控制图像传感器对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域,并交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像;[0059] 在步骤S3中,对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0058] In step S2, the control of the image sensor of the object to be measured and the background image acquisition, wherein said image sensor comprises a plurality of image acquisition regions, and alternately the first and the second light intensity sequentially scanning the two light intensity to the plurality of image pickup areas, in order to obtain an image containing a pattern of light and dark elements; [0059] in step S3, the image of the pattern of light and dark-containing unit to identify distinguishing the target and the background. [0060] 在本发明提供的方法中,由于待测目标相对于背景来说,对光脉冲信号的反射能力较强,因此待测目标的不同区域在第一光强下成像与第二光强下成像所得的灰度有较大的差异,即形成的明暗图案特征明显,而背景在两个光强下成像的区域灰度差异不大,因此通过相应的图像识别方法,如模版识别或差分识别的方法就能很好地区分所述待测目标与所述背景。 [0060] In the method of the present invention, provided, since the target to be detected with respect to the background, the optical pulse signal reflected strong ability, so the object to be measured in different regions of a first light intensity and a second intensity image the resulting gray image are quite different, i.e. light-dark pattern formation characteristics significantly, in the background area gradation little difference between the two light intensity imaged, thus by a corresponding image recognition method, such as a stencil or differential identification the method of identification can be detected well between the target and the background. [0061] 本发明还提供了另一种目标检测方法,其过程与上述方法相似,区别仅在于:在步骤S2中,控制图像传感器在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像。 [0061] The present invention also provides another method for detecting a target, the process is similar to the method described above, except that only: In step S2, the control of the image sensor in the first light intensity and the second light intensity the target to be detected and the background image acquisition, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated. [0062] 如图3所示,本发明还提供了一种目标检测设备100,包括调制光发射装置101、图像传感器102和控制单元103 ;其中,调制光发射装置101,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;图像传感器102,用于对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域;控制单元103,用于控制图像传感器交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像,并对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0062] As shown in FIG. 3, the present invention also provides a target detection device 100, a light emitting device includes a modulator 101, an image sensor 102 and a control unit 103; wherein the modulated light emitting device 101, for the target to be detected background and emit light having a first optical pulse signal intensity and the second light intensity, wherein the intensity of the first light and the second light intensity not equal, and the reflectivity of the target to be detected optical pulse signal and the background different; image sensor 102 for performing image acquisition of the object to be measured and the background, wherein said image sensor comprises a plurality of image pickup areas; control unit 103 for controlling the image sensor in the first light alternately the light intensity and the second intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark cells, and the image comprising a pattern of light and dark cells to be identified by distinguishing the target with above background. [0063] 本发明还提供了另一种目标检测设备,其结构与上述目标检测设备相似,区别仅在于:图像传感器,用于在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像;控制单元,用于对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 [0063] The present invention also provides another object detecting apparatus, the structure is similar to the above-described object detection apparatus, only difference is that: an image sensor, a light intensity in said first and said second light intensity of their said target to be detected and the background image acquisition, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated; a control unit, for containing the light and dark image of the pattern unit be identified in distinguishing the target and the background. [0064] 本发明还提供了一种图像采集装置,其结构与上述目标检测设备相同,且调制光发射装置101和图像传感器102与上述功能相同,区别仅在于:控制单元103,仅用于控制图像传感器交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像。 [0064] The present invention also provides an image pickup apparatus, the structure identical to the target detection apparatus, and the modulated light emitting device 101 and the image sensor 102 functions the same as described above with the exception that: the control unit 103, for controlling only the image sensor alternately at the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark cells. [0065] 本发明还提供了另一种图像采集装置,其由调制光发射装置和图像传感器组成, 其中:调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中所述待测目标与所述背景对所述光脉冲信号的反射能力不同;图像传感器,用于在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生的含有明暗相间图案单元的图像。 [0065] The present invention also provides another image pickup apparatus, which is a modulated light emitting device and the image sensors, wherein: the modulated light emitting means, for emitting light having a first intensity and the second target to be detected and a background light intensity optical pulse signal, wherein the target to be measured and the background of the different reflectivity of the optical pulse signal; an image sensor, a light intensity in said first and said second light intensity of their said target to be detected and the background image acquisition, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit of the first light intensity and the second light intensity resulting from alternation. [0066] 上述目标检测设备或图像采集装置都可与数据传输装置104连接,将目标检测结果或图像采集结果传输到通用计算机200进行后续处理。 [0066] The object detection apparatus or the image capture device may be connected to the data transmission device 104, the transfer destination detection result or the result to the image capture purpose computer 200 for subsequent processing. [0067] 需要说明的是,上述方法、设备和装置中第一光强度和第二光强度不相等,且两者之间的差值应使得在进行图像采集时能够区分开;第一光强度或第二光强度中有一个优选为零,使得第一、二光强之间的差异最大,便于后期的图像识别;在本发明的实施例中,选择第二光强度大于第一光强度。 [0067] Incidentally, the above-described methods, apparatus and means of the first light intensity and a second light intensity not equal, and the difference therebetween such that image acquisition can be performed when distinguished; first light intensity or a second light intensity preferably zero, such that the first, the largest light intensity difference between the two, to facilitate later identification image; in an embodiment of the present invention, selecting a second light intensity is greater than the first light intensity. 本发明的方法、设备和装置可以选取发出不同波长的调制光发射装置101,如红外光、紫外光等;优选红外光。 The method, apparatus and device of the present invention may be selected modulation emit different wavelengths of light emitting device 101, such as infrared light, ultraviolet light and the like; preferably infrared light. 本发明的方法、设备和装置选用的图像传感器102可以为普通CMOS传感器或CXD图像传感器。 The method of the present invention, the apparatus and the image sensor apparatus 102 may be selected as normal CMOS sensor or an image sensor CXD. [0068] 如图4a_b所示,为本发明的目标检测方法两个不同实施例形成的明暗图像示意图。 [0068] FIG 4a_b shown a schematic view of light and shade image target detection method of the present invention is formed of two different embodiments. 如上所述,本发明的方法、设备和装置的图像传感器包括多个图像采集区域;在不同的实施例中,图像采集区域的划分也可能不同。 The image sensor as described above, the method of the present invention, apparatus and image capture device includes a plurality of regions; In various embodiments, the image acquisition area is divided may be different. 本申请列出了两种具体的划分方法,但本发明并不限制图像采集区域的划分的方式。 This application lists two specific division method, but the present invention is not limited in the way of dividing the image acquisition area. 只需要满足使得在采集的含有明暗相间图案单元的图像中,待测目标的图像落在两个或两个以上所述图像采集区域上。 Only need to meet the image containing such light and dark pattern acquisition unit, the image falling on the object to be measured two or more image acquisition area. 这样使得待测目标区域具有明暗相间的图案特征,便于后续的图像识别。 Such that the object to be measured having a pattern characteristic of light and dark regions, to facilitate a subsequent image recognition. 针对图像采集区域的不同划分以及相应的曝光形式,可能需要定制对应的图像传感器。 For different forms of division and the corresponding exposure image acquisition area, you may need to customize the corresponding image sensor. [0069] 如图4a所示,为本发明一实施例中形成的明暗图像示意图,其中所述多个图像采集区域在一个方向上连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 [0069] As shown in FIG 4a, a schematic diagram of light and shade image formed in an embodiment of the present invention, wherein the plurality of image pickup areas arranged continuously in one direction, and correspond to a positive integer number of pixels of the image sensor row or column of pixels. 这是一种最简单的实施方式,也适用于目前市场上的普通图像传感器。 This is one of the most simple embodiment, also apply to ordinary image sensors on the market today. 调制光发射装置101发射具有第一光强度和第二光强度的光脉冲信号,而控制单元103控制图像传感器101在第一光强度对区域1、3、5......进行扫描,在第二光强下对区域2、4、6......进行扫描,使得采集的图像呈现明暗相间的条纹状,然后对该图像进行识别。 Emitting modulated light having a first optical pulse signals emitted light intensity and the intensity of the second light device 101, the control unit 103 controls the image sensor 101 1,3,5 ...... region in a first scanning light intensity, a second light intensity in 2,4,6 ...... scanned region, so that the image acquisition presented striped light and dark, and then the image recognition. 而待测目标区域对光的反射能力强于背景,因此待测目标区域的明暗条纹特征更加明显,通过差分或者其它识别方法非常容易识别。 The capability of the target area to be measured reflected light intensity in the background, so the test light and dark fringes wherein the target region is more obvious, is easily recognizable by the differential method, or other identification. [0070] 如图4b所示,为本发明另一实施例中形成的明暗图像示意图,其中所述多个图像采集区域以多列的形式分布。 [0070] Figure 4b, schematic view of a light and shade image is formed according to another embodiment of the present invention, wherein the plurality of image pickup areas distributed in the form of a plurality of rows. 调制光发射装置101发射具有第一光强度和第二光强度的光脉冲信号,而控制单元103控制图像传感器101在第一光强度对区域11、13、22、24……进行扫描,在第二光强下对区域12、14、21、23……进行扫描,使得采集的图像呈现明暗相间的网格状,然后采用相应的识别方法该图像进行识别。 Modulating the light emitting device 101 emits light pulse signal having a first light intensity and a second light intensity, and the control unit 103 controls the image sensor 101 to scan the area 11,13,22,24 ...... first light intensity, the first ...... region 12,14,21,23 carried out at two scanning light intensity, so that the image presented collected light and dark lattice, and then use the appropriate method for identifying the image recognition. [0071] 图5是本发明的目标检测方法实施例可采用的模板检测法的程序流程图。 [0071] FIG. 5 is a flowchart of a routine detection method may employ template target detection method of the present invention. 包括以下步骤:[0072] 在步骤SlO中,选择模板,确定与之对应的像素点判断条件,并生成一空白图像作为工作图像;[0073] 在步骤S20中,以扫描方式在所述含有明暗相间图案单元的图像上选择待检像素;即对每个像素逐个进行检测;[0074] 在步骤S30中,根据所述像素点判断条件,判断待检像素是否为待测目标像素点, 是则转S40,否则转S50 ;[0075] 在步骤S40中,在所述工作图像上,对与待检像素位置相同的像素进行填充,使其为亮;则目标区域逐步得到填充,从而与背景区分开来;[0076] 在步骤S50中,判断所述含有明暗相间图案单元的图像是否扫描完,如是则程序结束,否则转到下一个像素进行,即转S20继续上述检测。 Comprising the steps of: [0072] In step SlO, the selected template to determine the pixels corresponding to the determination condition, and generates a blank image as a working image; [0073] In step S20, the scanning manner in the shade comprising selecting pixels to be detected on the image of the checkered pattern means; i.e. for detecting each of the pixels individually; [0074] in step S30, based on the pixel point determination condition is determined to be the subject pixel is a target pixel to be measured, is then switch S40, otherwise turn to S50; [0075] in step S40, on the working image, subject to the same pixel position to be filled, so that a bright; gradually filling the target area, thereby distinguished from the background off; [0076] in step S50, an image, comprising determining a light and dark pattern unit if scanned, the routine ends the case, otherwise go to the next pixel, i.e., the detection switch S20 continues. [0077] 模板检测法是将选定的模板在整个图像像素范围内进行平移,按照一定的判断规则进行检测不断判断某个像素点是否为亮点,如果是则在空白图像中相同位置填充亮的像素点,直至整幅图像检索完毕,就会将目标物的条纹图与背景分离开。 [0077] The detection template is a selected template in translation over the entire range of image pixels, detecting continuously determines whether a pixel is a highlight determination according to a certain rule, if the same position in the image to fill the blank bright pixel, until the entire image retrieval is completed, the fringes will target object and the background are separated. 模板检测算法的优点是不需要对图像进行预处理,减少算法执行时间,检测效果好,基本无形变。 Advantage template detection algorithm does not require the image preprocessing, reduction algorithm execution time, good detection effect, substantially undeformed. [0078] 如图6a_b所示,为本发明的目标检测方法实施例的模板检测法示意图;图6a为本发明一实施例采用的模板,该模版主要针对像素行为I的条纹图案进行识别,其由I点(K1, K2)、2 点(K1-LK2)、3 点(K^LK2)、4 点(K1-LK2-1)和5 点(1+1,K2-1)构成;判断待检像素I点(K1, K2)为条纹区域点的必要条件为:[0079] (I) I点(K1, K2)的灰度值必须大于模板中其余4个点灰度值的均值;[0080] (2)2点(K「l,K2)与I点(K1, K2)灰度值的差值绝对值,以及3点(1+1,K2)与I 点(KpK2)灰度值的差值绝对值必须大于既定的阈值;[0081] (3)当模板分别向正右移动一个像素,向正下移动2个像素,向正下移动2个再向正右移动一个像素,则模板中I点(K1, K2)分别移到6点(K1, K2+l)、7点(Ki+2,K2)和8点(1+2,K2+!)的位置;6点,7点,8点的灰度值必须均大于其所在模板中其余4个点的灰度值的均值。[0082]当上述三 [0078] As shown in FIG 6a_b, target detection method of the present invention, a schematic example of embodiment of the template assay; Figure 6a embodiment the template used in an embodiment of the present invention, the template for the identified pixel row mainly fringe pattern I, which the point I (K1, K2), 2 (K1-LK2), 3-point (K ^ LK2), 4-point (K1-LK2-1) point and 5:00 (1 + 1, K2-1) configuration; Analyzing be I pixel sample points (K1, K2) is a necessary condition for the point stripe region: [0079] (I) I point (K1, K2) must be greater than the mean gray value of the remaining four gray values ​​in the template; [ 0080] (2) 2 points (K 'l, K2) and the difference I point (K1, K2) of the absolute value of the gradation values, and 3:00 (1 + 1, K2) and point I (KpK2) gradation values must be greater than the absolute value of the difference between the predetermined threshold; [0081] (3) when the template is moved to the right, respectively, a pixel n, is moved to the next pixel 2, the direct-moved again two right-shifted by one n-pixel, template I point (K1, K2) are moved to 6:00 (K1, K2 + l), 7 points (Ki + 2, K2), and 8 (1 + 2, K2 +!) position; 6:00, 7:00 , 8:00 gradation value must be greater than its mean gray value of the remaining four points in the template. [0082] when the above three 条件均满足时,确定待检像素I点(kl,k2)为符合条件的点,然后对空白图像位置与其相同的像素进行填充为亮。[0083] 差分法检测法的步骤包括:先对采集的图像进行预处理;然后对处理后的图像逐行或逐列进行像素差分计算,得到差分像素矩阵;再对差分像素矩阵进行阈值分割,使条纹区域像素为亮,其它区域像素为暗,即获得待测目标图像。[0084] 3*3模板检测法的步骤包括:先对采集的图像进行预处理;然后按对应的条纹区域点判定条件,逐行逐个判断待检像素是否为条纹区域点;如果检测到某一像素为条纹区域点,再判断是否为条纹区域中的暗像素点,是则对该点以及其所在行其它像素点逐个填充为亮,并不断检测被填充点与相邻行的像素点灰度值的差值,当该差值小于某一阈值时, 则判断该被填充点已到条纹图像边缘位置,停止填充操作; When the conditions are satisfied, it is determined to be the subject pixel I points (kl, k2) for qualified point, then a blank image position and its same pixel padding as a bright Step [0083] Difference detection method comprising: a first collected preprocessing image; the image is then processed line by line or column-by-pixel difference calculation, the differential pixel matrix; then the difference pixel segmentation threshold value matrix, so that the pixel is a bright stripe region, other regions of the pixel is dark, i.e., obtained image object to be measured [0084] template 3 * 3 detection step comprises: the first acquired image preprocessing; then press a corresponding point determination conditions stripe region, row-by-object pixel is determined to be a stripe area point ; if a certain pixel is detected as a stripe area point, and then determines whether or not the pixel is a dark stripe region, is the point, and the other pixels in its row-by-filled light, and is filled continuously detecting point adjacent difference in gray value pixel rows, when the difference is less than a certain threshold value, it is judged that the point is to be filled streak image edge position, stopping the filling operation; 如果待检像素为条纹区域中的亮像素点,则对其下一行进行上述相同操作;判断整个图像是否检测完毕,是则结束,否则继续上述操作。[0085] 本发明虽然指提供了上述3种对明暗相间的条纹图像的识别方法,但是应该理解的是,本领域普通技术人员熟知有多种图像识别的方法,任何与本发明的目标检测方法结合使用的图像识别方法,都在本发明的保护范围内。[0086] 图7a_c是本发明的方法和设备实施例的结果示意图。 If the pixel to be detected as a bright region pixel stripe, the same as described above for the next line of its operation; testing is completed it is determined whether the entire image, is the end, or continue to operate the above-described [0085] While the present invention provides the above means 3. species identification method of the light and dark fringe image, it should be understood that well known to those of ordinary skill in the art a variety of image recognition method used in connection with any method of detecting a target image recognition method of the present invention, in the present invention, within the scope of protection. [0086] FIG 7a_c result is a diagram of an embodiment of the method and apparatus of the present invention. 其中,图7a为复杂背景下的待测目标示意图,图7b为在强光背景下采用隔行曝光技术所拍摄到的待检目标物示意图,从图中可以看到待测目标位置呈现条纹图案;而改进前的方案在有阳光背景下,待测目标与背景均呈现白色混淆严重,基本识别不出待测目标。 Wherein FIG. 7a is a schematic diagram of the test target complex background, FIG. 7b is interlaced at the light exposure of the background art subject to be imaged object diagram can be seen from the figure exhibits a stripe pattern measured target position; and before improvements in sunny background, the test showed a white background target and confuse serious, fundamental not identify the target to be tested. 图7c为检测出的待测目标图像, 是图7b经图像识别后,从背景中准确提取出来的待测目标图像,可以看到基本无形变。 FIG 7c is a target to be detected in the detected image, FIG. 7b is after the image recognition is extracted from the background image the target accurately measured out, see substantially undeformed. [0087] 由上述结果示意图可知,利用本发明的方法和设备能在较强阳光背景下准确的检测待测目标,并且形变较小。 [0087] a schematic view from the above results, using the method and apparatus of the present invention can accurately detect a target to be detected in the background of strong sunlight, and the deformation is small. 与现有技术的两个方法相比,本发明的设备不需要额外加滤波片或其它遮挡装置,也不需要设计复杂电路来对信号进行信号补偿,只需控制调制光发射装置与图像传感器即可。 Compared with the two methods of the prior art, the present invention does not require additional equipment added to the filter plate or other occlusion devices, the design does not require complex circuitry to compensate for a signal on the signal, controls the modulation of light emitting means only the image sensor i.e. can. 此外,本发明设备和装置采用的图像传感器,只需普通CMOS或CCD图像传感器即可产生很好的检测效果,而不需要采用昂贵的高端图像传感器,极大地降低了成本。 Further, the image sensor device of the present invention and the apparatus employed, just an ordinary CMOS image sensor or a CCD detector can produce good results, without the need to use expensive high-end image sensor, greatly reducing the cost. 本发明的方法和设备容易实现,操作简单,而且在强光背景下能准确检测红外目标物,效果好,基本无形变,值得推广。 The method and apparatus of the present invention is easy to implement, simple operation, and in bright light can accurately detect infrared background object, effective, substantially undeformed, worthy. [0088] 以上实施例仅表达了本发明的优选实施方式,其描述较为具体和详细,但并不能因此而理解为对本发明专利范围的限制;应当指出的是,对于本领域的普通技术人员来说, 在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围;因此,凡根据本发明权利要求范围所做的等同变换与修饰,均应属于本发明权利要求的涵盖范围。 [0088] The foregoing embodiments are merely expressing the preferred embodiments of the present invention, which is described more specifically and in detail, it can not therefore be understood as limiting the scope of the present invention; to be noted that, for those of ordinary skill in the art to He says, without departing from the inventive concept premise, can make various changes and modifications which fall within the protection scope of the present invention; therefore, according to all modifications and equivalents transform scope of the appended claims may be made while belonging to scope of the claims of the present invention.

Claims (8)

1. 一种目标检测方法,其特征在于,包括以下步骤:控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;控制图像传感器对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域,并交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像;且所述图像传感器包含的多个图像采集区域配置成:使得在形成含有明暗相间图案单元的图像中,待测目标的图像落在两个以上所述图像采集区域上;对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 1. An object detecting method comprising the steps of: controlling the modulation of light emitting devices emitting target to be detected and a background optical pulse signals having a first light intensity and a second light intensity, wherein the first and the second light intensity two light intensities are not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; controlling the image sensor to said target to be detected and the background image acquisition, wherein said image sensor comprises a plurality of image acquisition area, and alternately in the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain an image containing a pattern of light and dark elements; and said image sensor comprising a a plurality of image pickup areas configured to: cause an image comprising light and dark pattern forming unit, the image falling object to be measured on two or more of the image acquisition area; image-containing light and dark pattern identifying unit to distinguish the target to be detected and the background.
2.根据权利要求1所述的目标检测方法,其特征在于,所述多个图像采集区域连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 2. The target detection method according to claim 1, wherein said plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.
3.根据权利要求1所述的目标检测方法,其特征在于,对所述含有明暗相间图案单元的图像进行识别包括差分识别及模板识别。 3. The target detection method according to claim 1, wherein the image comprises a pattern of light and dark identification unit comprises a differential template recognition and identification.
4.根据权利要求1-3任一项所述的目标检测方法,其特征在于,对所述含有明暗相间图案单元的图像进行差分识别,包括:SlO :选择模板,确定与之对应的像素点判断条件,并生成一空白图像作为工作图像;S20 :以扫描方式在所述含有明暗相间图案单元的图像上选择待检像素;S30 :根据所述像素点判断条件,判断待检像素是否为待测目标像素点,是则转S40,否则转S50 ;S40 :在所述工作图像上,对与待检像素位置相同的像素进行填充,使其为亮;S50:判断所述含有明暗相间图案单元的图像是否扫描完,如是则程序结束,否则检测下一个像素,即转S20。 4. The object detection method according to any one of claims 1-3, wherein the image comprises a pattern of light and dark differential identification unit, comprising: SlO: selecting a template, the corresponding pixel is determined determination condition as a blank image and generates a working image; S20: scanning manner in selecting the pixels to be detected on an image containing a pattern of light and dark elements; S30: the determination condition of the pixel, to be determined whether the subject pixel is to be measuring target pixel, the switch S40 is, otherwise turn to S50; S40: working on the image, to be subject to the same pixel position is filled, it is bright; S50: the judging means comprises a pattern of light and dark the image is scanned, and if so the process ends, otherwise the pixel is detected, i.e., turn S20.
5. 一种目标检测设备,其特征在于,包括:调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;图像传感器,用于对所述待测目标与所述背景进行图像采集,其中所述图像传感器包括多个图像采集区域;控制单元,用于控制图像传感器交替在所述第一光强度和所述第二光强度下对上述多个图像采集区域依次扫描,以获得含有明暗相间图案单元的图像,且所述图像传感器包含的多个图像采集区域配置成:使得在形成含有明暗相间图案单元的图像中,待测目标的图像落在两个以上所述图像采集区域上;且所述控制单元还对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 A target detection apparatus, comprising: a modulated light emitting means for emitting a target to be detected and a background optical pulse signals having a first light intensity and a second light intensity, wherein the first and the second light intensity two light intensities are not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; an image sensor for the target to be detected and the background image acquisition, wherein said image an image sensor comprising a plurality of collection regions; a control unit for controlling the image sensor are alternately at the first light intensity and the second light intensity to the plurality of image pickup areas are sequentially scanned to obtain a light and dark pattern unit comprising image, and the plurality of image pickup areas configured to image sensor includes: an image containing such light and dark pattern forming unit, the image of the object to be measured two or more falls on the image pickup region; and the control further comprising means for light and dark image of the pattern unit be identified in distinguishing the target and the background.
6.根据权利要求5所述的目标检测设备,其特征在于,所述多个图像采集区域连续设置,并分别对应于所述图像传感器的正整数个像素行或像素列。 6. The object detection apparatus as claimed in claim 5, wherein said plurality of image pickup areas continuously provided, and respectively correspond to a positive integer pixel rows or columns of pixels of the image sensor.
7. 一种目标检测方法,其特征在于,包括以下步骤:控制调制光发射装置向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中第一光强度与第二光强度不相等,且所述待测目标与所述背景对所述光脉冲信号的反射能力不同;控制图像传感器在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像;且在形成含有明暗相间图案单元的图像中,待测目标区域具有明暗相间的图案特征;对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 A target detection method comprising the steps of: controlling the modulation of light emitting devices emitting target to be detected and a background optical pulse signals having a first light intensity and a second light intensity, wherein the first and the second light intensity two light intensities are not equal, and the target to be detected and the background different from the reflectivity of the optical pulse signal; controlling the image sensor in the first light intensity and said second measured light intensity of the target acquisition and the background image, wherein the object to be measured comprising an image having an image due to the light and dark pattern unit intensity of said first light and said second light intensity alternation generated; and the formation of light and dark comprising unit image pattern, wherein the test target area having a pattern of light and dark; light and dark on the image of the pattern unit containing the identification of the target to be detected to distinguish the background.
8. 一种目标检测设备,其特征在于,包括:调制光发射装置,用于向待测目标及背景发射具有第一光强度和第二光强度的光脉冲信号,其中所述待测目标与所述背景对所述光脉冲信号的反射能力不同;图像传感器,用于在所述第一光强度和所述第二光强度下对所述待测目标与所述背景进行图像采集,其中所述待测目标的图像具有由于所述第一光强度和所述第二光强度交替作用而产生含有明暗相间图案单元的图像;且在形成含有明暗相间图案单元的图像中,待测目标区域具有明暗相间的图案特征;控制单元,用于对上述含有明暗相间图案单元的图像进行识别以区分所述待测目标与所述背景。 An object detection apparatus comprising: a modulated light emitting means for emitting a target to be detected and a background optical pulse signals having a first light intensity and a second light intensity, and wherein said object to be measured background of the different reflectivity of the optical pulse signal; an image sensor, a light intensity in said first and said second measured light intensity of the target and the background image acquisition, wherein the image includes an image of said object to be measured comprising a light and dark pattern unit since the first light intensity and the second light intensity alternation generated; and a pattern of light and dark in the image containing unit is formed, the object to be measured having a region light and dark pattern features; a control unit for containing the light and dark image of the pattern unit be identified in distinguishing the target and the background.
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