CN114545398A - Object appearance detection system, method and device and electronic equipment - Google Patents
Object appearance detection system, method and device and electronic equipment Download PDFInfo
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- CN114545398A CN114545398A CN202210190684.0A CN202210190684A CN114545398A CN 114545398 A CN114545398 A CN 114545398A CN 202210190684 A CN202210190684 A CN 202210190684A CN 114545398 A CN114545398 A CN 114545398A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
- G01B15/04—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring contours or curvatures
Abstract
The application discloses object appearance detection system, method, device and electronic equipment, belongs to radar detection technology field, and the system includes: the radar comprises a reflecting plate, a radar, an electromagnetic field detector and a computing device, wherein the reflecting plate can reflect part of electromagnetic waves transmitted by the radar, the radar can receive echoes after the first electromagnetic waves reflected by the reflecting plate and the second electromagnetic waves which are not reflected detect an object, the electromagnetic field detector can measure magnetic field information at different positions in a magnetic field formed by interference of the echoes of the first electromagnetic waves and the second electromagnetic waves, then the computing device reads the magnetic field information at the different positions measured by the electromagnetic field detector, the electromagnetic wave transmittance corresponding to the magnetic field information at each position is determined based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance, a virtual medium is established based on the electromagnetic wave transmittance corresponding to each position, the diffraction process of the electromagnetic waves when penetrating through the virtual medium is simulated, and three-dimensional appearance data of the object is obtained and output.
Description
Technical Field
The present application relates to the field of radar detection technologies, and in particular, to a system, a method, and an apparatus for detecting an appearance of an object, and an electronic device.
Background
The radar has the characteristics of being insensitive to light and being capable of carrying out remote detection, and can well make up for partial defects of a camera when the light is weak and images are collected remotely, so that the idea of detecting the three-dimensional appearance of an object by means of the radar is proposed in recent years. However, this concept is still in the imagination phase and no specific solution is given for detecting the three-dimensional appearance of an object by means of radar.
Disclosure of Invention
The embodiment of the application provides an object appearance detection system, method, device and electronic equipment, which are used for providing a scheme for detecting the three-dimensional appearance of an object by means of radar.
In a first aspect, an embodiment of the present application provides an appearance detection system for an object, including:
the reflecting plate is used for reflecting part of electromagnetic waves emitted by the radar;
the radar is used for transmitting electromagnetic waves, receiving echoes after the first electromagnetic waves reflected by the reflecting plate and the second electromagnetic waves which are not reflected by the reflecting plate detect the object;
the electromagnetic field detector is used for measuring magnetic field information at different positions in a magnetic field formed by interference of echoes of the first electromagnetic wave and the second electromagnetic wave, and the magnetic field information at each position at least comprises a magnetic field intensity;
the computing equipment is used for reading the magnetic field information at different positions measured by the electromagnetic field detector and determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance; constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position; and simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object, and outputting the three-dimensional appearance data.
In some embodiments, the magnetic field information at each location also includes a phase.
The radar is further configured to determine a velocity of the object, send the velocity to the computing device;
the computing equipment is further used for determining a phase corresponding to the speed of the object based on the established mapping relation between the speed and the phase if the speed of the object is determined to exceed the set speed; before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the phase at each position is corrected based on the phase corresponding to the velocity of the object.
In some embodiments, the computing device is specifically configured to subtract the phase corresponding to the velocity of the object from the phase at each position as the new phase at the position.
In some embodiments, the computing device is specifically configured to determine the electromagnetic wave transmittance corresponding to each location according to a formula β ═ K ═ E ×, sin θ, where β is the electromagnetic wave transmittance at the location, E is the magnetic field strength at the location, θ is the phase at the location, and K is a predetermined scaling factor.
In a second aspect, an embodiment of the present application provides an appearance detection method for an object, including:
acquiring radar detection data of an object, wherein the radar detection data at least comprise magnetic field information at different positions in a magnetic field, the magnetic field information at each position at least comprises magnetic field intensity, the magnetic field is formed by interference of echoes after a first electromagnetic wave and a second electromagnetic wave detect the object, the first electromagnetic wave is obtained by reflecting part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic wave is unreflected electromagnetic waves;
determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance;
constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position;
simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object;
outputting three-dimensional appearance data of the object.
In some embodiments, the magnetic field information at each location further includes a phase, the radar detection data further includes a velocity of the object, further comprising:
if the speed of the object is determined to exceed the set speed, determining a phase corresponding to the speed of the object based on the established mapping relation between the speed and the phase;
before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the method further comprises the following steps:
and performing correction processing on the phase at each position based on the phase corresponding to the speed of the object.
In some embodiments, the modifying the phase at each position based on the phase corresponding to the velocity of the object includes:
and subtracting the phase corresponding to the speed of the object from the phase at each position to obtain a new phase at the position.
In some embodiments, the electromagnetic wave transmittance corresponding to each location is determined according to the following formula:
β＝K*E*sinθ；
wherein β is the electromagnetic wave transmittance at the location, E is the magnetic field strength at the location, θ is the phase at the location, and K is a predetermined proportionality coefficient.
In a third aspect, an embodiment of the present application provides an apparatus for detecting an appearance of an object, including:
the radar detection data at least comprises magnetic field information at different positions in a magnetic field, the magnetic field information at each position at least comprises magnetic field intensity, the magnetic field is formed by interference of first electromagnetic waves and echoes of second electromagnetic waves after the object is detected, the first electromagnetic waves are obtained by reflecting part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic waves are unreflected electromagnetic waves;
the determining module is used for determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance;
the building module is used for building a virtual medium based on the electromagnetic wave transmittance corresponding to each position;
the simulation module is used for simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object;
and the output module is used for outputting the three-dimensional appearance data.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: at least one processor, and a memory communicatively coupled to the at least one processor, wherein:
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of appearance detection of any of the objects described above.
In a fifth aspect, embodiments of the present application provide a storage medium, where when a computer program in the storage medium is executed by a processor of an electronic device, the electronic device is capable of executing any one of the appearance detection methods of an object described above.
The appearance detection system provided by the embodiment of the application comprises a reflecting plate, a radar, an electromagnetic field detector and a computing device, wherein the reflecting plate can reflect part of electromagnetic waves transmitted by the radar, the radar can receive first electromagnetic waves reflected by the reflecting plate and echoes after objects are detected by second electromagnetic waves which are not reflected, the electromagnetic field detector can measure magnetic field information at different positions in a magnetic field formed by interference of the echoes of the first electromagnetic waves and the second electromagnetic waves, the magnetic field information at each position at least comprises magnetic field intensity, then the computing device reads the magnetic field information at different positions measured by the electromagnetic field detector, determines the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance, constructs a virtual medium based on the electromagnetic wave transmittance corresponding to each position, simulates the diffraction process when the electromagnetic waves pass through the virtual medium, three-dimensional appearance data of the object is obtained and output, thereby providing a scheme for detecting the three-dimensional appearance of the object by means of radar.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of an appearance detecting system for an object according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a virtual medium provided in an embodiment of the present application;
fig. 3 is a flowchart of an appearance detection method for an object according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an apparatus for detecting an appearance of an object according to an embodiment of the present disclosure;
fig. 5 is a schematic hardware structure diagram of an electronic device for implementing an appearance detection method of an object according to an embodiment of the present application.
Detailed Description
In order to provide a scheme for detecting a three-dimensional appearance of an object by means of radar, embodiments of the present application provide an appearance detection system, method, apparatus and electronic device for an object.
The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of an appearance detection system of an object according to an embodiment of the present application, including a reflection plate 01, a radar 02, an electromagnetic field detector 03 and a computing device 04, where the reflection plate 01 is located in an electromagnetic wave emission range of the radar 02 and can block a part of the electromagnetic wave, the electromagnetic field detector 03 is located near the radar 02, for example, the electromagnetic field detector 03 is located within 1 meter around the radar 02, and the electromagnetic field detector 03 and the computing device 04 communicate with each other through a wired or wireless manner, where:
and a reflection plate 01 for reflecting a part of the electromagnetic waves emitted from the radar 02.
The radar 02 is used for receiving the first electromagnetic wave reflected by the reflector and the echo after the second electromagnetic wave which is not reflected by the reflector detects the object.
The electromagnetic field detector 03 is configured to measure magnetic field information at different positions in a magnetic field formed by interference of echoes of the first electromagnetic wave and the second electromagnetic wave, where the magnetic field information at each position at least includes a magnetic field strength.
The shape of the echo of the second electromagnetic wave is different when the second electromagnetic wave meets different objects, and the magnetic fields formed by the interference of the echoes with different shapes and the first electromagnetic field are also different, so that different objects correspond to different magnetic fields, and the three-dimensional appearance of the corresponding object can be reflected by the magnetic field information of different positions in one magnetic field, so that the three-dimensional appearance representation data of the corresponding object can be obtained by measuring the magnetic field information of different positions in the magnetic field.
In addition, it should be noted that the more positions that are measured, the more magnetic field information that is obtained, the more accurate the three-dimensional appearance data that is obtained subsequently.
The computing device 04, such as a computer, a mobile phone, and the like, is configured to read the magnetic field information at different positions measured by the electromagnetic field detector 03, determine the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position, simulate a diffraction process (similar to a principle of holographic optical development) when an electromagnetic wave passes through the virtual medium, obtain three-dimensional appearance data of an object, and output the three-dimensional appearance data.
In specific implementation, the virtual medium may be a cube, a sphere, or a spatial solid with other shapes, fig. 2 is a schematic diagram of a virtual medium provided in an embodiment of the present application, each black dot in fig. 2 represents an electromagnetic wave transmittance corresponding to one position, different positions generally have different electromagnetic wave transmittances, and when an electromagnetic wave passes through the virtual medium, the electromagnetic wave is diffracted for multiple times to change a propagation direction, so as to obtain three-dimensional appearance data of an object.
Generally, the magnetic field strength and the phase at different positions in the above-mentioned magnetic field are mainly determined by the three-dimensional appearance of the object, and when the velocity of the object is higher than a set velocity, such as 800km/h, the velocity also has some influence on the phase at different positions. For this reason, the phases at different positions in the magnetic field can also be corrected by means of the velocity of the object, in order to improve the accuracy of the resulting three-dimensional appearance data.
Thus, in some embodiments, the magnetic field information at each location may also include phase.
The radar 02 is also used for determining the speed of the object and sending the speed to the computing equipment;
the calculating device 04 is further configured to determine a phase corresponding to the velocity of the object based on the established mapping relationship between the velocity and the phase if it is determined that the velocity of the object exceeds the set velocity, and perform correction processing on the phase at each position based on the phase corresponding to the velocity of the object before determining the transmittance of the electromagnetic wave corresponding to the magnetic field information at each position.
The mapping relationship between the speed and the phase can be expressed by the following formula:
where v is velocity and α is phase induced by velocity, and the constants and functions in the formula are preset.
In practical implementation, the calculating device 04 is specifically configured to use the phase obtained by subtracting the phase corresponding to the velocity of the object from the phase at each position as the new phase at the position.
Thus, even if the speed of the object is relatively high, the three-dimensional appearance data of the object can be detected relatively accurately.
In some embodiments, the computing device 04 is specifically configured to determine the electromagnetic wave transmittance corresponding to each location according to the formula β ═ K ═ E ═ sin θ, where β is the electromagnetic wave transmittance at the location, E is the magnetic field strength at the location, θ is the phase at the location, and K is a predetermined scaling factor.
After the appearance detection system of the object provided by the embodiment of the present application is introduced, a method for detecting an appearance of an object provided by the embodiment of the present application is introduced below with reference to a specific flowchart.
Fig. 3 is a flowchart of an appearance detection method of an object according to an embodiment of the present application, where the method is applied to the computing device of fig. 1, and the method includes the following steps.
In step 301, radar detection data of an object is obtained, where the radar detection data at least includes magnetic field information at different positions in a magnetic field, where the magnetic field information at each position at least includes a magnetic field strength, and the magnetic field is formed by interfering a first electromagnetic wave and an echo of the object detected by a second electromagnetic wave, where the first electromagnetic wave is obtained by reflecting a part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic wave is an unreflected electromagnetic wave.
In the implementation, one part of the electromagnetic waves emitted by the radar is reflected by the reflecting plate to form first electromagnetic waves, the other part of the second electromagnetic waves which are not reflected is reflected by the object to form echoes, the echoes of the first electromagnetic waves and the second electromagnetic waves interfere in the vicinity of the receiver to form a magnetic field, and the magnetic field information at different positions in the magnetic field can reflect the three-dimensional appearance of the object, so the three-dimensional appearance of the object can be determined by means of the magnetic field information.
In step 302, the electromagnetic wave transmittance corresponding to the magnetic field information at each position is determined based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance.
In specific implementation, the electromagnetic wave transmittance corresponding to each position can be determined according to the following formula:
β＝K*E*sinθ；
where β is the electromagnetic wave transmittance at the position, E is the magnetic field strength at the position, θ is the phase at the position, and K is a predetermined proportionality coefficient, such as K1.
Assuming that each position in the magnetic field is represented by three-dimensional coordinates such as (x, y, z), the (x, y, z) corresponds to magnetic field information, and the (x, y, z) may also correspond to a position (x ', y', z ') in the virtual medium, and the electromagnetic wave transmittance corresponding to the (x, y, z) is the electromagnetic wave transmittance at the (x', y ', z').
In step 303, a virtual medium is constructed based on the electromagnetic wave transmittances corresponding to the respective positions.
In step 304, a diffraction process of the electromagnetic wave passing through the virtual medium is simulated, and three-dimensional appearance data of the object is obtained.
In step 305, three-dimensional appearance data of the object is output.
In practical application, when the speed of the object exceeds a set speed, the phases at different positions in the magnetic field are affected, and therefore the accuracy of the finally obtained three-dimensional appearance data is affected.
For this purpose, the magnetic field information at each position may further include a phase, the radar detection data may further include a speed of the object, and subsequently, when it is determined that the speed of the object exceeds the set speed, a phase corresponding to the speed of the object may be determined based on the established mapping relationship between the speed and the phase, and the phase at each position may be corrected based on the phase corresponding to the speed of the object, for example, a phase obtained by subtracting the phase corresponding to the speed of the object from the phase at each position is used as a new phase at the position, and then, based on the magnetic field strength at each position and the new phase, the electromagnetic wave transmittance corresponding to the magnetic field information at each position may be determined.
In this way, the three-dimensional appearance of the object can be detected relatively accurately even if the velocity of the object is large.
Based on the same technical concept, the embodiment of the present application further provides an object appearance detection apparatus, and the principle of the object appearance detection apparatus for solving the problem is similar to the object appearance detection method, so that the implementation of the object appearance detection apparatus can refer to the implementation of the object appearance detection method, and repeated details are not repeated.
Fig. 4 is a schematic structural diagram of an apparatus for detecting an appearance of an object according to an embodiment of the present application, and includes an obtaining module 401, a determining module 402, a constructing module 403, a simulating module 404, and an output module 405.
An obtaining module 401, configured to obtain radar detection data of an object, where the radar detection data at least includes magnetic field information at different positions in a magnetic field, where the magnetic field information at each position at least includes a magnetic field strength, the magnetic field is formed by interfering echoes of a first electromagnetic wave and a second electromagnetic wave after the object is detected, the first electromagnetic wave is obtained by reflecting a part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic wave is an unreflected electromagnetic wave;
a determining module 402, configured to determine, based on the established mapping relationship between the magnetic field information and the electromagnetic wave transmittance, an electromagnetic wave transmittance corresponding to the magnetic field information at each position;
a constructing module 403, configured to construct a virtual medium based on the electromagnetic wave transmittance corresponding to each position;
the simulation module 404 is configured to simulate a diffraction process when the electromagnetic wave passes through the virtual medium, so as to obtain three-dimensional appearance data of the object;
and an output module 405, configured to output the three-dimensional appearance data.
In some embodiments, the magnetic field information at each location further includes a phase, the radar detection data further includes a velocity of the object, further including a correction module 406:
the determining module 402 is further configured to determine a phase corresponding to the speed of the object based on the established mapping relationship between the speed and the phase if it is determined that the speed of the object exceeds a set speed;
the correcting module 406 is configured to perform a correction process on the phase at each position based on the phase corresponding to the velocity of the object before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position.
In some embodiments, the correction module 406 is further configured to perform a correction process on the phase at each position based on the phase corresponding to the velocity of the object, and use the phase obtained by subtracting the phase corresponding to the velocity of the object from the phase at each position as the new phase at the position.
In some embodiments, the determining module 402 is specifically configured to determine the electromagnetic wave transmittance corresponding to each location according to the following formula:
β＝K*E*sinθ；
where β is the electromagnetic wave transmittance at the position, E is the magnetic field strength at the position, θ is the phase at the position, and K is a predetermined proportionality coefficient.
The division of the modules in the embodiments of the present application is schematic, and only one logic function division is provided, and in actual implementation, there may be another division manner, and in addition, each function module in each embodiment of the present application may be integrated in one processor, may also exist alone physically, or may also be integrated in one module by two or more modules. The coupling of the various modules to each other may be through interfaces that are typically electrical communication interfaces, but mechanical or other forms of interfaces are not excluded. Thus, modules described as separate components may or may not be physically separate, may be located in one place, or may be distributed in different locations on the same or different devices. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
Having described the appearance detection method and apparatus of an object according to an exemplary embodiment of the present application, an electronic device according to another exemplary embodiment of the present application will be described next.
An electronic device 130 implemented according to this embodiment of the present application is described below with reference to fig. 5. The electronic device 130 shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the electronic device 130 is represented in the form of a general electronic device. The components of the electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 that couples various system components including the memory 132 and the processor 131.
The memory 132 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.
The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), with one or more devices that enable a user to interact with the electronic device 130, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 130 to communicate with one or more other electronic devices. Such communication may occur via input/output (I/O) interfaces 135. Also, the electronic device 130 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 136. As shown, network adapter 136 communicates with other modules for electronic device 130 over bus 133. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In an exemplary embodiment, there is also provided a storage medium in which a computer program is stored, the computer program being executable by a processor of an electronic device, the electronic device being capable of performing the appearance detection method of the above-mentioned object. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, the electronic device of the present application may include at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores a computer program executable by the at least one processor, and the computer program, when executed by the at least one processor, may cause the at least one processor to perform the steps of the method for detecting an appearance of any object provided by the embodiments of the present application.
In an exemplary embodiment, a computer program product is also provided, which, when executed by an electronic device, enables the electronic device to implement any of the exemplary methods provided herein.
Also, a computer program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable Disk, a hard Disk, a RAM, a ROM, an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a Compact Disk Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for appearance detection of an object in the embodiments of the present application may be a CD-ROM and include program code, and may be run on a computing device. However, the program product of the present application is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device over any kind of Network, such as a Local Area Network (LAN) or Wide Area Network (WAN), or may be connected to external computing devices (e.g., over the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more units described above may be embodied in one unit, according to embodiments of the application. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.
Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (11)
1. An appearance detection system of an object, comprising:
the reflecting plate is used for reflecting part of electromagnetic waves emitted by the radar;
the radar is used for transmitting electromagnetic waves, receiving echoes after the first electromagnetic waves reflected by the reflecting plate and the second electromagnetic waves which are not reflected by the reflecting plate detect the object;
an electromagnetic field detector for measuring magnetic field information at different positions in a magnetic field formed by interference of echoes of the first electromagnetic wave and the second electromagnetic wave, wherein the magnetic field information at each position at least comprises a magnetic field intensity;
the computing equipment is used for reading the magnetic field information at different positions measured by the electromagnetic field detector and determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance; constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position; and simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object, and outputting the three-dimensional appearance data.
2. The system of claim 1, wherein the magnetic field information at each location further includes a phase,
the radar further to determine a velocity of the object, send the velocity to the computing device;
the computing equipment is further used for determining a phase corresponding to the speed of the object based on the established mapping relation between the speed and the phase if the speed of the object is determined to exceed the set speed; before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the phase at each position is corrected based on the phase corresponding to the velocity of the object.
3. The system of claim 2,
the computing device is specifically configured to use a phase obtained by subtracting a phase corresponding to the velocity of the object from a phase at each position as a new phase at the position.
4. The system of any of claims 1-3,
the computing device is specifically configured to determine an electromagnetic wave transmittance corresponding to each position according to a formula β ═ K ═ E ═ sin θ, where β is the electromagnetic wave transmittance at the position, E is the magnetic field strength at the position, θ is the phase at the position, and K is a predetermined proportionality coefficient.
5. A method of detecting an appearance of an object, comprising:
acquiring radar detection data of an object, wherein the radar detection data at least comprise magnetic field information at different positions in a magnetic field, the magnetic field information at each position at least comprises magnetic field intensity, the magnetic field is formed by interference of echoes after a first electromagnetic wave and a second electromagnetic wave detect the object, the first electromagnetic wave is obtained by reflecting part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic wave is unreflected electromagnetic waves;
determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance;
constructing a virtual medium based on the electromagnetic wave transmittance corresponding to each position;
simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object;
outputting three-dimensional appearance data of the object.
6. The method of claim 5, wherein the magnetic field information at each location further includes a phase, the radar detection data further includes a velocity of the object, further comprising:
if the speed of the object is determined to exceed the set speed, determining a phase corresponding to the speed of the object based on the established mapping relation between the speed and the phase;
before determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position, the method further comprises the following steps:
and performing correction processing on the phase at each position based on the phase corresponding to the speed of the object.
7. The method of claim 6, wherein performing a correction process on the phase at each position based on the phase corresponding to the velocity of the object comprises:
and subtracting the phase corresponding to the speed of the object from the phase at each position to obtain a new phase at the position.
8. The method according to any one of claims 5 to 7, wherein the electromagnetic wave transmittance is determined for each location according to the following formula:
β＝K*E*sinθ；
wherein β is the electromagnetic wave transmittance at the location, E is the magnetic field strength at the location, θ is the phase at the location, and K is a predetermined proportionality coefficient.
9. An apparatus for detecting an appearance of an object, comprising:
the radar detection data at least comprises magnetic field information at different positions in a magnetic field, the magnetic field information at each position at least comprises magnetic field intensity, the magnetic field is formed by interference of first electromagnetic waves and echoes of second electromagnetic waves after the object is detected, the first electromagnetic waves are obtained by reflecting part of electromagnetic waves transmitted by a transmitter, and the second electromagnetic waves are unreflected electromagnetic waves;
the determining module is used for determining the electromagnetic wave transmittance corresponding to the magnetic field information at each position based on the established mapping relation between the magnetic field information and the electromagnetic wave transmittance;
the building module is used for building a virtual medium based on the electromagnetic wave transmittance corresponding to each position;
the simulation module is used for simulating a diffraction process when the electromagnetic wave passes through the virtual medium to obtain three-dimensional appearance data of the object;
and the output module is used for outputting the three-dimensional appearance data.
10. An electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein:
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 5-8.
11. A storage medium, characterized in that the electronic device is capable of performing the method according to any of claims 5-8, when the computer program in the storage medium is executed by a processor of the electronic device.
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| CN202210190684.0A CN114545398A (en) | 2022-02-28 | 2022-02-28 | Object appearance detection system, method and device and electronic equipment |
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| CN202210190684.0A CN114545398A (en) | 2022-02-28 | 2022-02-28 | Object appearance detection system, method and device and electronic equipment |
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