CN115327657B - Detection target positioning method and device - Google Patents

Detection target positioning method and device Download PDF

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CN115327657B
CN115327657B CN202211250954.9A CN202211250954A CN115327657B CN 115327657 B CN115327657 B CN 115327657B CN 202211250954 A CN202211250954 A CN 202211250954A CN 115327657 B CN115327657 B CN 115327657B
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郑煜臻
汪兆仁
段鹏飞
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Weisa Technology Xi'an Co ltd
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Abstract

The invention relates to the technical field of target detection, in particular to a method and a device for positioning a detection target, which comprise the following steps: the method comprises the steps of detecting a ground surface to be detected by using an infrared imaging detector to obtain an infrared thermal radiation difference value, taking out all key points with the infrared thermal radiation difference value larger than a preset radiation difference threshold value to obtain a target suspicious point set, extracting a target suspicious ground surface from the ground surface to be detected according to the target suspicious point set, inserting a plurality of groups of magnetic field generators into different position points in the target suspicious ground surface, constructing a group of magnetic field receivers on the surface of the target suspicious ground surface, sequentially using each group of magnetic field generators to generate a magnetic field and using the magnetic field receivers to respond, calculating a magnetic field intensity response matrix of each group of magnetic field generators according to response data, and determining a region with attenuated magnetic field intensity in the target suspicious ground surface according to the magnetic field intensity response matrix of each group of magnetic field generators to obtain a target positioning region. The invention can solve the problem of time consumption for detecting the position of the target object.

Description

Detection target positioning method and device
Technical Field
The present invention relates to the field of target detection technologies, and in particular, to a method and an apparatus for positioning a detected target, an electronic device, and a computer-readable storage medium.
Background
In recent years, underground target detection technology has been developed and widely used, such as underground mineral resources, cables, underground garbage detection, and the like.
At present, the underground target detection technology mainly depends on ultrasonic wave or magnetic field detection, namely, an ultrasonic wave or magnetic field generator is utilized to detect underground epidermis and recover the ultrasonic wave or magnetic field rebounded by the underground epidermis, so as to detect whether a target object exists on the underground epidermis.
The ultrasonic or magnetic field detection method has a very high application value, but sometimes, due to the huge area of the surface to be detected, excessive time consumption is caused if only the ultrasonic or magnetic field detection method is adopted, so that a method which can quickly locate the rough position of a target object and realize accurate location by combining ultrasonic or magnetic field detection is lacked, and the problem that the time consumption of ultrasonic or magnetic field detection is serious is solved.
Disclosure of Invention
The invention provides a method and a device for positioning a detection target and a computer readable storage medium, and mainly aims to solve the problem that the time consumption for detecting the position of a target object is serious.
In order to achieve the above object, the present invention provides a method for positioning a detected object, including:
receiving a target detection instruction, determining the earth surface to be detected according to the target detection instruction and starting an infrared imaging detector;
and detecting the earth surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 565149DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 592011DEST_PATH_IMAGE002
location information representing key points of the earth's surface to be surveyed,
Figure 996578DEST_PATH_IMAGE003
representing key points of the earth's surface to be surveyed
Figure 753182DEST_PATH_IMAGE004
The location information of (a) is stored in the storage unit,
Figure 513065DEST_PATH_IMAGE005
representing key points of the earth's surface to be surveyed
Figure 761644DEST_PATH_IMAGE006
The location information of (a) is stored in the storage unit,
Figure 953591DEST_PATH_IMAGE007
represent
Figure 112171DEST_PATH_IMAGE004
Point and dot
Figure 669054DEST_PATH_IMAGE006
The difference in the infrared thermal radiation of the dots,
Figure 529563DEST_PATH_IMAGE008
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 40047DEST_PATH_IMAGE009
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 177767DEST_PATH_IMAGE010
indicating the wavelength
Figure 233448DEST_PATH_IMAGE009
In that
Figure 535248DEST_PATH_IMAGE004
The specific radiance of the spot is,
Figure 396893DEST_PATH_IMAGE011
indicating the wavelength
Figure 389120DEST_PATH_IMAGE009
In that
Figure 864970DEST_PATH_IMAGE006
The specific radiance of the spot is,
Figure 903333DEST_PATH_IMAGE012
representing key points of the earth's surface to be surveyed
Figure 788243DEST_PATH_IMAGE013
A relation function with the detected temperature received by the infrared imaging detector;
extracting all key points of which the infrared thermal radiation difference values are larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface, and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
sequentially utilizing each group of magnetic field generators to generate a magnetic field, utilizing a magnetic field receiver to respond to the magnetic field generated by each group of magnetic field generators, and calculating according to response data to obtain a magnetic field intensity response matrix of each group of magnetic field generators;
and determining the region of the target suspicious earth surface with attenuated magnetic field strength according to the magnetic field strength response matrix of each group of magnetic field generators to obtain a target positioning region.
Optionally, the constructing of the target detection instruction includes:
receiving a target detection requirement input by a user, and starting a GPS (global positioning system) according to the target detection requirement;
receiving GPS position information of the earth surface to be detected, which is input by a user in the GPS positioning system;
and embedding the GPS position information into an empty detection instruction to obtain the target detection instruction.
Optionally, the detecting the ground surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value includes:
analyzing the GPS position information of the earth surface to be detected from the target detection instruction;
performing key point selection on the earth surface to be detected according to the GPS position information to obtain a plurality of groups of key point sets to be detected;
sequentially detecting the emissivity of each key point by using the infrared imaging detector;
and sequentially calculating the infrared heat radiation difference values of two adjacent groups of key points according to the specific radiance and a preset infrared heat radiation difference value calculation formula.
Optionally, the constructing of the relationship function includes:
acquiring detection temperature received by an infrared imaging detector when each key point executes infrared imaging detection;
mapping the position information of each key point of the earth surface to be detected to a two-dimensional coordinate system to obtain the position coordinates of the key points;
and constructing a position temperature data set with the detection temperature as a dependent variable and the position coordinates of the key point as an independent variable, and fitting the position temperature data set to obtain a relation function between the key point and the detection temperature.
Optionally, the magnetic field generator is comprised of a rotating device and a magnetic field generating device, wherein the magnetic field generating device is located inside the rotating device.
Optionally, the generating a magnetic field with each set of magnetic field generators in sequence comprises:
determining an initial magnetic field generating direction and a final magnetic field generating direction of each magnetic field generator, and determining a magnetic field generating area of each magnetic field generator clockwise or anticlockwise according to the initial magnetic field generating direction and the final magnetic field generating direction;
and sequentially rotating the rotating devices of each group of magnetic field generators according to a specified speed, and simultaneously starting the magnetic field generators of each group of magnetic field generators to generate magnetic fields in different directions in the corresponding magnetic field generating areas.
Optionally, the calculating a magnetic field strength response matrix of each group of magnetic field generators according to the response data includes:
constructing a plane coordinate system taking the magnetic field receiver and the magnetic field generator as planes, wherein the origin of the plane coordinate system is the magnetic field generator;
acquiring response data of the magnetic field receivers responding to the magnetic fields generated by each group of magnetic field generators, wherein the response data comprise the magnetic field intensity and the magnetic field direction received by the magnetic field receivers;
projecting the response data into a plane coordinate system to obtain a magnetic field vector, wherein the direction of the magnetic field vector is determined by the direction of the magnetic field received by the magnetic field receiver, and the magnitude of the magnetic field vector is determined by the intensity of the magnetic field received by the magnetic field receiver;
and constructing a magnetic field strength response matrix according to the magnetic field vector.
Optionally, the constructing a magnetic field strength response matrix according to the magnetic field vector includes:
determining the transmitting direction and the transmitting strength of the magnetic field generator when the magnetic field generator transmits the magnetic field according to the magnetic field vector, and simultaneously obtaining the receiving direction and the receiving strength of the magnetic field of the transmitting direction received by the magnetic field receiver;
calculating a deviation angle of the transmitting direction and the receiving direction;
constructing a direction deviation matrix based on the deviation angle of each group of transmitting direction and receiving direction;
calculating the intensity attenuation difference of the emission intensity and the receiving intensity, and constructing an intensity attenuation matrix based on the intensity attenuation difference of each group of emission intensity and receiving intensity;
and constructing a magnetic field strength response matrix according to the direction deviation matrix and the strength attenuation matrix.
Optionally, the constructing a direction deviation matrix based on the deviation angle of each set of the transmitting direction and the receiving direction includes:
the directional deviation matrix is constructed by adopting the following arrangement mode:
Figure 228452DEST_PATH_IMAGE014
wherein, the first and the second end of the pipe are connected with each other,
Figure 298039DEST_PATH_IMAGE015
a matrix of the directional deviation is represented,
Figure 869704DEST_PATH_IMAGE016
representing the deviation angle of the transmit direction from the receive direction,
Figure 10835DEST_PATH_IMAGE017
is shown as
Figure 977654DEST_PATH_IMAGE018
Cosine of the deviation angle between the transmitting direction and the receiving direction when the magnetic field is transmitted once,
Figure 93509DEST_PATH_IMAGE019
is shown as
Figure 840885DEST_PATH_IMAGE018
The sine of the deviation angle of the transmitting direction from the receiving direction when the magnetic field is transmitted once,
Figure 192232DEST_PATH_IMAGE020
representing the number of times of transmission of the magnetic field transmitted by the magnetic field generator;
constructing an intensity attenuation matrix based on intensity attenuation differences of each group of the transmitting intensity and the receiving intensity, comprising:
Figure 653038DEST_PATH_IMAGE021
wherein the content of the first and second substances,
Figure 392324DEST_PATH_IMAGE022
the difference in the attenuation of the intensity is indicated,
Figure 299100DEST_PATH_IMAGE023
is shown as
Figure 595083DEST_PATH_IMAGE024
The intensity attenuation difference between the transmission intensity and the reception intensity at the time of secondary transmission of the magnetic field.
In order to solve the above problem, the present invention further provides a detection target positioning apparatus, including:
the infrared thermal radiation difference value calculation module is used for receiving a target detection instruction, determining a ground surface to be detected according to the target detection instruction, starting an infrared imaging detector, detecting the ground surface to be detected by using the infrared imaging detector, and obtaining an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 598811DEST_PATH_IMAGE025
wherein the content of the first and second substances,
Figure 446681DEST_PATH_IMAGE013
location information representing key points of the earth's surface to be surveyed,
Figure 214655DEST_PATH_IMAGE026
representing key points of the earth's surface to be surveyed
Figure 235701DEST_PATH_IMAGE027
The location information of (a) is stored in the storage unit,
Figure 31618DEST_PATH_IMAGE028
representing key points of the earth's surface to be surveyed
Figure 660177DEST_PATH_IMAGE029
The location information of (a) is stored in the storage unit,
Figure 541545DEST_PATH_IMAGE030
to represent
Figure 366282DEST_PATH_IMAGE027
Point and point
Figure 390607DEST_PATH_IMAGE029
The difference in the infrared thermal radiation of the dots,
Figure 580280DEST_PATH_IMAGE031
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 11262DEST_PATH_IMAGE032
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 187159DEST_PATH_IMAGE033
indicating wavelength
Figure 285565DEST_PATH_IMAGE032
In that
Figure 646139DEST_PATH_IMAGE027
The specific radiance of the spot is,
Figure 610422DEST_PATH_IMAGE034
indicating the wavelength
Figure 42540DEST_PATH_IMAGE032
In that
Figure 215027DEST_PATH_IMAGE029
The specific radiance of the spot is,
Figure 871136DEST_PATH_IMAGE035
representing key points of the earth's surface to be surveyed
Figure 791556DEST_PATH_IMAGE013
A relation function with the detected temperature received by the infrared imaging detector;
the key point selection module is used for taking out all key points of which the infrared thermal radiation difference value is greater than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
the magnetic field generating module is used for inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
the magnetic field intensity response matrix building module is used for sequentially utilizing each group of magnetic field generators to generate magnetic fields, utilizing the magnetic field receivers to respond the magnetic fields generated by each group of magnetic field generators and calculating the magnetic field intensity response matrix of each group of magnetic field generators according to response data;
and the target positioning module is used for determining the region of magnetic field intensity attenuation in the suspicious earth surface of the target according to the magnetic field intensity response matrix of each group of magnetic field generators to obtain a target positioning region.
In order to solve the above problem, the present invention also provides an electronic device, including:
a memory storing at least one instruction; and
and the processor executes the instructions stored in the memory to realize the detection target positioning method.
In order to solve the above problem, the present invention further provides a computer-readable storage medium, which stores at least one instruction, where the at least one instruction is executed by a processor in an electronic device to implement the above-mentioned method for locating a detection target.
In order to solve the problems in the background art, in an embodiment of the present invention, a target detection instruction is received first, a ground surface to be detected is determined according to the target detection instruction, an infrared imaging detector is started, the ground surface to be detected is detected by using the infrared imaging detector, an infrared thermal radiation difference value is obtained, the efficiency of calculating the infrared thermal radiation difference value by using the infrared imaging detector is higher, and therefore, compared with magnetic field detection, a rough position of a target object can be quickly located. Therefore, the method, the device, the electronic equipment and the computer readable storage medium for positioning the detection target provided by the invention can solve the problem of time consumption for detecting the position of the target object.
Drawings
Fig. 1 is a schematic flowchart of a method for positioning a detected object according to an embodiment of the present invention;
fig. 2 is a top view of a process of generating magnetic fields by each group of magnetic field generators in the method for locating a detection target according to an embodiment of the present invention;
fig. 3 is a diagram illustrating a vector relationship between magnetic fields generated by the magnetic field generator a and the magnetic field receiver in the method for locating a detection target according to an embodiment of the present invention;
FIG. 4 is a functional block diagram of a detected object positioning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for implementing the method for positioning a detected object according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The embodiment of the application provides a detection target positioning method. The execution subject of the detection target positioning method includes, but is not limited to, at least one of electronic devices such as a server and a terminal, which can be configured to execute the method provided by the embodiments of the present application. In other words, the method for locating the detection target may be performed by software or hardware installed in the terminal device or the server device, and the software may be a block chain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Fig. 1 is a schematic flow chart of a method for positioning a detected object according to an embodiment of the present invention. In this embodiment, the method for positioning a detection target includes:
s1, receiving a target detection instruction, determining the earth surface to be detected according to the target detection instruction and starting an infrared imaging detector.
In the embodiment of the present invention, the target detection instruction is generally initiated by a user, and for example, a small piece of paper is an environmental protection person, and now it is required to detect whether a contaminant (such as a plastic bottle, a battery, etc.) exists in a shallow subsurface, so that the target detection instruction is initiated. It should be explained that the target detection command is embedded with the position information of the shallow earth surface in advance, and in detail, the construction of the target detection command includes:
receiving a target detection requirement input by a user, and starting a GPS according to the target detection requirement;
receiving GPS position information of the earth surface to be detected, which is input by a user in the GPS positioning system;
and embedding the GPS position information into an empty detection instruction to obtain the target detection instruction.
It can be understood that, assuming that the shallow earth surface is a rectangular area with a length of 3 meters and a width of 2 meters, the user inputs the GPS position information of the upper left corner and the lower right corner of the shallow earth surface through the GPS positioning system, so as to determine the specific position of the shallow earth surface. It should be noted that the GPS positioning system according to the embodiment of the present invention is a high-precision positioning system for a small area, so that positioning for a small area, such as a shallow ground surface with a length of 3 meters and a width of 2 meters, can be achieved.
And S2, detecting the earth surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value.
In detail, the detecting the ground surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value includes:
analyzing the GPS position information of the earth surface to be detected from the target detection instruction;
performing key point selection on the earth surface to be detected according to the GPS position information to obtain a plurality of groups of key point sets to be detected;
sequentially detecting the emissivity of each key point by using the infrared imaging detector;
and sequentially calculating the infrared thermal radiation difference values of two adjacent groups of key points according to the specific radiance and a preset infrared thermal radiation difference value calculation formula.
It can be understood that if an infrared imaging detector is used for continuously detecting a whole to-be-detected ground surface, resource waste and time delay are easily caused, and particularly when the area of the to-be-detected ground surface is large, the embodiment of the invention only needs to select representative key points. For example, in a shallow ground surface with a length of 3 meters and a width of 2 meters, in the embodiment of the present invention, 3 meters in length are first equally divided into 15 groups, and 2 meters in width are first equally divided into 10 groups, so as to obtain 150 key points, that is, an infrared imaging detector is used to sequentially detect infrared radiation values of 150 key points.
In detail, the calculating the infrared thermal radiation difference values of two adjacent groups of key points in sequence according to the emissivity and a preset infrared thermal radiation difference value calculation formula comprises:
calculating the infrared thermal radiation difference values of two groups of key points to be detected by adopting the following formula:
Figure 496207DEST_PATH_IMAGE036
wherein the content of the first and second substances,
Figure 241309DEST_PATH_IMAGE037
location information representing key points of the earth's surface to be surveyed,
Figure 756735DEST_PATH_IMAGE038
representing key points of the earth's surface to be surveyed
Figure 446343DEST_PATH_IMAGE039
The location information of (a) is stored in the storage unit,
Figure 892368DEST_PATH_IMAGE040
representing key points of the earth's surface to be surveyed
Figure 803561DEST_PATH_IMAGE041
The location information of (a) is stored in the storage unit,
Figure 4735DEST_PATH_IMAGE042
to represent
Figure 197950DEST_PATH_IMAGE039
Point and dot
Figure 509983DEST_PATH_IMAGE041
The difference in the infrared thermal radiation of the dots,
Figure 964098DEST_PATH_IMAGE043
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 585441DEST_PATH_IMAGE044
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 452903DEST_PATH_IMAGE045
indicating wavelength
Figure 850517DEST_PATH_IMAGE044
In that
Figure 752614DEST_PATH_IMAGE039
The specific radiance of the spot is,
Figure 967695DEST_PATH_IMAGE046
indicating the wavelength
Figure 188633DEST_PATH_IMAGE044
In that
Figure 593201DEST_PATH_IMAGE041
The specific radiance of the spot is,
Figure 756329DEST_PATH_IMAGE047
representing key points of the earth's surface to be surveyed
Figure 578529DEST_PATH_IMAGE037
A function of the detected temperature received by the infrared imaging detector.
Further, the construction of the relation function between the key point of the earth surface to be detected and the detection temperature received by the infrared imaging detector comprises the following steps:
acquiring detection temperature received by an infrared imaging detector when each key point executes infrared imaging detection;
mapping the position information of each key point of the earth surface to be detected to a two-dimensional coordinate system to obtain the position coordinates of the key points;
and constructing a position temperature data set with the detection temperature as a dependent variable and the position coordinates of the key point as an independent variable, and fitting the position temperature data set to obtain a relation function between the key point and the detection temperature.
Illustratively, the 150 key points are sequentially detected through infrared imaging, so that the detected temperature of the infrared imaging is received, meanwhile, the shallow surface is taken as a planar rectangular coordinate system, the 150 key points are projected into the planar rectangular coordinate system to obtain corresponding key point position coordinates, and then a relation function between the key points and the detected temperature can be obtained through fitting by using programs such as MATLAB and Python built-in libraries.
It should be explained that, if there is a foreign object (such as a battery, a plastic bottle, etc.) in the shallow surface, the relation function between the key points and the detected temperature is generally similar to a gaussian function, that is, the detected temperature of some key points does not change with the change of the key points, but the key points located on the foreign object are different from other key points in structure, so that the generated detected temperature is obviously too high or too low.
And S3, taking out all key points with infrared thermal radiation difference values larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting the target suspicious earth surface from the earth surface to be detected according to the target suspicious point set.
Illustratively, the infrared thermal radiation difference values between every two groups of adjacent points of the 150 key points are calculated in sequence, the key points with the infrared thermal radiation difference values larger than the radiation difference threshold value are extracted, and if 30 key points exist, the 30 key points are set as the target suspicious point set.
It can be understood that the suspicious earth surface of the target marked by 30 key points is obviously smaller than the original earth surface to be detected determined by 150 key points, and the detection area of the detection target can be effectively reduced.
S4, inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface, and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface.
In the embodiment of the invention, magnetic fields in different directions are generated by a plurality of groups of magnetic field generators, the magnetic field generated by each group of magnetic field generators is received by the magnetic field receiver, and whether a target object exists on the suspicious target surface and the specific position of the target object is deduced according to the change of the magnetic fields between each group of magnetic field generators and the magnetic field receiver.
It is to be explained that the magnetic field generator consists of a rotating means and a magnetic field generating means, wherein the magnetic field generating means is located inside the rotating means.
Illustratively, 10 magnetic field generators are inserted into a suspicious target area marked by 30 key points, and then a group of magnetic field receivers are constructed on the surface of the suspicious target area and are respectively used for receiving magnetic fields generated by different magnetic field generators.
And S5, sequentially utilizing each group of magnetic field generators to generate magnetic fields, utilizing the magnetic field receivers to respond to the magnetic fields generated by each group of magnetic field generators, and calculating according to response data to obtain a magnetic field intensity response matrix of each group of magnetic field generators.
In detail, the sequentially generating the magnetic field with each set of magnetic field generators includes:
determining an initial magnetic field generating direction and a final magnetic field generating direction of each magnetic field generator, and determining a magnetic field generating area of each magnetic field generator clockwise or anticlockwise according to the initial magnetic field generating direction and the final magnetic field generating direction;
and sequentially rotating the rotating devices of each group of magnetic field generators according to a specified speed, and simultaneously starting the magnetic field generating devices of each group of magnetic field generators to generate magnetic fields in different directions in the corresponding magnetic field generating areas.
Fig. 2 shows a top view of the process of the magnetic field generated by each group of magnetic field generators, and if there are magnetic field generators A, B, C and D, the initial magnetic field generating direction of magnetic field generator a is set to be north and the final magnetic field generating direction is south, and the magnetic field generating area of magnetic field generator a can be determined clockwise from north to south, including east. The rotating means of the magnetic field generator a are therefore activated, starting from the due north direction, emitting the magnetic field and passing through the due east until ending in the due south direction.
Further, the magnetic field receiver can receive the magnetic field generated by each group of magnetic field generators, but it can be understood that when the target object is just located in the direction of the magnetic field generated by the magnetic field generators, the magnetic field intensity received by the magnetic field receiver is inevitably affected due to the blockage of the target object, and therefore the position of the target position can be judged according to the constructed magnetic field intensity response matrix.
In detail, the calculating the magnetic field strength response matrix of each group of magnetic field generators according to the response data includes:
constructing a plane coordinate system taking the magnetic field receiver and the magnetic field generator as planes, wherein the origin of the plane coordinate system is the magnetic field generator;
acquiring response data of the magnetic field receivers responding to the magnetic fields generated by each group of magnetic field generators, wherein the response data comprise the magnetic field intensity and the magnetic field direction received by the magnetic field receivers;
projecting the response data into a plane coordinate system to obtain a magnetic field vector, wherein the direction of the magnetic field vector is determined by the direction of the magnetic field received by the magnetic field receiver, and the magnitude of the magnetic field vector is determined by the intensity of the magnetic field received by the magnetic field receiver;
and constructing a magnetic field strength response matrix according to the magnetic field vector.
Fig. 3 shows a diagram of a vector relationship of magnetic fields generated by the magnetic field generator a and the magnetic field receiver, and it can be seen from fig. 3 that when the magnetic field generated by the magnetic field generator a is obstructed by the target object, both the magnetic field strength and the magnetic field direction of the magnetic field change, so that a magnetic field strength response matrix needs to be constructed according to the magnetic field vector to search the position of the target object.
In detail, the constructing a magnetic field strength response matrix according to the magnetic field vector includes:
determining the transmitting direction and the transmitting strength of the magnetic field generator when the magnetic field generator transmits the magnetic field according to the magnetic field vector, and simultaneously obtaining the receiving direction and the receiving strength of the magnetic field of the transmitting direction received by the magnetic field receiver;
calculating a deviation angle of the transmitting direction and the receiving direction;
constructing a direction deviation matrix based on the deviation angle of each group of the transmitting direction and the receiving direction;
calculating the intensity attenuation difference of the emission intensity and the receiving intensity, and constructing an intensity attenuation matrix based on the intensity attenuation difference of each group of emission intensity and receiving intensity;
and constructing a magnetic field strength response matrix according to the direction deviation matrix and the strength attenuation matrix.
It should be understood that if the transmitting direction of the magnetic field generator a is 45 degrees north and the transmitting intensity is 100 a/m, and the receiving direction received by the magnetic field receiver is 70 degrees north and the receiving intensity is 20 a/m, the deviation angle is +25 degrees (with the clockwise deviation being positive and the counterclockwise deviation being negative), the intensity attenuation difference is 80 a/m, and in general, the magnetic field intensity received by the magnetic field receiver is smaller than the transmitting intensity when the magnetic field generator transmits the magnetic field, so the embodiment of the present invention is called the intensity attenuation difference.
In detail, the constructing a direction deviation matrix based on the deviation angle of each set of the transmitting direction and the receiving direction includes:
the directional deviation matrix is constructed by adopting the following arrangement mode:
Figure 827108DEST_PATH_IMAGE048
wherein the content of the first and second substances,
Figure 284634DEST_PATH_IMAGE049
a matrix of the directional deviation is represented,
Figure 708793DEST_PATH_IMAGE050
representing the deviation angle of the transmit direction from the receive direction,
Figure 593572DEST_PATH_IMAGE051
is shown as
Figure 172190DEST_PATH_IMAGE052
Cosine of the deviation angle between the transmitting direction and the receiving direction when the magnetic field is transmitted once,
Figure 839932DEST_PATH_IMAGE053
denotes the first
Figure 649756DEST_PATH_IMAGE052
The sine value of the deviation angle of the transmitting direction from the receiving direction when the magnetic field is transmitted secondarily,
Figure 377541DEST_PATH_IMAGE054
representing the number of transmissions of the magnetic field emitted by the magnetic field generator.
In addition, the constructing an intensity attenuation matrix based on the intensity attenuation difference of each group of the emission intensity and the receiving intensity comprises:
Figure 194187DEST_PATH_IMAGE055
wherein the content of the first and second substances,
Figure 977204DEST_PATH_IMAGE056
the difference in the attenuation of the intensity is indicated,
Figure 359644DEST_PATH_IMAGE023
is shown as
Figure 71379DEST_PATH_IMAGE052
The intensity of the transmission intensity and the reception intensity are attenuated by the secondary transmission magnetic field.
Further, the constructing a magnetic field strength response matrix according to the direction deviation matrix and the strength attenuation matrix includes:
combining the direction deviation matrix and the intensity attenuation matrix to obtain a magnetic field intensity response matrix, wherein the magnetic field intensity response matrix is as follows:
Figure 375321DEST_PATH_IMAGE057
it is to be explained that each row in the magnetic field strength response matrix is composed of a deviation angle and an intensity attenuation difference, and thus the target position can be found by the change of the magnetic field strength response matrix.
And S6, determining a region with attenuated magnetic field strength in the suspicious target earth surface according to the magnetic field strength response matrix of each group of magnetic field generators to obtain a target positioning region.
It can be understood that if the region of magnetic field intensity attenuation is determined by referring to the magnetic field intensity response matrix constructed by only one set of magnetic field generators, it may be accidental, so that the embodiment of the present invention adopts multiple sets of magnetic field generators to construct multiple sets of magnetic field intensity response matrices, and when the attenuation regions of each set of magnetic field intensity response matrices are nearly the same, the target location region can be identified from the suspicious surface of the target very accurately.
In order to solve the problems in the background art, in an embodiment of the present invention, a target detection instruction is received first, a ground surface to be detected is determined according to the target detection instruction, an infrared imaging detector is started, the ground surface to be detected is detected by using the infrared imaging detector, an infrared thermal radiation difference value is obtained, the efficiency of calculating the infrared thermal radiation difference value by using the infrared imaging detector is higher, and therefore, compared with magnetic field detection, a rough position of a target object can be quickly located. Therefore, the method, the device, the electronic equipment and the computer readable storage medium for positioning the detection target provided by the invention can solve the problem of time consumption of detecting the position of the target object.
Fig. 4 is a functional block diagram of a detection target positioning apparatus according to an embodiment of the present invention.
The detection target positioning device 100 according to the present invention may be installed in an electronic apparatus. According to the realized functions, the detection target positioning device 100 may include an infrared thermal radiation difference value calculation module 101, a key point selection module 102, a magnetic field generation module 103, a magnetic field strength response matrix construction module 104, and a target positioning module 105. The module of the present invention, which may also be referred to as a unit, refers to a series of computer program segments that can be executed by a processor of an electronic device and can perform a fixed function, and are stored in a memory of the electronic device.
The infrared thermal radiation difference value calculating module 101 is configured to receive a target detection instruction, determine a ground surface to be detected according to the target detection instruction, start an infrared imaging detector, and detect the ground surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value, where a calculation formula of the infrared thermal radiation difference value is:
Figure 289926DEST_PATH_IMAGE058
wherein, the first and the second end of the pipe are connected with each other,
Figure 402238DEST_PATH_IMAGE059
location information representing key points of the earth's surface to be surveyed,
Figure 550454DEST_PATH_IMAGE060
representing key points of the earth's surface to be surveyed
Figure 341692DEST_PATH_IMAGE061
The location information of (a) is stored in the storage unit,
Figure 528829DEST_PATH_IMAGE062
representing key points of the earth's surface to be surveyed
Figure 89123DEST_PATH_IMAGE063
The location information of (a) is stored in the storage unit,
Figure 408240DEST_PATH_IMAGE064
to represent
Figure 93299DEST_PATH_IMAGE061
Point and point
Figure 772542DEST_PATH_IMAGE063
The difference in the infrared thermal radiation of the dots,
Figure 233349DEST_PATH_IMAGE065
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 238214DEST_PATH_IMAGE066
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 144990DEST_PATH_IMAGE067
indicating wavelength
Figure 706552DEST_PATH_IMAGE066
In that
Figure 490706DEST_PATH_IMAGE061
The specific radiance of the spot is,
Figure 338577DEST_PATH_IMAGE068
indicating the wavelength
Figure 857283DEST_PATH_IMAGE066
In that
Figure 550432DEST_PATH_IMAGE063
The specific radiance of the spot is,
Figure 159399DEST_PATH_IMAGE069
representing key points of the earth's surface to be surveyed
Figure 302805DEST_PATH_IMAGE059
A relation function with the detected temperature received by the infrared imaging detector;
the key point selection module 102 is configured to take out all key points whose infrared thermal radiation difference values are greater than a preset radiation difference threshold value to obtain a target suspicious point set, and extract a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
the magnetic field generating module 103 is configured to insert multiple sets of magnetic field generators at different location points in the target suspicious earth surface, and construct a set of magnetic field receivers on the surface of the target suspicious earth surface;
the magnetic field strength response matrix construction module 104 is configured to sequentially generate a magnetic field by using each group of magnetic field generators, respond to the magnetic field generated by each group of magnetic field generators by using the magnetic field receiver, and calculate a magnetic field strength response matrix of each group of magnetic field generators according to the response data;
the target positioning module 105 is configured to determine a region where the magnetic field strength in the target suspicious earth surface is attenuated according to the magnetic field strength response matrix of each group of magnetic field generators, so as to obtain a target positioning region.
In detail, in the embodiment of the present invention, when the modules in the detection target positioning apparatus 100 are used, the same technical means as the block chain based product supply chain management method described in fig. 1 are adopted, and the same technical effects can be produced, which is not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device for implementing a method for locating a detection target according to an embodiment of the present invention.
The electronic device 1 may comprise a processor 10, a memory 11 and a bus 12, and may further comprise a computer program, such as a probe object localization method program, stored in the memory 11 and executable on the processor 10.
The memory 11 includes at least one type of readable storage medium, which includes flash memory, removable hard disk, multimedia card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only for storing application software installed in the electronic device 1 and various types of data, such as codes of a detection object positioning method program, etc., but also for temporarily storing data that has been output or is to be output.
The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The processor 10 is a Control Unit of the electronic device, connects various components of the whole electronic device by using various interfaces and lines, and executes various functions of the electronic device 1 and processes data by running or executing programs or modules (e.g., a probe object location method program, etc.) stored in the memory 11 and calling data stored in the memory 11.
The bus 12 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is arranged to enable connection communication between the memory 11 and at least one processor 10 or the like.
Fig. 5 only shows an electronic device with components, and it will be understood by a person skilled in the art that the structure shown in fig. 5 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.
For example, although not shown, the electronic device 1 may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so as to implement functions of charge management, discharge management, power consumption management, and the like through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device 1 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
Further, the electronic device 1 may further include a network interface, and optionally, the network interface may include a wired interface and/or a wireless interface (such as a WI-FI interface, a bluetooth interface, etc.), which are generally used for establishing a communication connection between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, which may be a Display (Display), an input unit (such as a Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The detection object positioning method program stored in the memory 11 of the electronic device 1 is a combination of instructions, and when running in the processor 10, can realize:
receiving a target detection instruction, determining the earth surface to be detected according to the target detection instruction and starting an infrared imaging detector;
and detecting the earth surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 26916DEST_PATH_IMAGE070
wherein the content of the first and second substances,
Figure 851652DEST_PATH_IMAGE071
location information representing key points of the earth's surface to be surveyed,
Figure 111864DEST_PATH_IMAGE072
representing key points of the earth's surface to be surveyed
Figure 567116DEST_PATH_IMAGE073
The location information of (a) is stored in the storage unit,
Figure 575261DEST_PATH_IMAGE074
representing key points of the earth's surface to be surveyed
Figure 203688DEST_PATH_IMAGE075
The location information of (a) is stored in the storage unit,
Figure 521668DEST_PATH_IMAGE076
to represent
Figure 741297DEST_PATH_IMAGE073
Point and point
Figure 908842DEST_PATH_IMAGE075
The difference in the infrared thermal radiation of the dots,
Figure 75381DEST_PATH_IMAGE077
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 779026DEST_PATH_IMAGE078
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 435135DEST_PATH_IMAGE079
indicating wavelength
Figure 89976DEST_PATH_IMAGE078
In that
Figure 325786DEST_PATH_IMAGE073
The specific radiance of the spot is,
Figure 149516DEST_PATH_IMAGE080
indicating the wavelength
Figure 179789DEST_PATH_IMAGE078
In that
Figure 10342DEST_PATH_IMAGE075
The specific radiance of the spot is,
Figure 361427DEST_PATH_IMAGE081
representing key points of the earth's surface to be surveyed
Figure 695456DEST_PATH_IMAGE071
A relation function with the detected temperature received by the infrared imaging detector;
taking out all key points with infrared thermal radiation difference values larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface, and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
sequentially utilizing each group of magnetic field generators to generate a magnetic field, utilizing a magnetic field receiver to respond to the magnetic field generated by each group of magnetic field generators, and calculating according to response data to obtain a magnetic field intensity response matrix of each group of magnetic field generators;
and determining the region of the target suspicious earth surface with attenuated magnetic field strength according to the magnetic field strength response matrix of each group of magnetic field generators to obtain a target positioning region.
Specifically, the specific implementation method of the processor 10 for the instruction may refer to the description of the relevant steps in the embodiments corresponding to fig. 1 to fig. 5, which is not repeated herein.
Further, the integrated modules/units of the electronic device 1, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. The computer readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM).
The present invention also provides a computer-readable storage medium, storing a computer program which, when executed by a processor of an electronic device, may implement:
receiving a target detection instruction, determining the ground surface to be detected according to the target detection instruction and starting an infrared imaging detector;
and detecting the earth surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 647363DEST_PATH_IMAGE082
wherein the content of the first and second substances,
Figure 293108DEST_PATH_IMAGE071
bits representing key points of the earth's surface to be surveyedThe information is set in the form of a message,
Figure 651145DEST_PATH_IMAGE072
representing key points of the earth's surface to be surveyed
Figure 433157DEST_PATH_IMAGE073
The location information of (a) is stored in the storage unit,
Figure 211757DEST_PATH_IMAGE074
representing key points of the earth's surface to be surveyed
Figure 892268DEST_PATH_IMAGE075
The location information of (a) is stored in the storage unit,
Figure 414516DEST_PATH_IMAGE076
represent
Figure 847772DEST_PATH_IMAGE073
Point and point
Figure 797273DEST_PATH_IMAGE075
The difference in the infrared thermal radiation of the dots,
Figure 135719DEST_PATH_IMAGE077
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 851871DEST_PATH_IMAGE078
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 93628DEST_PATH_IMAGE079
indicating wavelength
Figure 214031DEST_PATH_IMAGE078
In that
Figure 118402DEST_PATH_IMAGE073
The specific radiance of the spot is,
Figure 982453DEST_PATH_IMAGE080
indicating the wavelength
Figure 577251DEST_PATH_IMAGE078
In that
Figure 258768DEST_PATH_IMAGE075
The specific radiance of the spot is,
Figure 260222DEST_PATH_IMAGE081
representing key points of the earth's surface to be surveyed
Figure 803330DEST_PATH_IMAGE071
A relation function with the detected temperature received by the infrared imaging detector;
taking out all key points with infrared thermal radiation difference values larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface, and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
sequentially utilizing each group of magnetic field generators to generate a magnetic field, utilizing a magnetic field receiver to respond to the magnetic field generated by each group of magnetic field generators, and calculating according to response data to obtain a magnetic field intensity response matrix of each group of magnetic field generators;
and determining the region of the target suspicious earth surface with attenuated magnetic field strength according to the magnetic field strength response matrix of each group of magnetic field generators to obtain a target positioning region.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A method for locating a detected object, the method comprising:
receiving a target detection instruction, determining the earth surface to be detected according to the target detection instruction and starting an infrared imaging detector;
and detecting the earth surface to be detected by using the infrared imaging detector to obtain an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 137507DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 193188DEST_PATH_IMAGE002
location information representing key points of the earth's surface to be surveyed,
Figure 291725DEST_PATH_IMAGE003
representing key points of the earth's surface to be surveyed
Figure 497578DEST_PATH_IMAGE004
The location information of (a) is stored in the storage unit,
Figure 83281DEST_PATH_IMAGE005
representing key points of the earth's surface to be surveyed
Figure 824709DEST_PATH_IMAGE006
The location information of (a) is stored in the storage unit,
Figure 659810DEST_PATH_IMAGE007
represent
Figure 482404DEST_PATH_IMAGE004
Point and point
Figure 188192DEST_PATH_IMAGE006
The difference in the infrared thermal radiation of the dots,
Figure 569363DEST_PATH_IMAGE008
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 891760DEST_PATH_IMAGE009
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 783624DEST_PATH_IMAGE010
indicating wavelength
Figure 343918DEST_PATH_IMAGE009
In that
Figure 450587DEST_PATH_IMAGE004
The specific radiance of the spot is,
Figure 463543DEST_PATH_IMAGE011
indicating wavelength
Figure 80469DEST_PATH_IMAGE009
In that
Figure 980423DEST_PATH_IMAGE006
The specific radiance of the spot is,
Figure 985288DEST_PATH_IMAGE012
representing key points of the earth's surface to be surveyed
Figure 531545DEST_PATH_IMAGE002
A relation function with the detected temperature received by the infrared imaging detector;
taking out all key points with infrared thermal radiation difference values larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface, and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
sequentially utilizing each group of magnetic field generators to generate a magnetic field, utilizing a magnetic field receiver to respond to the magnetic field generated by each group of magnetic field generators, and calculating according to response data to obtain a magnetic field intensity response matrix of each group of magnetic field generators;
and determining the region of the target suspicious earth surface with attenuated magnetic field strength according to the magnetic field strength response matrix of each group of magnetic field generators to obtain a target positioning region.
2. The method of claim 1, wherein the constructing of the object detection command includes:
receiving a target detection requirement input by a user, and starting a GPS according to the target detection requirement;
receiving GPS position information of the earth surface to be detected, which is input by a user in the GPS positioning system;
and embedding the GPS position information into an empty detection instruction to obtain the target detection instruction.
3. The method for locating a detection target according to claim 1, wherein said detecting a ground surface to be detected by using said infrared imaging detector to obtain an infrared thermal radiation difference value comprises:
analyzing the GPS position information of the earth surface to be detected from the target detection instruction;
performing key point selection on the earth surface to be detected according to the GPS position information to obtain a plurality of groups of key point sets to be detected;
sequentially detecting the emissivity of each key point by using the infrared imaging detector;
and sequentially calculating the infrared heat radiation difference values of two adjacent groups of key points according to the specific radiance and a preset infrared heat radiation difference value calculation formula.
4. The method according to claim 3, wherein the constructing of the relationship function comprises:
acquiring detection temperature received by an infrared imaging detector when each key point executes infrared imaging detection;
mapping the position information of each key point of the earth surface to be detected to a two-dimensional coordinate system to obtain the position coordinates of the key points;
and constructing a position temperature data set with the detection temperature as a dependent variable and the position coordinates of the key point as an independent variable, and fitting the position temperature data set to obtain a relation function between the key point and the detection temperature.
5. The method according to claim 1, wherein the magnetic field generator comprises a rotating means and a magnetic field generating means, and wherein the magnetic field generating means is located inside the rotating means.
6. The method of claim 5, wherein said sequentially generating magnetic fields with each set of magnetic field generators comprises:
determining an initial magnetic field generating direction and a final magnetic field generating direction of each magnetic field generator, and determining a magnetic field generating area of each magnetic field generator clockwise or anticlockwise according to the initial magnetic field generating direction and the final magnetic field generating direction;
and sequentially rotating the rotating devices of each group of magnetic field generators according to a specified speed, and simultaneously starting the magnetic field generating devices of each group of magnetic field generators to generate magnetic fields in different directions in the corresponding magnetic field generating areas.
7. The method of claim 6, wherein the calculating a magnetic field strength response matrix for each set of magnetic field generators from the response data comprises:
constructing a plane coordinate system taking the magnetic field receiver and the magnetic field generator as planes, wherein the origin of the plane coordinate system is the magnetic field generator;
acquiring response data of the magnetic field receivers responding to the magnetic fields generated by each group of magnetic field generators, wherein the response data comprise the magnetic field intensity and the magnetic field direction received by the magnetic field receivers;
projecting the response data into a plane coordinate system to obtain a magnetic field vector, wherein the direction of the magnetic field vector is determined by the direction of the magnetic field received by the magnetic field receiver, and the magnitude of the magnetic field vector is determined by the intensity of the magnetic field received by the magnetic field receiver;
and constructing a magnetic field strength response matrix according to the magnetic field vector.
8. The method of claim 7, wherein the constructing a magnetic field strength response matrix from the magnetic field vectors comprises:
determining the transmitting direction and the transmitting strength of the magnetic field generator when the magnetic field generator transmits the magnetic field according to the magnetic field vector, and simultaneously obtaining the receiving direction and the receiving strength of the magnetic field of the transmitting direction received by the magnetic field receiver;
calculating a deviation angle of the transmitting direction and the receiving direction;
constructing a direction deviation matrix based on the deviation angle of each group of transmitting direction and receiving direction;
calculating the intensity attenuation difference of the emission intensity and the receiving intensity, and constructing an intensity attenuation matrix based on the intensity attenuation difference of each group of emission intensity and receiving intensity;
and constructing a magnetic field strength response matrix according to the direction deviation matrix and the strength attenuation matrix.
9. The method for locating a detection target according to claim 8, wherein the constructing of the direction deviation matrix based on the deviation angle of each set of the transmitting direction and the receiving direction comprises:
the directional deviation matrix is constructed by adopting the following arrangement mode:
Figure 421003DEST_PATH_IMAGE013
wherein, the first and the second end of the pipe are connected with each other,
Figure 955890DEST_PATH_IMAGE014
a matrix of the directional deviation is represented,
Figure 351230DEST_PATH_IMAGE015
representing the deviation angle of the transmit direction from the receive direction,
Figure 869936DEST_PATH_IMAGE016
is shown as
Figure 828665DEST_PATH_IMAGE017
Cosine of the deviation angle between the transmitting direction and the receiving direction when the magnetic field is transmitted once,
Figure 201746DEST_PATH_IMAGE018
is shown as
Figure 79572DEST_PATH_IMAGE017
The sine value of the deviation angle of the transmitting direction from the receiving direction when the magnetic field is transmitted secondarily,
Figure 960941DEST_PATH_IMAGE019
representing the number of times the magnetic field generator emits the magnetic field;
constructing an intensity attenuation matrix based on intensity attenuation differences of each group of emission intensity and reception intensity, including:
Figure 333147DEST_PATH_IMAGE020
wherein the content of the first and second substances,
Figure 311468DEST_PATH_IMAGE021
the difference in the attenuation of the intensity is indicated,
Figure 501140DEST_PATH_IMAGE022
is shown as
Figure 712548DEST_PATH_IMAGE017
The intensity attenuation difference between the transmission intensity and the reception intensity at the time of secondary transmission of the magnetic field.
10. A detected object locating apparatus, characterized in that the apparatus comprises:
the infrared thermal radiation difference value calculation module is used for receiving a target detection instruction, determining the ground surface to be detected according to the target detection instruction, starting an infrared imaging detector, detecting the ground surface to be detected by using the infrared imaging detector, and obtaining an infrared thermal radiation difference value, wherein the calculation formula of the infrared thermal radiation difference value is as follows:
Figure 872134DEST_PATH_IMAGE023
wherein the content of the first and second substances,
Figure 455693DEST_PATH_IMAGE002
location information representing key points of the earth's surface to be surveyed,
Figure 816267DEST_PATH_IMAGE003
representing key points of the earth's surface to be surveyed
Figure 796861DEST_PATH_IMAGE004
The location information of (a) is stored in the storage unit,
Figure 947089DEST_PATH_IMAGE005
representing key points of the earth's surface to be surveyed
Figure 837685DEST_PATH_IMAGE006
The location information of (a) is stored in the storage unit,
Figure 228215DEST_PATH_IMAGE007
to represent
Figure 384521DEST_PATH_IMAGE004
Point and dot
Figure 26855DEST_PATH_IMAGE006
The difference in the infrared thermal radiation of the dots,
Figure 99853DEST_PATH_IMAGE008
is the atmospheric transmittance corresponding to the infrared wave band emitted by the infrared imaging detector,
Figure 379393DEST_PATH_IMAGE009
indicating the wavelength of the infrared band emitted by the infrared imaging detector,
Figure 69001DEST_PATH_IMAGE010
indicating wavelength
Figure 249446DEST_PATH_IMAGE009
In that
Figure 927683DEST_PATH_IMAGE004
The specific radiance of the spot is,
Figure 660016DEST_PATH_IMAGE011
indicating wavelength
Figure 712286DEST_PATH_IMAGE009
In that
Figure 70323DEST_PATH_IMAGE006
The specific radiance of the spot is,
Figure 852335DEST_PATH_IMAGE012
representing key points of the earth's surface to be surveyed
Figure 630935DEST_PATH_IMAGE002
A relation function with the detected temperature received by the infrared imaging detector;
the key point selection module is used for taking out all key points with infrared thermal radiation difference values larger than a preset radiation difference threshold value to obtain a target suspicious point set, and extracting a target suspicious earth surface from the earth surface to be detected according to the target suspicious point set;
the magnetic field generating module is used for inserting a plurality of groups of magnetic field generators at different position points in the target suspicious earth surface and constructing a group of magnetic field receivers on the surface of the target suspicious earth surface;
the magnetic field intensity response matrix building module is used for sequentially utilizing each group of magnetic field generators to generate magnetic fields, utilizing the magnetic field receivers to respond the magnetic fields generated by each group of magnetic field generators and calculating the magnetic field intensity response matrix of each group of magnetic field generators according to response data;
and the target positioning module is used for determining the region of magnetic field intensity attenuation in the suspicious earth surface of the target according to the magnetic field intensity response matrix of each group of magnetic field generators to obtain a target positioning region.
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