CN115685148A - Target detection method, device, equipment and storage medium - Google Patents
Target detection method, device, equipment and storage medium Download PDFInfo
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- CN115685148A CN115685148A CN202211196187.8A CN202211196187A CN115685148A CN 115685148 A CN115685148 A CN 115685148A CN 202211196187 A CN202211196187 A CN 202211196187A CN 115685148 A CN115685148 A CN 115685148A
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Abstract
The application discloses a target detection method, a device, equipment and a storage medium, wherein the method comprises the following steps: when a target detection instruction is detected, decomposing a modulation pulse train into a plurality of independent laser pulses to be transmitted and having sequence period time delay relative to the reference time by taking the initial transmission time as the reference time; and respectively detecting the targets based on the independent laser pulses. The application reduces the implementation difficulty and cost when the single photon laser radar modulates and detects the target.
Description
Technical Field
The present application relates to the field of single photon laser radar technology, and in particular, to a target detection method, apparatus, device, and storage medium.
Background
Because a Single Photon Avalanche photodiode (SPAD) device has extremely high sensitivity, a Single Photon counting laser radar system adopting the SPAD as a detector is often very sensitive to ambient light, and the detection performance of the Photon counting laser radar is limited.
In view of the above problems, researchers have proposed that a target is detected by emitting a modulated specific coded pulse train instead of a single pulse, however, in practical implementation, a sufficient length of the coded pulse train is often required to obtain a significant ambient light suppression effect, which requires that a semiconductor laser operates under a very high repetition frequency condition, and an increase in repetition frequency of emitted light pulses may cause an increase in temperature of the semiconductor laser and a resulting thermal attenuation of performance, and in addition, difficulty and cost in designing a high repetition frequency laser driving hardware may be greatly increased.
Disclosure of Invention
In view of this, embodiments of the present application provide a target detection method, an apparatus, a device, and a storage medium, which aim to reduce implementation difficulty and cost when a single photon laser radar modulates and detects a target, and solve technical problems of high implementation difficulty and high cost when a single photon laser radar modulates and detects a target in the prior art.
The embodiment of the application provides a target detection method, which comprises the following steps:
when a target detection instruction is detected, decomposing a modulation pulse train into a plurality of independent laser pulses to be transmitted and having sequence period time delay relative to the reference time by taking the initial transmission time as the reference time;
and respectively detecting the targets based on the independent laser pulses.
In a possible embodiment of the application, the first peak power of the individual laser pulses is larger than the second peak power when the predetermined modulation pulse train is not decomposed.
In a possible embodiment of the present application, the step of separately detecting the target based on the independent laser pulses includes:
respectively detecting targets based on the independent laser pulses, and receiving detection event data generated after the targets are detected based on a preset single-photon detector;
determining a detection range of the target based on the detection event data.
In one possible embodiment of the present application, the step of determining the detection distance of the target based on the detection event data includes:
generating a photon event histogram based on the detection event data;
combining photon event histograms of the independent laser pulses at the reference time to obtain a modulation detection histogram;
performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine target flight time;
determining a detection range of the target based on the target time of flight.
In a possible embodiment of the present application, before the step of decomposing the modulation pulse train into a plurality of individual laser pulses to be transmitted with a sequence periodic time delay with respect to a reference time instant, the method includes:
when a modulation instruction is detected, extracting modulation information in the modulation instruction;
and determining the preset modulation pulse train according to the modulation information.
In a possible embodiment of the present application, the preset single-photon detector is an SPAD detector or an SPAD array, and in the detection process, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously activated.
The present application further provides a target detection apparatus, the apparatus comprising:
the decomposition module is used for decomposing the modulation pulse train into a plurality of independent laser pulses to be emitted and having sequence period time delay relative to the reference time by taking the initial emission time as the reference time when the target detection instruction is detected;
and the detection module is used for respectively detecting the targets based on the independent laser pulses and determining the detection distance of the targets.
In a possible embodiment of the present application, a first peak power of the individual laser pulses is greater than a second peak power of the preset modulation pulse train when the preset modulation pulse train is not decomposed;
and/or the detection module comprises: the receiving unit is used for respectively detecting targets based on the independent laser pulses and receiving detection event data generated after the targets are detected based on a preset single-photon detector; a first determination unit configured to determine a detection distance of the target based on the detection event data;
and/or the first determination unit comprises: a generation subunit configured to generate a photon event histogram based on the detection event data; the merging subunit is used for merging the photon event histogram of each independent laser pulse at the reference time to obtain a modulation detection histogram; the calculation subunit is used for performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine the target flight time; a detection distance determining subunit, configured to determine a detection distance of the target based on the target flight time;
and/or the apparatus further comprises:
the extraction module is used for extracting modulation information in the modulation instruction when the modulation instruction is detected;
the determining module is used for determining the preset modulation pulse train according to the modulation information;
and/or the preset single-photon detector is an SPAD detector or an SPAD array, and in the detection process, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously started.
The present application further provides a target detection device, where the target detection device is an entity node device, and the target detection device includes: a memory, a processor and a program of the object detection method stored on the memory and executable on the processor, which program, when executed by the processor, may implement the steps of the object detection method as described above.
To achieve the above object, there is also provided a storage medium having an object detection program stored thereon, wherein the object detection program, when executed by a processor, implements the steps of any one of the object detection methods described above.
Compared with the prior art, in order to realize the obvious ambient light inhibition effect, the method, the device, the equipment and the storage medium for detecting the target have the advantages that the target is detected by emitting the modulated pulse string with specific codes instead of a single pulse, so that the implementation difficulty is high when the target is modulated and detected by the single photon laser radar, and the cost is high; and respectively detecting the targets based on the independent laser pulses, and determining the detection distance of the targets. It can be understood that the independent laser pulses after the modulation pulse train decomposition are emitted in the present application, and therefore, a significant ambient light suppression effect can be achieved, and further, the present application emits a plurality of independent laser pulses having a sequence period time delay with respect to the reference time, which makes the semiconductor laser not always under a very high repetition frequency working condition, and therefore, the temperature rise of the semiconductor laser caused by the increase of the repetition frequency of the emitted light pulses and the performance thermal attenuation generated thereby are avoided, and the difficulty and cost of the design of the laser driving hardware with a high repetition frequency are also reduced.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a first embodiment of an object detection method according to the present application;
FIG. 2 is a detailed flowchart of step S20 in the first embodiment of the object detection method of the present application;
FIG. 3 is a schematic diagram of an apparatus configuration of a hardware operating environment according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a first scenario involved in the object detection method of the present application;
FIG. 5 is a diagram illustrating a second scenario involved in the object detection method of the present application;
FIG. 6 is a schematic diagram of a third scenario involved in the object detection method of the present application;
fig. 7 is a schematic diagram of a fourth scenario involved in the object detection method of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
An embodiment of the present application provides an object detection method, and in an embodiment of the object detection method of the present application, with reference to fig. 1, the method includes:
step S10, when a target detection instruction is detected, taking the initial moment of emission as a reference moment, decomposing a modulation pulse train into a plurality of independent laser pulses to be emitted and having sequence period time delay relative to the reference moment;
and S20, respectively detecting the targets based on the independent laser pulses, and determining the detection distance of the targets.
The present embodiment is intended to: the difficulty and the cost of the design of the laser driving hardware with high repetition frequency are reduced, and the detection signal-to-noise ratio and the detection distance of the system can be improved.
As an example, in the present application, the independent laser pulse after the modulation pulse train decomposition is emitted, and therefore, the significant ambient light suppression effect can also be achieved, and further, the present application emits a plurality of independent laser pulses with sequence period time delay relative to the reference time, which makes the semiconductor laser not always in the extremely high repetition frequency operating condition, and therefore, the temperature rise of the semiconductor laser caused by the increase of the repetition frequency of the emitted light pulse and the performance thermal attenuation caused thereby are avoided, and the difficulty and the cost of the design of the laser driving hardware with high repetition frequency are also reduced.
As an example, the modulation pulse train which is continuously emitted/detected is decomposed into independent single pulses for detection, the detection advantage of the previous pulse in the pulse train to the subsequent pulse caused by factors such as the quenching time of a preset single-photon detector, such as an SPAD (spatial aperture detector), is eliminated, and the target can be accurately extracted subsequently.
As an example, in the present application, the first peak power of the independent laser pulse is greater than the second peak power when the preset modulation pulse train is not decomposed, that is, the present application avoids compromise to the pulse peak power due to reaching a high repetition frequency requirement when the continuous pulse train is transmitted, can perform detection by using the independent laser pulse with a higher peak power, and is beneficial to improving a detection signal-to-noise ratio and a detection distance.
As an example, in the present application, targets are respectively detected based on the independent laser pulses, and detection event data generated after the targets are detected is received based on a preset single-photon detector; the detection distance of the target is determined based on the detection event data, and since the detection distance can be accurately calculated based on the detection event data as in the case of the detection distance calculated based on the data corresponding to the modulation pulse train in the present application, it is possible to avoid the inaccuracy of the detection distance determination caused by the decomposition of the modulation pulse train into independent laser pulses.
As an example, in the present application, a photon event histogram is generated based on the detection event data; combining photon event histograms of the independent laser pulses at the reference time to obtain a modulation detection histogram; performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine target flight time; determining a detection range of the target based on the target time of flight. In the application, the detection distance of the target can be quickly and accurately determined by performing correlation calculation on a preset modulation coding template and the modulation detection histogram.
As an example, in the present application, when a modulation instruction is detected, modulation information in the modulation instruction is extracted; and determining the preset modulation pulse train according to the modulation information. In the application, the preset modulation pulse string can be changed according to modulation information in the instruction, so that the laser driving hardware does not need to be redesigned in target detection, namely, the modulation detection function can be realized on the original single photon laser radar hardware system through software updating or FPGA design, and the implementation difficulty and cost of single photon laser radar modulation detection are reduced.
Further, in the application, the preset single-photon detector is an SPAD detector or an SPAD array, and in the detection process, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously started, so that detection event data are ensured to be timely and accurately received, and the target cannot be accurately detected.
As an example, the definition of the parameters is first explicit:
specifically, SPAD (Single Photon Avalanche Diode): a single photon avalanche photodiode, a photodetector with single photon detection capability;
EEL (Edge striking Laser): edge-emitting laser diode, a semiconductor laser device;
VCSEL (Vertical Cavity Surface Emitting Laser): vertical cavity surface laser, a semiconductor laser device;
LED (light-emitting diode): a light emitting diode, a semiconductor light source;
TX: transmitting;
RX: receiving;
dTOF (Direct TOF): direct time-of-flight method (a laser ranging method): recording the moment of emitting laser pulse and the moment of returning signal of laser pulse after being reflected by the target, calculating the time of the light pulse flying back and forth between the targets according to the two moments, calculating the target distance by combining the light speed, and receiving the returning light signal reflected by the target after the corresponding flying time of the emitted light pulse for the given target.
Multiple echoes: the emitted light pulse is reflected by a plurality of targets at different distances and then returns a plurality of echo signals, and the multiple echo signals which return successively are received and processed by one-time detection, so that the simultaneous detection of multiple targets at different distances in the same detection direction can be realized.
Photon counting (a technique for weak optical signal detection): that is, the photoelectron pulses are recorded one by one, and the magnitude of the signal is represented by how many counts are counted in a certain period of time. Light-based particle detection (i.e., single photon counting) is more efficient than light-based analog-based detection, and since single photon detection devices are probabilistic in their response to optical signals, it is often necessary to repeat the detection of the same optical signal multiple times to recover the statistical characteristics of the signal.
Photon counting lidar: the detection principle of dTOF is adopted, light pulses are repeatedly emitted to a target, a return light signal is detected by the SPAD, the time of a photon event output by the SPAD is recorded, a statistical histogram of the photon event is drawn by taking time as a horizontal axis according to a large number of recorded time of the photon event, the dTOF detection waveform can be recovered, the flight time corresponding to the target can be determined according to the waveform peak value, and the distance of the target can be further determined.
As an example, a specific scene of a target distance is determined by a photon counting laser radar, as shown in fig. 7, a target detection apparatus or system transmits a light pulse at time t0, the light pulse is emitted and reflected by a target, and then returns to be received by the target detection apparatus or system together with background light, according to a laser TOF principle, a received light signal has target reflection at a toftarget, a corresponding reflected signal generates echo pulsed light (called photon event for short) via SPAD, after the light pulse is repeatedly transmitted, photon events output by all SPADs are cumulatively recorded, and the distribution of all photon events on a time axis is counted, so as to obtain a final detection histogram, and then the position of a return pulse of the received signal is determined by counting the cumulative number of times of photon events peak position (the number of times is a large probability, i.e., a position where the light signal is strong) on the histogram, thereby determining a flight time and a target distance.
It should be noted that the single photon detector SPAD detects the received optical signal, and can obtain a certain number of photon events (echo pulsed light). Since SAPD has several characteristics: (1) very high gain (reaching single photon level), so that the SPAD detector outputs a pulse (a pulse is a photon event) when receiving the optical signal; (2) every time the SPAD detector responds once, after a pulse is output, the next detection can be carried out after quenching operation of a certain time length, and the SPAD has no response in the quenching period (the quenching time is the dead time of the SPAD, which can be understood as that the SPAD needs to be cooled once output); (3) the response of the SPAD detector to the optical signal obeys Poisson distribution, namely the response of the SPAD to the signal light is a probability event related to the intensity of the signal light, and the stronger the signal light, the greater the probability of triggering a photon event by the SPAD.
As an example, as shown in FIG. 7, if the intensity of the ambient light or the background light is large, it is difficult to distinguish the peak of the ambient light and the peak of the photon event in the detection histogram (this is because the light pulse is emitted, reflected by the target, returned, and received by the target detection device or system together with the background light, and when the intensity of the ambient light is large, the peak of the ambient light and the peak of the photon event are both large, and thus it is difficult to distinguish).
As an example, if the target is far away, it is difficult to distinguish the peak of the ambient light and the peak of the photon event in the detection histogram (because the light pulse is emitted, reflected by the target, returned, and received by the target detection device or system together with the background light, and when the target is far away, the peak of the ambient light and the peak of the photon event are both small and difficult to distinguish).
In this embodiment, since the ambient light itself is unstable and irregular, and the photon events are stable and regular, the target is detected by emitting a specially coded pulse train instead of an independent laser pulse, and then the received photon counting statistical histogram signal is demodulated, or the data of the photon events with regular target can be analyzed and extracted from all the detected data.
Based on this, it can be understood that while the difficulty and cost of designing high repetition frequency laser driving hardware are further reduced, a significant ambient light suppression effect (because the independent laser pulses are obtained after decomposition of the modulation pulse train) can be achieved.
The method comprises the following specific steps:
step S10, when a target detection instruction is detected, taking the initial moment of emission as a reference moment, decomposing a modulation pulse train into a plurality of independent laser pulses to be emitted and having sequence period time delay relative to the reference moment;
as an example, the target detection instruction is a range detection instruction of the target or a reflectivity detection instruction of the target.
As an example, the triggering manner of the target detection instruction may be: and triggering on a triggering interface of the software.
As an example, the target may be a living body or a non-living body.
As an example, the target may be a human or an animal.
As an example, the target may be plural or one.
As one example, the targets may be static or dynamic.
As an example, when the target detection instruction is detected, the modulation pulse train is decomposed into to-be-transmitted pulses by taking the starting time of transmission as a reference time, and the plurality of independent laser pulses with sequence period delay relative to the reference time may specifically be:
as shown in fig. 4, with the laser pulse emission start time as a reference time t0, decomposing a laser pulse train to be emitted with n pulses into n independent laser pulses respectively having a time delay of Δ tn with respect to the reference time t0, wherein the number n of pulses of the laser pulse train is greater than or equal to 2; the value of the time delay Deltatn is greater than or equal to 0.
As an example, with a laser pulse emission start time as a reference time t0, a laser pulse train to be emitted with 1 ten thousand pulses is decomposed into 1 ten thousand individual laser pulses with respective Δ tn time delays from the reference time t0, where Δ t1=0 corresponds to a first individual laser pulse, Δ t2=2ns corresponds to a second individual laser pulse, and Δ t3=4ns corresponds to a third individual laser pulse.
And S20, respectively detecting the targets based on the independent laser pulses.
As an example, the detection range of the target is determined based on the detection of the target by the independent laser pulses.
As an example, a plurality of targets are detected based on the independent laser pulses respectively, and detection distances of the plurality of targets are determined.
As an example, the reflectivity of the target is determined based on the detection of the target by the individual laser pulses.
As an example, the reflectivity of a plurality of targets is determined based on the detection of the targets by the individual laser pulses, respectively.
As an example, as shown in fig. 5, the way of detecting the target based on the independent laser pulses respectively is:
and repeating kn (kn is more than or equal to 1) times of detection according to corresponding time delay by the n independent laser pulses obtained by decomposition respectively.
As an example, in the n single-pulse detection processes, there is a time delay Δ tn between the time when the laser is actually driven to emit different laser pulses and the reference time t0 of the laser pulse emission start.
As an example, detection event data of a single photon detector (SPAD) is recorded for kn detections.
As an example, a statistical histogram Rxn kn is generated based on the detection event data.
As an example, the preset single photon detector is a SPAD detector or a SPAD array, and during the detection, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously activated to determine the detection event data.
That is, in the detection process, the SPAD receiving end and any one laser emission signal are synchronously triggered, and the synchronous time is the laser pulse emission starting time.
As an example, the probe event data may be decomposed for different targets.
As an example, a statistical histogram Rxn _ kn for each target is generated based on the decomposed detection event data.
Referring to fig. 2, the step of respectively detecting the targets based on the independent laser pulses includes:
step S21, respectively detecting targets based on the independent laser pulses, and receiving detection event data generated after the targets are detected based on a preset single-photon detector;
step S22, determining the detection distance of the target based on the detection event data.
As an example, after the target is detected based on the independent laser pulses, the detection data of each independent laser pulse is obtained, after the detection data of each independent laser pulse is obtained, the detection data is combined at the reference time, and after the combination, a final modulation detection histogram is generated, so as to determine the detection distance of the target.
That is, in this embodiment, the detection data corresponding to each independent laser pulse is merged first, then a modulation detection histogram is generated, a correlation calculation is performed between a preset modulation coding template and the modulation detection histogram, and the target flight time is determined; determining a detection range of the target based on the target time of flight.
Wherein the step of determining a detection range of the target based on the detection event data comprises:
step A1, generating a photon event histogram based on the detection event data;
step A2, combining photon event histograms of the independent laser pulses at the reference time to obtain a modulation detection histogram;
step A3, performing correlation calculation on a preset modulation coding template and the modulation detection histogram, and determining the flight time of a target;
and A4, determining the detection distance of the target based on the flight time of the target.
In this embodiment, as shown in fig. 6, for detection data corresponding to each independent laser pulse, a photon event histogram is generated, then the photon event histograms of each independent laser pulse are combined at the reference time, a preset modulation and coding template is subjected to correlation calculation with the modulation and detection histogram, and a target flight time is determined, where the preset modulation and coding template is a template (in which ambient noise is reflected) obtained through experience or experimental data, and the correlation calculation between the preset modulation and coding template and the modulation and detection histogram is that: and comparing and matching a preset modulation coding template with the modulation detection histogram, further extracting the peak value of the regularly changed photon event, determining the target flight time based on the peak value, and determining the detection distance of the target based on the target flight time and the light speed.
As an example, the factors such as the quenching time of the SPAD detector cause that the preceding pulse of the pulse train has detection advantages for the following pulse, if the emitted pulse train is a modulated pulse train, the influence range of the quenching time of the SPAD detector is large, and in this embodiment, because the pulse train is decomposed into a plurality of independent laser pulses, the influence range of the quenching time of the SPAD detector is small, which is beneficial to accurately extracting the target subsequently.
Integrally, when the laser drive device is used for modulation detection, the laser design requirements of high repetition frequency and high power are not needed, and the design difficulty and cost of laser drive are reduced.
Compared with the prior art, in order to realize the obvious ambient light inhibition effect, the method, the device, the equipment and the storage medium for detecting the target have the advantages that the target is detected by emitting the modulated pulse string with specific codes instead of a single pulse, so that the implementation difficulty is high when the target is modulated and detected by the single photon laser radar, and the cost is high; and respectively detecting the targets based on the independent laser pulses, and determining the detection distance of the targets. It can be understood that the independent laser pulses after the modulation pulse train decomposition are emitted in the present application, and therefore, a significant ambient light suppression effect can be achieved, and further, the present application emits a plurality of independent laser pulses having a sequence period time delay with respect to the reference time, which makes the semiconductor laser not always under a very high repetition frequency working condition, and therefore, the temperature rise of the semiconductor laser caused by the increase of the repetition frequency of the emitted light pulses and the performance thermal attenuation generated thereby are avoided, and the difficulty and cost of the design of the laser driving hardware with a high repetition frequency are also reduced.
Further, based on the first embodiment of the present application, another embodiment of the present application is provided, in which the first peak power of the independent laser pulses is larger than the second peak power of the preset modulation pulse train when the preset modulation pulse train is not decomposed.
In this application, because during laser emission, need not emit the laser cluster in succession but will predetermine the modulation pulse train and decompose into independent laser pulse, cause laser drive hardware output power in the unit interval to diminish, and the output energy of laser drive hardware can be unchangeable, therefore, can promote independent laser pulse's first peak power, make it be greater than second peak power when predetermineeing the modulation pulse train and not decomposed, and peak power is big, makes detection distance can be farther, and when ambient light intensity was unanimous, because peak power is big, can make the ambient light correspond the peak value differentiation degree that peak value and photon event correspond bigger, therefore, be favorable to promoting the detection SNR.
That is, the method and the device avoid the compromise of pulse peak power caused by reaching the requirement of high repetition frequency during continuous pulse train emission, can detect by using independent laser pulses with higher peak power, and are favorable for improving the detection signal-to-noise ratio and the detection distance.
Further, based on the first embodiment of the present application, another embodiment of the present application is provided, in which before the step of decomposing the modulation pulse train into a plurality of independent laser pulses to be transmitted with a sequence periodic time delay relative to the reference time, with the start time of the transmission as the reference time, the method includes:
step S01, when a modulation command is detected, extracting modulation information in the modulation command;
and S02, determining the preset modulation pulse train according to the modulation information.
In this embodiment, the modulation setting of the pulse train may be performed on a device or system (software) interface, that is, a user may perform the setting of the modulation parameter on the interface, and further generate the modulation instruction, where the modulation instruction carries modulation information, and based on the modulation information, the preset modulation pulse train is generated in a targeted manner. And furthermore, the requirements of modulation pulse trains under different scenes are met.
In the application, the preset modulation pulse string can be changed according to modulation information in the instruction, so that the target detection does not need to redesign laser driving hardware, namely, the modulation detection function can be realized on the original single photon laser radar hardware system through software updating or FPGA design, the modulation detection implementation difficulty and cost of the single photon laser radar are reduced, and the requirements of different scenes are met.
Referring to fig. 3, fig. 3 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 3, the object detection device may include: a processor 1001, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to enable connection communication between the processor 1001 and the memory 1005.
Optionally, the object detection device may further include a user interface, a network interface, a camera, a Radio Frequency (RF) circuit, a sensor, a WiFi module, and the like. The user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the object detection arrangement illustrated in FIG. 3 does not constitute a limitation of the object detection arrangement, and may include more or fewer components than those illustrated, or some components in combination, or a different arrangement of components.
As shown in fig. 3, a memory 1005, which is a kind of storage medium, may include therein an operating system, a network communication module, and an object detection program. The operating system is a program that manages and controls the hardware and software resources of the object detection device, supporting the operation of the object detection program as well as other software and/or programs. The network communication module is used for communication among the components in the memory 1005 and with other hardware and software in the object detection device.
In the object detection device shown in fig. 3, the processor 1001 is configured to execute an object detection program stored in the memory 1005 to implement the steps of the object detection method described in any one of the above.
The specific implementation of the target detection device in the present application is substantially the same as that of each embodiment of the target detection method, and is not described herein again.
The present application further provides a target detection apparatus, the apparatus comprising:
the decomposition module is used for decomposing the modulation pulse train into a plurality of independent laser pulses to be emitted and having sequence period time delay relative to the reference time by taking the initial emission time as the reference time when the target detection instruction is detected;
and the detection module is used for respectively detecting the targets based on the independent laser pulses and determining the detection distance of the targets.
In a possible embodiment of the present application, a first peak power of the individual laser pulses is greater than a second peak power of the preset modulation pulse train when the preset modulation pulse train is not decomposed;
and/or the detection module comprises: the receiving unit is used for respectively detecting targets based on the independent laser pulses and receiving detection event data generated after the targets are detected based on a preset single-photon detector; a first determination unit configured to determine a detection distance of the target based on the detection event data;
and/or the first determination unit comprises: a generation subunit, configured to generate a photon event histogram based on the detection event data; the merging subunit is configured to merge the photon event histogram of each independent laser pulse at the reference time to obtain a modulation detection histogram; the calculation subunit is used for performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine the target flight time; a detection distance determining subunit, configured to determine a detection distance of the target based on the target flight time;
and/or the apparatus further comprises:
the extraction module is used for extracting modulation information in the modulation instruction when the modulation instruction is detected;
the determining module is used for determining the preset modulation pulse train according to the modulation information;
and/or the preset single-photon detector is an SPAD detector or an SPAD array, and in the detection process, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously started.
The specific implementation of the object detection device of the present application is substantially the same as that of each embodiment of the object detection method, and is not described herein again.
The present application provides a storage medium, and the storage medium stores one or more programs, which can be further executed by one or more processors for implementing the steps of the object detection method described in any one of the above.
The specific implementation of the storage medium of the present application is substantially the same as that of each embodiment of the target detection method, and is not described herein again.
The present application also provides a computer program product, comprising a computer program which, when executed by a processor, performs the steps of the object detection method described above.
The specific implementation of the computer program product of the present application is substantially the same as the embodiments of the target detection method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments may be implemented by a software plus hardware platform, or may be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM) and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An object detection method, characterized in that the method comprises:
when a target detection instruction is detected, decomposing a modulation pulse train into a plurality of independent laser pulses to be transmitted and having sequence period time delay relative to the reference time by taking the initial transmission time as the reference time;
and respectively detecting the targets based on the independent laser pulses.
2. The method of claim 1, wherein the individual laser pulses have a first peak power that is greater than a second peak power of the predetermined modulated pulse train when not decomposed.
3. The object detection method of claim 1, wherein the step of separately detecting the object based on the individual laser pulses comprises:
respectively detecting targets based on the independent laser pulses, and receiving detection event data generated after the targets are detected based on a preset single-photon detector;
determining a detection range of the target based on the detection event data.
4. The object detection method of claim 3, wherein the step of determining the detection range of the object based on the detection event data comprises:
generating a photon event histogram based on the detection event data;
combining photon event histograms of the independent laser pulses at the reference time to obtain a modulation detection histogram;
performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine target flight time;
determining a detection range of the target based on the target time of flight.
5. The method of object detection according to claim 1, wherein the step of decomposing the modulated pulse train into a plurality of individual laser pulses to be emitted with a sequential periodic time delay with respect to a reference time instant, based on the starting time instant of the emission, is preceded by the step of:
when a modulation instruction is detected, extracting modulation information in the modulation instruction;
and determining the preset modulation pulse train according to the modulation information.
6. The method for detecting the target of claim 1, wherein the predetermined single photon detector is a SPAD detector or a SPAD array, and the SPAD detector or the SPAD array is synchronously activated if each independent laser pulse is triggered to emit during the detection process.
7. An object detection apparatus, characterized in that the apparatus comprises:
the decomposition module is used for decomposing the modulation pulse train into a plurality of independent laser pulses to be emitted and having sequence period time delay relative to the reference time by taking the initial emission time as the reference time when the target detection instruction is detected;
and the detection module is used for respectively detecting the targets based on the independent laser pulses.
8. The object detection device of claim 7, wherein a first peak power of the individual laser pulses is greater than a second peak power of the preset modulation pulse train when not decomposed;
and/or the detection module comprises: the receiving unit is used for respectively detecting targets based on the independent laser pulses and receiving detection event data generated after the targets are detected based on a preset single-photon detector; a first determination unit configured to determine a detection distance of the target based on the detection event data;
and/or the first determination unit comprises: a generation subunit, configured to generate a photon event histogram based on the detection event data; the merging subunit is configured to merge the photon event histogram of each independent laser pulse at the reference time to obtain a modulation detection histogram; the calculation subunit is used for performing correlation calculation on a preset modulation coding template and the modulation detection histogram to determine the target flight time; a detection distance determining subunit, configured to determine a detection distance of the target based on the target flight time;
and/or the apparatus further comprises:
the extraction module is used for extracting modulation information in the modulation instruction when the modulation instruction is detected;
the determining module is used for determining the preset modulation pulse train according to the modulation information;
and/or the preset single-photon detector is an SPAD detector or an SPAD array, and in the detection process, if each independent laser pulse is triggered to emit, the SPAD detector or the SPAD array is synchronously started.
9. An object detection device comprising a memory, a processor and an object detection program stored on the memory and executable on the processor, the processor implementing the steps of the object detection method according to any one of claims 1 to 6 when executing the object detection program.
10. A storage medium, characterized in that the storage medium has stored thereon an object detection program which, when executed by a processor, implements the steps of the object detection method according to any one of claims 1 to 6.
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