技术领域Technical Field
本申请属于计算机视觉技术领域，尤其涉及一种目标定位方法、装置、电子设备及存储介质。The present application belongs to the field of computer vision technology, and in particular, relates to a target positioning method, device, electronic device and storage medium.
背景技术Background technique
目标检测识别跟踪，是指目标检测、目标识别和目标跟踪。目标检测识别跟踪被广泛应用于机器人导航、智能视频监控、工业检测和航空航天等诸多领域。目标检测识别跟踪可以作为智能监控系统的核心部分。Target detection, recognition and tracking refers to target detection, target recognition and target tracking. Target detection, recognition and tracking are widely used in many fields such as robot navigation, intelligent video surveillance, industrial inspection and aerospace. Target detection, recognition and tracking can be used as the core part of intelligent monitoring system.
目标检测识别跟踪中一项重要的任务是目标定位。智能监控系统进行目标定位的目的是获取目标的位置信息，然后将该目标的位置信息与该目标的图像叠加。An important task in target detection, recognition and tracking is target positioning. The purpose of target positioning in intelligent monitoring systems is to obtain the location information of the target and then superimpose the location information of the target with the image of the target.
图1是现有技术提供的传统目标定位方法的流程示意图。如图1所示，基于传统目标定位方法的目标定位过程可以包括以下步骤。Fig. 1 is a flow chart of a conventional target positioning method provided by the prior art. As shown in Fig. 1, the target positioning process based on the conventional target positioning method may include the following steps.
步骤101、控制相机变焦。先人工控制相机进行变焦。Step 101, control the camera to zoom. First, manually control the camera to zoom.
步骤102、控制伺服电机以固定角度转动。人工控制伺服电机转动，每次转动一个固定角度。Step 102: Control the servo motor to rotate at a fixed angle. The servo motor is manually controlled to rotate at a fixed angle each time.
步骤103、伺服电机转动固定角度后停下。Step 103: The servo motor rotates to a fixed angle and then stops.
步骤104、判断是否识别到目标。若是，则执行步骤105；若否，则执行步骤109。Step 104: Determine whether the target is recognized. If so, execute step 105; if not, execute step 109.
步骤105、跟踪测距。在识别到目标之后，对其中一个目标进行跟踪并测距。Step 105: Tracking and ranging. After the targets are identified, one of the targets is tracked and ranged.
步骤106、定位目标。可以结合全球定位系统(Global Positioning System，GPS)得到的信息定位该目标，得到该目标的位置信息。Step 106: Locate the target. The target can be located by combining information obtained from a global positioning system (GPS) to obtain location information of the target.
步骤107、叠加位置信息。将该目标的位置信息叠加到图片上进行拍照。Step 107: Overlaying the location information: Overlaying the location information of the target on the picture to take a photo.
步骤108、拍照上传。可以将拍照得到的图片通过网络上传到终端。Step 108: Take a photo and upload it. The photo taken can be uploaded to the terminal via the network.
步骤109、判断伺服电机是否转动一周。若是，则执行步骤110；若否，则返回执行步骤102。Step 109, determine whether the servo motor rotates one circle. If yes, execute step 110; if no, return to execute step 102.
步骤110、结束。Step 110, end.
基于传统目标定位方法，伺服电机转动一周的过程中，识别目标并定位的耗时太长，效率低下。Based on the traditional target positioning method, it takes too long to identify and locate the target during one rotation of the servo motor, which is inefficient.
发明内容Summary of the invention
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请提出一种目标定位方法、装置、电子设备及存储介质，能提高目标定位的效率。The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a target positioning method, device, electronic device and storage medium, which can improve the efficiency of target positioning.
第一方面，本申请提供了一种目标定位方法，该方法包括：In a first aspect, the present application provides a target positioning method, the method comprising:
在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制所述扫描振镜暂停本次周扫；When the scanning galvanometer identifies at least one target during the current scanning, the scanning galvanometer is controlled to pause the current scanning;
在未完成对识别到的全部目标的定位的情况下，控制伺服电机对未完成定位的任一目标进行跟踪，获取所述任一目标的第一位置信息，并控制相机对所述任一目标进行拍摄；In the case where positioning of all identified targets is not completed, controlling the servo motor to track any target that has not been positioned, obtaining first position information of any target, and controlling the camera to shoot any target;
将所述第一位置信息叠加至拍摄得到的第一图像上，得到第二图像；superimposing the first position information onto the captured first image to obtain a second image;
将所述第二图像上传至终端。The second image is uploaded to the terminal.
根据本申请的目标定位方法，通过扫描振镜的周扫，在识别到至少一个目标的情况下，控制伺服电机停止转动，执行对目标进行定位、叠加图像和位置信息并上传的操作流程，能减少人工控制，自主进行目标的定位，改变了相关技术中无论是否存在目标，伺服电机均停止转动，然后执行识别目标、对目标进行定位、叠加图像和位置信息并上传的操作流程，并且扫描振镜能实现快速扫描，更快速地识别目标。综上，根据本申请实施例提供的目标定位方法，能实现对目标进行全自主快速检测识别和定位，能减少目标定位的耗时，能提高目标定位的效率。According to the target positioning method of the present application, by scanning the galvanometer, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, superimposing the image and position information, and uploading is executed, which can reduce manual control and autonomously locate the target. It changes the related art that the servo motor stops rotating regardless of whether there is a target, and then the operation process of identifying the target, locating the target, superimposing the image and position information, and uploading is executed, and the scanning galvanometer can realize fast scanning and identify the target more quickly. In summary, according to the target positioning method provided in the embodiment of the present application, it is possible to realize fully autonomous rapid detection, identification, and positioning of the target, reduce the time consumption of target positioning, and improve the efficiency of target positioning.
根据本申请的一个实施例，所述控制伺服电机对未完成定位的任一目标进行跟踪，获取所述任一目标的第一位置信息，包括：According to an embodiment of the present application, controlling the servo motor to track any target that has not completed positioning and obtaining first position information of any target includes:
控制所述伺服电机转动，以使得光电载荷对准所述任一目标；所述光电载荷包括测距设备和定位设备；Controlling the servo motor to rotate so that the photoelectric load is aimed at any one of the targets; the photoelectric load includes a distance measuring device and a positioning device;
基于所述测距设备得到的距离信息、所述定位设备得到的第二位置信息和所述伺服电机转动的角度信息，获取所述第一位置信息。The first position information is acquired based on the distance information obtained by the distance measuring device, the second position information obtained by the positioning device, and the angle information of the rotation of the servo motor.
根据本申请的目标定位方法，通过控制伺服电机转动，使得光电载荷对准目标，基于光电载荷包括的测距设备得到的距离信息、光电载荷包括的定位设备得到的第二位置信息和伺服电机转动的角度信息，获取第一位置信息，能更快速、准确地得到目标的位置信息。According to the target positioning method of the present application, the photoelectric load is aimed at the target by controlling the rotation of the servo motor, and the first position information is obtained based on the distance information obtained by the ranging device included in the photoelectric load, the second position information obtained by the positioning device included in the photoelectric load, and the angle information of the servo motor rotation, so that the position information of the target can be obtained more quickly and accurately.
根据本申请的一个实施例，所述在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制所述扫描振镜暂停本次周扫之前，所述方法包括：According to an embodiment of the present application, when the scanning galvanometer identifies at least one target during the current scanning, before controlling the scanning galvanometer to pause the current scanning, the method includes:
控制所述扫描振镜开始本次周扫，并基于本次周扫获取的扫描信号，获取识别目标的结果；所述结果，用于指示是否识别到目标。The scanning galvanometer is controlled to start this weekly scan, and based on the scanning signal obtained in this weekly scan, a result of identifying the target is obtained; the result is used to indicate whether the target is identified.
根据本申请的一个实施例，所述控制所述伺服电机转动，包括：According to one embodiment of the present application, controlling the servo motor to rotate includes:
基于所述结果，控制所述伺服电机转动。Based on the result, the servo motor is controlled to rotate.
根据本申请的目标定位方法，基于扫描振镜进行本次周扫的过程中识别目标的结果，控制伺服电机转动，能实现更高效地跟踪目标，进而能更高效地对目标进行定位。According to the target positioning method of the present application, based on the result of identifying the target during the scanning process of the scanning galvanometer, the rotation of the servo motor is controlled, so that the target can be tracked more efficiently, and the target can be positioned more efficiently.
根据本申请的一个实施例，所述在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制所述扫描振镜暂停本次周扫之后，所述方法还包括：According to an embodiment of the present application, when the scanning galvanometer identifies at least one target during the current scanning, after controlling the scanning galvanometer to pause the current scanning, the method further includes:
在完成对识别到的全部目标的定位的情况下，控制所述扫描振镜继续进行本次周扫。When all identified targets are positioned, the scanning galvanometer is controlled to continue the current scanning.
根据本申请的目标定位方法，通过在完成对识别到的全部目标的定位的情况下，控制扫描振镜继续进行本次周扫，能全自主继续进行在相机的当前焦距下的目标定位，能减少人工控制，能提高目标定位的效率。According to the target positioning method of the present application, by controlling the scanning galvanometer to continue the current weekly scan after completing the positioning of all identified targets, the target positioning at the current focal length of the camera can be continued fully autonomously, manual control can be reduced, and the efficiency of target positioning can be improved.
根据本申请的一个实施例，所述方法还包括：According to one embodiment of the present application, the method further includes:
在所述扫描振镜进行本次周扫的过程中未识别到目标的情况下，控制所述相机进行变焦后，控制所述扫描振镜进行下一次周扫。When the scanning galvanometer fails to identify the target during the current scanning, the camera is controlled to zoom, and then the scanning galvanometer is controlled to perform the next scanning.
根据本申请的目标定位方法，通过在扫描振镜进行本次周扫的过程中未识别到目标的情况下，控制相机进行变焦后，控制扫描振镜进行下一次周扫，能全自主进行在相机的另一焦距下的目标定位，能减少人工控制，能提高目标定位的效率。According to the target positioning method of the present application, when the scanning galvanometer mirror fails to identify the target during the current scanning process, the camera is controlled to zoom, and then the scanning galvanometer mirror is controlled to perform the next scanning process. This allows the target to be positioned at another focal length of the camera fully autonomously, reduces manual control, and improves the efficiency of target positioning.
第二方面，本申请提供了一种目标定位装置，该装置包括：In a second aspect, the present application provides a target positioning device, the device comprising:
控制模块，用于在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制所述扫描振镜暂停本次周扫；A control module, configured to control the scanning galvanometer to pause the current scanning if at least one target is identified during the scanning galvanometer's current scanning;
定位模块，用于在未完成对识别到的全部目标的定位的情况下，控制伺服电机对未完成定位的任一目标进行跟踪，获取所述任一目标的第一位置信息，并控制相机对所述任一目标进行拍摄；A positioning module, used for controlling the servo motor to track any target that has not been positioned, obtaining first position information of any target, and controlling the camera to shoot any target when positioning of all identified targets has not been completed;
叠加模块，用于将所述第一位置信息叠加至拍摄得到的第一图像上，得到第二图像；A superposition module, used for superimposing the first position information onto the first image obtained by shooting to obtain a second image;
上传模块，用于将所述第二图像上传至终端。An uploading module is used to upload the second image to the terminal.
根据本申请的目标定位装置，通过扫描振镜的周扫，在识别到至少一个目标的情况下，控制伺服电机停止转动，执行对目标进行定位、叠加图像和位置信息并上传的操作流程，能减少人工控制，自主进行目标的定位，改变了相关技术中无论是否存在目标，伺服电机均停止转动，然后执行识别目标、对目标进行定位、叠加图像和位置信息并上传的操作流程，并且扫描振镜能实现快速扫描，更快速地识别目标。综上，根据本申请实施例提供的目标定位方法，能实现对目标进行全自主快速检测识别和定位，能减少目标定位的耗时，能提高目标定位的效率。According to the target positioning device of the present application, by scanning the galvanometer, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, superimposing the image and position information, and uploading is executed, which can reduce manual control and autonomously locate the target. It changes the related art that the servo motor stops rotating regardless of whether there is a target, and then executes the operation process of identifying the target, locating the target, superimposing the image and position information, and uploading. The scanning galvanometer can realize fast scanning and identify the target more quickly. In summary, according to the target positioning method provided in the embodiment of the present application, it is possible to realize fully autonomous rapid detection, identification, and positioning of the target, reduce the time consumption of target positioning, and improve the efficiency of target positioning.
第三方面，本申请提供了一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面所述的目标定位方法。In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the target positioning method as described in the first aspect above is implemented.
第四方面，本申请提供了一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述的目标定位方法。In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the target positioning method as described in the first aspect above.
第五方面，本申请提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的目标定位方法。In a fifth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the target positioning method as described in the first aspect.
第六方面，本申请提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述的目标定位方法。In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the target positioning method as described in the first aspect above.
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1是现有技术提供的传统目标定位方法的流程示意图；FIG1 is a flow chart of a conventional target positioning method provided by the prior art;
图2是本申请实施例提供的目标定位方法的流程示意图之一；FIG2 is a schematic diagram of a flow chart of a target positioning method provided in an embodiment of the present application;
图3是本申请实施例提供的目标定位方法的定位场景的示意图；FIG3 is a schematic diagram of a positioning scenario of a target positioning method provided in an embodiment of the present application;
图4是本申请实施例提供的目标定位方法的流程示意图之二；FIG4 is a second flow chart of a target positioning method provided in an embodiment of the present application;
图5是本申请实施例提供的目标定位装置的结构示意图；FIG5 is a schematic diagram of the structure of a target positioning device provided in an embodiment of the present application;
图6是本申请实施例提供的电子设备的结构示意图。FIG. 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员获得的所有其他实施例，都属于本申请保护的范围。The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.
相关技术中，目标检测识别跟踪是计算机视觉和数字图像处理的一个重要分支和热门方向。通过计算机视觉进行目标检测识别跟踪，对减少对人力资本的消耗具有重要的现实意义。In the related technologies, target detection, recognition and tracking is an important branch and hot direction of computer vision and digital image processing. Target detection, recognition and tracking through computer vision has important practical significance for reducing the consumption of human capital.
相关技术中的目标定位方法，是伺服电机转动固定角度后停下，然后判断是否识别到目标。无论有无目标伺服电机都会停下，因而在伺服电机转动一周的过程中，识别目标并定位会耗费较长的时间，而且在相机不同焦距下都会执行如图1所示的目标定位过程，从而会导致整个系统的流程执行时间过长，系统的运行效率低下。The target positioning method in the related art is that the servo motor stops after rotating a fixed angle, and then determines whether the target is recognized. The servo motor will stop regardless of whether there is a target or not. Therefore, it takes a long time to identify and locate the target during the servo motor's rotation. In addition, the target positioning process shown in Figure 1 will be performed at different focal lengths of the camera, which will lead to a long execution time of the entire system process and low system operation efficiency.
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的目标定位方法、目标定位装置、电子设备和可读存储介质进行详细地说明。The target positioning method, target positioning device, electronic device and readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.
其中，目标定位方法可应用于终端，具体可由，终端中的硬件或软件执行。The target positioning method may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.
该终端包括但不限于具有触摸敏感表面(例如，触摸屏显示器和/或触摸板)的移动电话或平板电脑等便携式通信设备。还应当理解的是，在某些实施例中，该终端可以不是便携式通信设备，而是具有触摸敏感表面(例如，触摸屏显示器和/或触摸板)的台式计算机。The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer with a touch-sensitive surface (e.g., a touch screen display and/or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., a touch screen display and/or a touch pad).
以下各个实施例中，描述了包括显示器和触摸敏感表面的终端。然而，应当理解的是，终端可以包括诸如物理键盘、鼠标和控制杆的一个或多个其它物理用户接口设备。In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.
本申请实施例提供的目标定位方法，该目标定位方法的执行主体可以为电子设备或者电子设备中能够实现该目标定位方法的功能模块或功能实体，本申请实施例提及的电子设备包括但不限于手机、平板电脑、电脑、相机和可穿戴设备等，下面以电子设备作为执行主体为例对本申请实施例提供的目标定位方法进行说明。The target positioning method provided in the embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the target positioning method. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The target positioning method provided in the embodiment of the present application is described below using an electronic device as an example of an execution subject.
如图2所示，该目标定位方法包括：步骤210、步骤220、步骤230和步骤240。As shown in FIG. 2 , the target positioning method includes: step 210 , step 220 , step 230 and step 240 .
步骤210、在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制扫描振镜暂停本次周扫。Step 210: When the scanning galvanometer mirror identifies at least one target during the current scanning, the scanning galvanometer mirror is controlled to pause the current scanning.
需要说明的是，本申请实施例提供的目标定位方法，主要可以应用于基于车载、船载、机载或星载等可移动的平台。It should be noted that the target positioning method provided in the embodiments of the present application can be mainly applied to movable platforms such as vehicle-mounted, ship-mounted, aircraft-mounted or satellite-mounted.
在实际的执行中，本申请实施例利用扫描振镜的周扫模式进行目标的识别。扫描振镜是一种矢量扫描器件，被广泛应用于各种扫描场景。周扫是对设备四周360°的扫描。一般是通过设备旋转一周，实现周扫。扫描振镜完成一次完整的360°的扫描，可以称为一次周扫。本申请实施例中，目标的识别是指识别到不同的目标，但并不识别该目标的具体信息，例如类别等。In actual implementation, the embodiment of the present application utilizes the circumferential scanning mode of the scanning galvanometer to identify the target. The scanning galvanometer is a vector scanning device that is widely used in various scanning scenarios. Circumferential scanning is a 360° scan of the device all around. Generally, the circumferential scan is achieved by rotating the device one circle. A complete 360° scan completed by the scanning galvanometer can be called a circumferential scan. In the embodiment of the present application, target identification refers to identifying different targets, but does not identify the specific information of the target, such as the category.
扫描振镜(Galvo scanner)的设计思路完全沿袭电流表的设计方法，镜片取代了表针，而探头的信号可以由计算机控制的-5V至5V或-10V至+10V的直流信号取代，以完成预定的动作。与转镜式扫描系统相同，扫描振镜采用了一对折返镜，但不同的是，驱动这对折返镜的步进电机被替换为伺服电机。在扫描振镜中，位置传感器的使用和负反馈回路的设计思路进一步保证了整个扫描系统的精度，整个扫描系统的扫描速度和重复定位精度得到大大提升。The design concept of the galvo scanner completely follows the design method of the ammeter. The lens replaces the needle, and the signal of the probe can be replaced by a DC signal of -5V to 5V or -10V to +10V controlled by a computer to complete the predetermined action. Like the rotating mirror scanning system, the galvo scanner uses a pair of folding mirrors, but the difference is that the stepper motor driving the pair of folding mirrors is replaced by a servo motor. In the galvo scanner, the use of position sensors and the design concept of negative feedback loops further ensure the accuracy of the entire scanning system, and the scanning speed and repeated positioning accuracy of the entire scanning system are greatly improved.
需要说明的是，本申请实施例的应用场景中，作为执行主体的电子设备可以是智能光电系统中的一部分。该电子设备可以作为跟踪器并通过控制相机和智能光电系统中的其他设备，来完成该应用场景中的目标定位任务。跟踪器的主要功能是用于识别目标。It should be noted that in the application scenario of the embodiment of the present application, the electronic device as the execution subject can be a part of the intelligent optoelectronic system. The electronic device can be used as a tracker and complete the target positioning task in the application scenario by controlling the camera and other devices in the intelligent optoelectronic system. The main function of the tracker is to identify the target.
在一些实施例中，对于前述车载、船载、机载或星载等可移动的平台，智能光电系统可以设置于该平台的顶端，以减少障碍物的干扰。In some embodiments, for the aforementioned movable platforms such as vehicle-mounted, ship-mounted, aircraft-mounted or satellite-mounted, the intelligent optoelectronic system can be set on the top of the platform to reduce interference from obstacles.
在一些实施例中，相机可以是利用光学成像原理形成影像的专门的电子设备，也可以是计算机或手机等电子设备安装的用于控制自身设置的摄像头或外连的摄像头成像的应用程序。In some embodiments, the camera can be a specialized electronic device that forms images using the principle of optical imaging, or it can be an application installed in electronic devices such as computers or mobile phones to control the imaging of their own cameras or external cameras.
可以理解的是，对于前述车载、船载或星载等可移动的平台，相机可以设置于该平台的顶端及侧面的多个位置。It can be understood that, for the aforementioned movable platforms such as vehicle-mounted, ship-mounted or satellite-mounted, the cameras can be set at multiple positions on the top and side of the platform.
在一些实施例中，除了前述作为执行主体的电子设备之外，智能光电系统还可以包括光电载荷和伺服电机。In some embodiments, in addition to the aforementioned electronic device as the execution subject, the intelligent optoelectronic system may also include an optoelectronic load and a servo motor.
伺服电机，用于通过自身的转动，驱动光电载荷跟随转动。The servo motor is used to drive the photoelectric load to follow the rotation through its own rotation.
伺服电机(servo motor)是指在伺服系统中控制机械元件运转的发动机，是一种补助马达间接变速装置。A servo motor is an engine that controls the operation of mechanical components in a servo system. It is an auxiliary motor indirect speed change device.
伺服电机可以控制速度，位置精度非常准确，可以将电压信号转化为转矩和转速以驱动控制对象。伺服电机的转子的转速受输入信号控制，并能快速反应。在自动控制系统中，伺服电机用作执行元件，且具有机电时间常数小和线性度高等特性，可以将所收到的电信号转换成电动机轴上的角位移或角速度输出，从而通过转子的转动驱动控制对象。Servo motors can control speed and position with high accuracy, and can convert voltage signals into torque and speed to drive the controlled object. The speed of the servo motor's rotor is controlled by the input signal and can respond quickly. In automatic control systems, servo motors are used as actuators, and have the characteristics of small electromechanical time constant and high linearity. They can convert the received electrical signals into angular displacement or angular velocity output on the motor shaft, thereby driving the controlled object through the rotation of the rotor.
需要说明的是，在本申请各实施例的语境中，伺服电机转动，指的是伺服电机的转子转动。伺服电机的控制对象可以为光电载荷。It should be noted that, in the context of the embodiments of the present application, the rotation of the servo motor refers to the rotation of the rotor of the servo motor. The control object of the servo motor may be a photoelectric load.
在一些实施例中，光电载荷可以固定于转台上。伺服电机可以通过自身的转动，驱动转台转动，实现转动光电载荷。In some embodiments, the photoelectric load can be fixed on a turntable. The servo motor can drive the turntable to rotate by rotating itself, thereby rotating the photoelectric load.
光电载荷除了包括前述扫描振镜之外，还可以包括红外探测装置、可见光探测装置和激光探测装置等探测装置中的至少一种。In addition to the aforementioned scanning galvanometer, the photoelectric load may also include at least one of detection devices such as an infrared detection device, a visible light detection device, and a laser detection device.
在一些实施例中，前述作为执行主体的电子设备可以包括携带算力的片上系统(System on Chip，SoC)。In some embodiments, the aforementioned electronic device serving as the execution subject may include a system on chip (SoC) that carries computing power.
片上系统的所有组件都集成在一块芯片上，可以实现高度集成，降低整套智能光电系统的体积和成本。并且，利用片上系统可以在恶劣的工作环境下稳定工作，可以提高整套智能光电系统的可靠性和稳定性，减少故障率。再有，片上系统也更易于升级和维护，可以方便地对软件进行更新和升级，实现高效的数据处理功能。All components of the system on chip are integrated on a single chip, which can achieve high integration and reduce the size and cost of the entire intelligent optoelectronic system. In addition, the system on chip can work stably in harsh working environments, which can improve the reliability and stability of the entire intelligent optoelectronic system and reduce the failure rate. In addition, the system on chip is also easier to upgrade and maintain, and the software can be easily updated and upgraded to achieve efficient data processing functions.
在控制扫描振镜开始本次周扫之后，在伺服电机的驱动下，扫描振镜开始转动并进行扫描。在扫描振镜进行本次周扫的过程中，可以基于扫描振镜的周扫，识别扫描振镜当前扫描的范围内是否存在目标。在当前扫描的范围内存在目标的情况下，还可以进一步识别不同的目标，得到目标的数量。After the scanning galvanometer is controlled to start this round scan, the scanning galvanometer starts to rotate and scan under the drive of the servo motor. During the scanning galvanometer's round scan, it can be identified whether there is a target within the current scanning range of the scanning galvanometer based on the scanning galvanometer's round scan. If there is a target within the current scanning range, different targets can be further identified to obtain the number of targets.
在扫描振镜进行本次周扫的过程中识别到目标的情况下，可以通过控制伺服电机停止转动来控制扫描振镜暂停本次周扫，先对目标范围内的目标进行定位。在当前扫描的范围内存在目标的情况下，该范围为目标范围。When the scanning galvanometer identifies a target during the current scanning process, the scanning galvanometer can be controlled to stop the current scanning by controlling the servo motor to stop rotating, and the target within the target range is first located. If there is a target within the current scanning range, the range is the target range.
需要说明的是，扫描振镜从暂停一次周扫后重新开始该次周扫，到下一次暂停该次周扫，可以称为该次周扫的一个阶段。可以理解的是，扫描振镜开始一次周扫，可以认为是第0次暂停该次周扫。It should be noted that the period from when the scanning galvanometer suspends a scanning cycle and then restarts the scanning cycle to when it suspends the scanning cycle next time can be called a stage of the scanning cycle. It can be understood that when the scanning galvanometer starts a scanning cycle, it can be considered as the 0th suspension of the scanning cycle.
步骤220、在未完成对识别到的全部目标的定位的情况下，控制伺服电机对未完成定位的任一目标进行跟踪，获取任一目标的第一位置信息，并控制相机对任一目标进行拍摄。Step 220: When positioning of all identified targets is not completed, control the servo motor to track any target that has not been positioned, obtain first position information of any target, and control the camera to shoot any target.
在实际的执行中，可以控制伺服电机每次跟踪本次周扫的上一阶段识别到的各个目标中的一个。在跟踪到该目标之后，可以对该目标进行定位，获得该目标的第一位置信息，从而实现对识别到的全部目标的定位。In actual implementation, the servo motor can be controlled to track one of the targets identified in the previous stage of the current scan each time. After tracking the target, the target can be located to obtain the first position information of the target, thereby achieving the positioning of all identified targets.
在一些实施例中，可以控制伺服电机以一定的顺序，依次跟踪上一阶段识别到的每一目标。In some embodiments, the servo motor may be controlled to track each target identified in the previous stage in a certain order.
例如，可以根据目标的方向与扫描振镜已扫描的角度之间的关系，确定伺服电机跟踪目标的顺序，然后控制伺服电机基于该顺序跟踪每一目标。又例如，该顺序可以为以随机方式确定的顺序。对于具体的顺序，本申请实施例不进行具体限定。For example, the order in which the servo motor tracks the target can be determined based on the relationship between the direction of the target and the angle scanned by the scanning galvanometer, and then the servo motor is controlled to track each target based on the order. For another example, the order can be an order determined in a random manner. The specific order is not specifically limited in the embodiments of the present application.
在获取任意一个目标的第一位置信息之后，均判断是否已完成对上一阶段识别到的全部目标的定位，即判断是否已获取上一阶段识别到的所有目标的第一位置信息。After obtaining the first position information of any target, it is determined whether the positioning of all targets identified in the previous stage has been completed, that is, it is determined whether the first position information of all targets identified in the previous stage has been obtained.
若否，则可以基于前述顺序，对下一个目标进行跟踪，然后获取该目标的第一位置信息。If not, the next target may be tracked based on the aforementioned sequence, and then the first position information of the target may be acquired.
在一些实施例中，可以采用相关技术中的任一种获取目标的位置信息的方法，获取目标的第一位置信息。对于具体采用的获取目标的位置信息的方法，本申请实施例不进行具体限定。In some embodiments, any method for obtaining the location information of a target in related technologies may be used to obtain the first location information of the target. The embodiments of the present application do not specifically limit the specific method for obtaining the location information of the target.
在跟踪到该目标之后，还可以同步控制相机对该目标进行拍摄，得到第一图像。After the target is tracked, the camera may be synchronously controlled to shoot the target to obtain a first image.
步骤230、将第一位置信息叠加至拍摄得到的第一图像上，得到第二图像。Step 230: superimpose the first position information onto the captured first image to obtain a second image.
在实际的执行中，在获取第一图像和第一位置信息之后，可以将第一位置信息叠加至第一图像上，得到第二图像。In actual implementation, after acquiring the first image and the first position information, the first position information may be superimposed on the first image to obtain the second image.
在一些实施例中，可以直接将第一位置信息以前景字幕的形式叠加至第一图像上。In some embodiments, the first position information may be directly superimposed on the first image in the form of foreground subtitles.
例如，将第一位置信息以前景字幕的形式叠加至第一图像上，可以包括：将目标的第一位置信息以前景字幕的形式，添加在第一图像中该目标附近的区域，或者添加在第一图像中不影响各目标的显示的区域，并通过放射线连接该区域和该目标。对于将第一位置信息以前景字幕的形式叠加至第一图像上的具体方式，本申请实施例不进行限定。For example, superimposing the first position information on the first image in the form of foreground subtitles may include: adding the first position information of the target in the form of foreground subtitles to an area near the target in the first image, or adding it to an area in the first image that does not affect the display of each target, and connecting the area and the target through radial lines. The specific method of superimposing the first position information on the first image in the form of foreground subtitles is not limited in the embodiments of the present application.
在一些实施例中，也可以将第一位置信息作为第一图像隐形的属性信息叠加至第一图像上，以实现用户可以通过查看第二图像的属性方式，查看各目标的第一位置信息。In some embodiments, the first position information may also be superimposed on the first image as invisible attribute information of the first image, so that the user can view the first position information of each target by viewing the attributes of the second image.
步骤240、将第二图像上传至终端。Step 240: Upload the second image to the terminal.
在实际的执行中，在获取第二图像之后，还可以将第二图像上传至终端，供用户查看，使得用户可以同时查看目标的图像和位置信息。In actual implementation, after acquiring the second image, the second image may also be uploaded to the terminal for viewing by the user, so that the user can view the image and location information of the target at the same time.
终端可以是任意类型的终端，例如个人计算机(Personal Computer，PC)、移动电话或平板电脑等。对于终端的具体类型，本申请实施例不进行限定。The terminal may be any type of terminal, such as a personal computer (PC), a mobile phone, or a tablet computer, etc. The specific type of the terminal is not limited in the embodiment of the present application.
在一些实施例中，可以每次上传一幅第二图像。或者，也可以将本次周扫得到的所有第二图像拼接后，再上述至终端，以减少图像传输的数量，能实现对自主扫描一周识别到的目标进行定位之后上传叠加有位置信息的图像。In some embodiments, one second image may be uploaded each time. Alternatively, all second images obtained in this weekly scan may be stitched together and then uploaded to the terminal to reduce the number of images transmitted, so that the target identified in the autonomous scanning cycle can be located and then the image with the location information superimposed can be uploaded.
根据本申请实施例提供的目标定位方法，通过扫描振镜的周扫，在识别到至少一个目标的情况下，控制伺服电机停止转动，执行对目标进行定位、叠加图像和位置信息并上传的操作流程，能减少人工控制，自主进行目标的定位，改变了相关技术中无论是否存在目标，伺服电机均停止转动，然后执行识别目标、对目标进行定位、叠加图像和位置信息并上传的操作流程，并且扫描振镜能实现快速扫描，更快速地识别目标。综上，根据本申请实施例提供的目标定位方法，能实现对目标进行全自主快速检测识别和定位，能减少目标定位的耗时，能提高目标定位的效率。According to the target positioning method provided in the embodiment of the present application, by scanning the galvanometer, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, superimposing the image and position information, and uploading is executed, which can reduce manual control and autonomously locate the target. It changes the related technology that the servo motor stops rotating regardless of whether there is a target, and then the operation process of identifying the target, locating the target, superimposing the image and position information, and uploading is executed, and the scanning galvanometer can realize fast scanning and identify the target more quickly. In summary, according to the target positioning method provided in the embodiment of the present application, it is possible to realize fully autonomous rapid detection, identification, and positioning of the target, reduce the time consumption of target positioning, and improve the efficiency of target positioning.
在一些实施例中，控制伺服电机对未完成定位的任一目标进行跟踪，获取任一目标的第一位置信息，包括：控制伺服电机转动，以使得光电载荷对准任一目标；光电载荷包括测距设备和定位设备。In some embodiments, controlling the servo motor to track any target that has not yet completed positioning and obtaining the first position information of any target includes: controlling the servo motor to rotate so that the photoelectric load is aimed at any target; the photoelectric load includes a ranging device and a positioning device.
在实际的执行中，控制伺服电机跟踪任一目标，可以包括控制伺服电机转动，使得光电载荷对准该目标。In actual implementation, controlling the servo motor to track any target may include controlling the servo motor to rotate so that the optoelectronic payload is aligned with the target.
测距设备用于测量光电载荷与目标之间的距离。在一些实施例中，测距设备可以是前述激光探测装置。The distance measuring device is used to measure the distance between the photoelectric load and the target. In some embodiments, the distance measuring device can be the aforementioned laser detection device.
可以理解的是，前述可移动的平台会移动，光电载荷还可以包括用于对光电载荷进行定位的定位设备。It is understandable that the aforementioned movable platform will move, and the optoelectronic payload may also include a positioning device for positioning the optoelectronic payload.
在一些实施例中，定位设备可以包括惯性导航装置和基于全球导航卫星系统(Global Navigation Satellite System，GNSS)的终端设备中的至少一种。In some embodiments, the positioning device may include at least one of an inertial navigation device and a terminal device based on a Global Navigation Satellite System (GNSS).
在一些实施例中，GNSS可以包括GPS、北斗卫星导航系统(Beidou NavigationSatellite System，BDS)、格洛纳斯卫星导航系统(GLONASS)和伽利略卫星导航系统(GALILEO)等中的至少一种。In some embodiments, the GNSS may include at least one of GPS, Beidou Navigation Satellite System (BDS), GLONASS, and GALILEO.
基于测距设备得到的距离信息、定位设备得到的第二位置信息和伺服电机转动的角度信息，获取第一位置信息。The first position information is acquired based on the distance information obtained by the distance measuring device, the second position information obtained by the positioning device, and the angle information of the servo motor rotation.
在实际的执行中，在光电载荷对准目标之后，可以通过测距设备测量光电载荷与该目标之间的距离，作为距离信息，并可以通过定位设备对光电载荷自身进行定位，得到光电载荷的第二位置信息。In actual implementation, after the photoelectric load is aligned with the target, the distance between the photoelectric load and the target can be measured by a ranging device as distance information, and the photoelectric load itself can be positioned by a positioning device to obtain second position information of the photoelectric load.
可以理解的是，伺服电机转动的角度信息可以通过伺服电机得到。It can be understood that the angle information of the servo motor rotation can be obtained by the servo motor.
获取光电载荷与目标之间的距离、光电载荷的第二位置信息和伺服电机转动的角度信息之后，可以将光电载荷的第二位置信息作为基准，将光电载荷与目标之间的距离作为偏移量，将伺服电机转动的角度信息作为偏移角度，从而可以基于上述基准、偏移量和偏移角度，得到该目标的第一位置信息。After obtaining the distance between the photoelectric load and the target, the second position information of the photoelectric load and the angle information of the servo motor rotation, the second position information of the photoelectric load can be used as a reference, the distance between the photoelectric load and the target as an offset, and the angle information of the servo motor rotation as an offset angle, so that the first position information of the target can be obtained based on the above reference, offset and offset angle.
在一些实施例中，第一位置信息和第二位置信息均可以包括经纬度，还可以包括海拔高度等信息。In some embodiments, the first location information and the second location information may both include longitude and latitude, and may also include information such as altitude.
需要说明的是，通过伺服电机转动实现扫描振镜进行一个阶段的周扫，可以视为伺服电机转动一个较大的角度，而通过控制伺服电机转动使得光电载荷对准该阶段识别到的一个目标，则可以视为伺服电机以该较大的角度为基准，转动一个很小的角度，因而不会在伺服电机的转动上产生过多的时间消耗，仅仅只是略多于伺服电机转动一周的耗时，但在识别目标并定位的流程上，可以比相关技术节约大量的时间。It should be noted that the scanning galvanometer performs a stage of circle scanning through the rotation of the servo motor, which can be regarded as the servo motor rotating a larger angle, and by controlling the rotation of the servo motor so that the photoelectric load is aligned with a target identified in this stage, it can be regarded as the servo motor rotating a very small angle based on the larger angle. Therefore, it will not consume too much time on the rotation of the servo motor, and it is only slightly more than the time taken for the servo motor to rotate one circle. However, in the process of identifying and positioning the target, it can save a lot of time compared with related technologies.
根据本申请实施例提供的目标定位方法，通过控制伺服电机转动，使得光电载荷对准目标，基于光电载荷包括的测距设备得到的距离信息、光电载荷包括的定位设备得到的第二位置信息和伺服电机转动的角度信息，获取第一位置信息，能更快速、准确地得到目标的位置信息。According to the target positioning method provided in the embodiment of the present application, the photoelectric load is aimed at the target by controlling the rotation of the servo motor, and the first position information is obtained based on the distance information obtained by the ranging device included in the photoelectric load, the second position information obtained by the positioning device included in the photoelectric load, and the angle information of the servo motor rotation, so that the position information of the target can be obtained more quickly and accurately.
在一些实施例中，在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制扫描振镜暂停本次周扫之前，该方法包括：控制扫描振镜开始本次周扫，并基于本次周扫获取的扫描信号，获取识别目标的结果；结果，用于指示是否识别到目标。In some embodiments, when the scanning galvanometer mirror identifies at least one target during the current scan, before controlling the scanning galvanometer mirror to pause the current scan, the method includes: controlling the scanning galvanometer mirror to start the current scan, and obtaining the result of identifying the target based on the scanning signal obtained in the current scan; the result is used to indicate whether the target is identified.
在实际的执行中，在相机的焦距固定之后，可以控制扫描振镜开始本次周扫。在扫描振镜周扫的过程中，可以得到扫描信号；可以对扫描信号进行分析，获得识别目标的结果。In actual implementation, after the focal length of the camera is fixed, the scanning galvanometer can be controlled to start the current scanning. During the scanning galvanometer scanning process, a scanning signal can be obtained; the scanning signal can be analyzed to obtain the result of identifying the target.
在一些实施例中，识别目标的结果可以包括扫描振镜当前扫描的范围内是否存在目标，以及目标的数量。在一些实施例中，识别目标的结果还可以包括每一目标的大致方向的信息。In some embodiments, the result of identifying the target may include whether there is a target within the current scanning range of the scanning galvanometer, and the number of targets. In some embodiments, the result of identifying the target may also include information on the approximate direction of each target.
根据本申请实施例提供的目标定位方法，通过扫描振镜本次周扫获取的扫描信号，获取识别目标的结果，可以基于该结果确定是否识别到目标，从而能实现在识别到至少一个目标的情况下，控制伺服电机停止转动，执行对目标进行定位、叠加图像和位置信息并上传的操作流程，能减少人工控制，自主进行目标的定位，能实现对目标进行全自主快速检测识别和定位，能减少目标定位的耗时，能提高目标定位的效率。According to the target positioning method provided in the embodiment of the present application, the result of identifying the target is obtained by scanning the scanning signal obtained by the scanning galvanometer in this weekly scan, and whether the target is identified can be determined based on the result, so that when at least one target is identified, the servo motor can be controlled to stop rotating, and the operation process of locating the target, superimposing the image and position information and uploading it can be executed. This can reduce manual control, autonomously locate the target, realize fully autonomous rapid detection, identification and positioning of the target, reduce the time consumption of target positioning, and improve the efficiency of target positioning.
在一些实施例中，控制伺服电机转动，包括：基于结果，控制伺服电机转动。In some embodiments, controlling the servo motor to rotate includes: controlling the servo motor to rotate based on the result.
在实际的执行中，可以基于识别目标的结果，确定识别到的各目标的大致方向，从而可以基于各目标的大致方向，控制伺服电机转动，实现以一定的顺序，依次跟踪上一阶段识别到的每一目标。In actual implementation, the approximate direction of each identified target can be determined based on the result of target identification, so that the rotation of the servo motor can be controlled based on the approximate direction of each target, so as to track each target identified in the previous stage in a certain order.
为了便于对本申请实施例中对扫面振镜本次周扫的上一阶段识别到的各个目标进行定位的过程，下面结合图3进行示例性说明。In order to facilitate the process of locating each target identified by the scanning galvanometer in the previous stage of the current scanning in the embodiment of the present application, an exemplary description is given below in conjunction with FIG. 3 .
图3是本申请实施例提供的目标定位方法的定位场景的示意图。图3示出了一种针对多个目标的定位场景，扫面振镜本次周扫的上一阶段识别到n个目标，n为正整数。对于图3所示的场景，可以基于识别目标的结果，先将伺服电机转动至用于跟踪目标1的位置，使得光电载荷300对准目标1，然后利用激光器310进行激光测距，获取光电载荷与目标1之间的距离信息，并利用惯性导航装置320得到光电载荷300的第二位置信息(以经纬度信息表示)，再基于该距离信息和第二位置信息，得到目标1的经纬度信息作为目标1的第一位置信息；接下来伺服电机转动至用于跟踪目标2的位置，按照上述获取目标1的第一位置信息的步骤，得到目标2的第一位置信息；重复上述过程，直至获取目标n的第一位置信息。FIG3 is a schematic diagram of a positioning scenario of a target positioning method provided by an embodiment of the present application. FIG3 shows a positioning scenario for multiple targets, in which the scanning galvanometer identifies n targets in the previous stage of this weekly scan, where n is a positive integer. For the scenario shown in FIG3, based on the result of identifying the target, the servo motor can be first rotated to a position for tracking target 1, so that the photoelectric load 300 is aligned with target 1, and then the laser 310 is used for laser ranging to obtain the distance information between the photoelectric load and target 1, and the inertial navigation device 320 is used to obtain the second position information of the photoelectric load 300 (expressed in longitude and latitude information), and then based on the distance information and the second position information, the longitude and latitude information of target 1 is obtained as the first position information of target 1; next, the servo motor is rotated to a position for tracking target 2, and the first position information of target 2 is obtained according to the above steps for obtaining the first position information of target 1; the above process is repeated until the first position information of target n is obtained.
可以理解的是，激光器310是测距设备，惯性导航装置320是定位设备均为示例性描述，测距设备和定位设备均可以是其他类型的设备，只需分别能实现测距功能和定位功能即可。It is understandable that the laser 310 is a distance measuring device, and the inertial navigation device 320 is a positioning device, which are both exemplary descriptions. The distance measuring device and the positioning device can be other types of devices as long as they can respectively realize the distance measuring function and the positioning function.
惯性导航装置是一种具有惯性导航功能的装置。惯性导航(inertialnavigation)是一种不依赖于外部信息、也不向外部辐射能量的自主式导航技术。惯性导航装置的工作环境不仅包括空中、地面，还可以在水下。惯性导航的基本工作原理是以牛顿力学定律为基础，通过测量载体(例如飞机、汽车或轮船等)在惯性参考系的加速度，将它对时间进行积分，且把它变换到导航坐标系中，就能够得到在导航坐标系中的速度、偏航角和位置等信息。An inertial navigation device is a device with inertial navigation function. Inertial navigation is an autonomous navigation technology that does not rely on external information and does not radiate energy to the outside. The working environment of the inertial navigation device includes not only the air and the ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier (such as an airplane, car or ship) in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it is possible to obtain information such as speed, yaw angle and position in the navigation coordinate system.
相较于基于GPS等GNSS进行定位，通过惯性导航装置进行定位由于它是不依赖于任何外部信息，也不向外部辐射能量的自主式系统，故隐蔽性好，也不受外界电磁干扰的影响，可全天候、全时间地工作于空中、地球表面乃至水下，所获取的位置信息的连续性好而且噪声低，还具有数据更新率高、短期精度和稳定性好等优点。Compared with positioning based on GNSS such as GPS, positioning through inertial navigation devices is an autonomous system that does not rely on any external information and does not radiate energy to the outside. Therefore, it has good concealment and is not affected by external electromagnetic interference. It can work in the air, on the surface of the earth and even underwater around the clock and at all times. The acquired position information has good continuity and low noise, and also has the advantages of high data update rate, good short-term accuracy and stability.
需要说明的是，通过伺服电机转动实现扫描振镜进行一个阶段的周扫，可以视为伺服电机转动一个较大的角度，而通过控制伺服电机转动使得光电载荷对准该阶段识别到的一个目标，则可以视为伺服电机以该较大的角度为基准，转动一个很小的角度，因而伺服电机对目标的跟踪更加高效、准确。It should be noted that the rotation of the servo motor to achieve a scanning galvanometer for a stage of circle scanning can be regarded as the servo motor rotating a larger angle, and by controlling the rotation of the servo motor so that the photoelectric load is aligned with a target identified in this stage, it can be regarded as the servo motor rotating a very small angle based on the larger angle, so the servo motor tracks the target more efficiently and accurately.
根据本申请实施例提供的目标定位方法，基于扫描振镜进行本次周扫的过程中识别目标的结果，控制伺服电机转动，能实现更高效地跟踪目标，进而能更高效地对目标进行定位。According to the target positioning method provided in the embodiment of the present application, based on the result of identifying the target during the scanning of the galvanometer, the rotation of the servo motor is controlled, so that the target can be tracked more efficiently, and the target can be positioned more efficiently.
在一些实施例中，在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制扫描振镜暂停本次周扫之后，方法还包括：在完成对识别到的全部目标的定位的情况下，控制扫描振镜继续进行本次周扫。In some embodiments, when the scanning galvanometer mirror identifies at least one target during the current scanning, after controlling the scanning galvanometer mirror to pause the current scanning, the method further includes: when the positioning of all identified targets is completed, controlling the scanning galvanometer mirror to continue the current scanning.
在实际的执行中，在获取任意一个目标的第一位置信息之后，均判断是否已完成对上一阶段识别到的全部目标的定位，即判断是否已获取上一阶段识别到的所有目标的第一位置信息。In actual execution, after obtaining the first position information of any target, it is determined whether the positioning of all targets identified in the previous stage has been completed, that is, it is determined whether the first position information of all targets identified in the previous stage has been obtained.
若是，则说明上一阶段识别到的所有目标的第一位置信息均已获取到，可以控制扫描振镜继续进行本次周扫，即进行本次周扫的一个新的阶段。If so, it means that the first position information of all targets identified in the previous stage has been obtained, and the scanning galvanometer can be controlled to continue the current scan, that is, a new stage of the current scan is performed.
根据本申请实施例提供的目标定位方法，通过在完成对识别到的全部目标的定位的情况下，控制扫描振镜继续进行本次周扫，能全自主继续进行在相机的当前焦距下的目标定位，能减少人工控制，能提高目标定位的效率。According to the target positioning method provided in the embodiment of the present application, by controlling the scanning galvanometer to continue the current weekly scan after completing the positioning of all identified targets, the target positioning at the current focal length of the camera can be continued fully autonomously, manual control can be reduced, and the efficiency of target positioning can be improved.
在一些实施例中，该方法还包括：在扫描振镜进行本次周扫的过程中未识别到目标的情况下，控制相机进行变焦后，控制扫描振镜进行下一次周扫。In some embodiments, the method further includes: if the scanning galvanometer mirror fails to identify the target during the current scanning, controlling the camera to zoom, and then controlling the scanning galvanometer mirror to perform the next scanning.
在实际的执行中，在扫描振镜完成一次周扫的过程中，未识别到任何目标，可以控制相机进行变焦，重新执行步骤210至步骤240的流程，进行下一次周扫并基于下一次周扫的过程，再次进行目标定位。In actual implementation, if no target is identified during a scanning process of the scanning galvanometer, the camera can be controlled to zoom and the process from step 210 to step 240 can be re-executed to perform the next scanning process and locate the target again based on the next scanning process.
根据本申请实施例提供的目标定位方法，通过在扫描振镜进行本次周扫的过程中未识别到目标的情况下，控制相机进行变焦后，控制扫描振镜进行下一次周扫，能全自主进行在相机的另一焦距下的目标定位，能减少人工控制，能提高目标定位的效率。According to the target positioning method provided in the embodiment of the present application, by controlling the camera to zoom when the scanning galvanometer mirror fails to identify the target during the current scan, and then controlling the scanning galvanometer mirror to perform the next scan, the target can be positioned at another focal length of the camera fully autonomously, manual control can be reduced, and the efficiency of target positioning can be improved.
为了便于对本申请上述各实施例的理解，下面对目标定位方法的一个实施过程进行示例性说明。In order to facilitate the understanding of the above-mentioned embodiments of the present application, an implementation process of the target positioning method is exemplified below.
图4是本申请实施例提供的目标定位方法的流程示意图之二。如图4所示，该目标定位方法可以包括以下步骤。Fig. 4 is a second flow chart of the target positioning method provided in the embodiment of the present application. As shown in Fig. 4, the target positioning method may include the following steps.
步骤401、开启目标定位。Step 401: Start target positioning.
可以通过终端先设置好相机的焦距，然后一键开启自动识别跟踪定位模式，进行对目标的自动识别、跟踪和定位。You can set the focal length of the camera through the terminal first, and then turn on the automatic identification, tracking and positioning mode with one click to automatically identify, track and locate the target.
步骤402、控制扫描振镜进行周扫。Step 402: Control the scanning galvanometer to perform a circular scan.
控制伺服电机启动扫描振镜开始本次周扫。The servo motor is controlled to start the scanning galvanometer to begin this weekly scan.
步骤403、判断是否识别到目标。Step 403: Determine whether the target is recognized.
若是，则执行步骤404；若否，则继续执行步骤402。If yes, execute step 404; if no, continue to execute step 402.
步骤404、控制扫描振镜暂停周扫。Step 404: Control the scanning galvanometer to stop scanning.
在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制扫描振镜暂停本次周扫。When the scanning galvanometer recognizes at least one target during the current scanning, the scanning galvanometer is controlled to pause the current scanning.
步骤405、依次跟踪目标。Step 405: Track the targets in sequence.
控制伺服电机依次跟踪本次周扫的过程中识别到的每一个目标。The servo motor is controlled to track each target identified during this scanning process in turn.
步骤406、激光测距。Step 406: Laser ranging.
对前述目标，进行激光测距，得到光电载荷与该目标之间的距离，作为距离信息。For the above-mentioned target, laser ranging is performed to obtain the distance between the photoelectric load and the target as distance information.
步骤407、定位拍照。Step 407: Position and take photos.
基于上述距离信息和光电载荷的第二位置信息，对该目标进行定位，得到该目标的第一位置信息，并可以控制相机对该目标进行拍照，得到第一图像。Based on the above distance information and the second position information of the photoelectric load, the target is positioned to obtain the first position information of the target, and the camera can be controlled to take a picture of the target to obtain a first image.
步骤408、上传终端。Step 408, upload terminal.
将该目标的第一位置信息与第一图像叠加，得到第二图像。得到第二图像之后，将第二图像上传至终端。The first position information of the target is superimposed on the first image to obtain a second image. After the second image is obtained, the second image is uploaded to the terminal.
步骤409、判断是否全部目标定位完成。Step 409: Determine whether all targets have been positioned.
若是，则执行步骤410；若否，则返回执行步骤405。If yes, execute step 410 ; if no, return to execute step 405 .
步骤410、目标定位结束。Step 410: Target positioning is completed.
在不需要调整相机的焦距再次进行目标定位的情况下，在当前焦距下的目标定位过程结束，从而整个目标定位过程也结束。In the case where there is no need to adjust the focal length of the camera to perform target positioning again, the target positioning process at the current focal length ends, and thus the entire target positioning process also ends.
在需要调整相机的焦距再次进行目标定位的情况下，在当前焦距下的目标定位过程结束，然后控制相机调整焦距后，重新执行步骤401至步骤410的目标定位流程，在调整后的焦距下进行目标定位，直至所有需要的焦距下的目标定位过程均结束，从而整个目标定位过程也结束。In the case where it is necessary to adjust the focal length of the camera to perform target positioning again, the target positioning process at the current focal length is completed, and then the camera is controlled to adjust the focal length, and the target positioning process from step 401 to step 410 is re-executed to perform target positioning at the adjusted focal length until the target positioning process at all required focal lengths is completed, thereby completing the entire target positioning process.
本申请实施例提供的目标定位方法，执行主体可以为目标定位装置。本申请实施例中以目标定位装置执行目标定位方法为例，说明本申请实施例提供的目标定位装置。The target positioning method provided in the embodiment of the present application can be executed by a target positioning device. In the embodiment of the present application, the target positioning device executing the target positioning method is taken as an example to illustrate the target positioning device provided in the embodiment of the present application.
本申请实施例还提供一种目标定位装置。The embodiment of the present application also provides a target positioning device.
如图5所示，该目标定位装置包括：控制模块510、定位模块520、叠加模块530和上传模块540。As shown in FIG. 5 , the target positioning device includes: a control module 510 , a positioning module 520 , a superposition module 530 and an upload module 540 .
控制模块510，用于在扫描振镜进行本次周扫的过程中识别到至少一个目标的情况下，控制扫描振镜暂停本次周扫；The control module 510 is used to control the scanning galvanometer to pause the current scanning if at least one target is identified during the scanning galvanometer.
定位模块520，用于在未完成对识别到的全部目标的定位的情况下，控制伺服电机对未完成定位的任一目标进行跟踪，获取任一目标的第一位置信息，并控制相机对任一目标进行拍摄；The positioning module 520 is used to control the servo motor to track any target that has not been positioned, obtain the first position information of any target, and control the camera to shoot any target when the positioning of all identified targets has not been completed;
叠加模块530，用于将第一位置信息叠加至拍摄得到的第一图像上，得到第二图像；The superposition module 530 is used to superimpose the first position information onto the first image obtained by shooting to obtain a second image;
上传模块540，用于将第二图像上传至终端。The uploading module 540 is used to upload the second image to the terminal.
根据本申请实施例提供的目标定位装置，通过扫描振镜的周扫，在识别到至少一个目标的情况下，控制伺服电机停止转动，执行对目标进行定位、叠加图像和位置信息并上传的操作流程，能减少人工控制，自主进行目标的定位，改变了相关技术中无论是否存在目标，伺服电机均停止转动，然后执行识别目标、对目标进行定位、叠加图像和位置信息并上传的操作流程，并且扫描振镜能实现快速扫描，更快速地识别目标。综上，根据本申请实施例提供的目标定位方法，能实现对目标进行全自主快速检测识别和定位，能减少目标定位的耗时，能提高目标定位的效率。According to the target positioning device provided in the embodiment of the present application, through the scanning galvanometer, when at least one target is identified, the servo motor is controlled to stop rotating, and the operation process of locating the target, superimposing the image and position information, and uploading is executed, which can reduce manual control and autonomously locate the target. It changes the related technology that the servo motor stops rotating regardless of whether there is a target, and then executes the operation process of identifying the target, locating the target, superimposing the image and position information, and uploading, and the scanning galvanometer can realize fast scanning and identify the target more quickly. In summary, according to the target positioning method provided in the embodiment of the present application, it is possible to realize fully autonomous rapid detection, identification, and positioning of the target, reduce the time consumption of target positioning, and improve the efficiency of target positioning.
在一些实施例中，控制模块510，还可以用于控制伺服电机转动，以使得光电载荷对准任一目标；光电载荷包括测距设备和定位设备；In some embodiments, the control module 510 can also be used to control the rotation of the servo motor so that the optoelectronic payload is aimed at any target; the optoelectronic payload includes a distance measuring device and a positioning device;
定位模块520，可以具体用于基于测距设备得到的距离信息、定位设备得到的第二位置信息和伺服电机转动的角度信息，获取第一位置信息。The positioning module 520 may be specifically configured to obtain the first position information based on the distance information obtained by the distance measuring device, the second position information obtained by the positioning device, and the rotation angle information of the servo motor.
在一些实施例中，控制模块510，还可以用于控制扫描振镜开始本次周扫，并基于本次周扫获取的扫描信号，获取识别目标的结果；结果，用于指示是否识别到目标。In some embodiments, the control module 510 can also be used to control the scanning galvanometer to start this cycle scan, and obtain the result of identifying the target based on the scanning signal obtained in this cycle scan; the result is used to indicate whether the target is identified.
在一些实施例中，控制模块510，可以具体用于基于结果，控制伺服电机转动。In some embodiments, the control module 510 may be specifically configured to control the rotation of the servo motor based on the result.
在一些实施例中，控制模块510，还可以用于在完成对识别到的全部目标的定位的情况下，控制扫描振镜继续进行本次周扫。In some embodiments, the control module 510 can also be used to control the scanning galvanometer to continue the current scan after positioning all identified targets.
在一些实施例中，控制模块510，还可以用于在扫描振镜进行本次周扫的过程中未识别到目标的情况下，控制相机进行变焦后，控制扫描振镜进行下一次周扫。In some embodiments, the control module 510 can also be used to control the camera to zoom and then control the scanning galvanometer to perform the next scanning if the scanning galvanometer fails to identify the target during the current scanning.
本申请实施例中的目标定位装置可以是电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端，也可以为除终端之外的其他设备。示例性的，电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtualreality，VR)设备、机器人、可穿戴设备、超级移动个人计算机(ultra-mobile personalcomputer，UMPC)、上网本或者个人数字助理(personal digital assistant，PDA)等，还可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personalcomputer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。The target positioning device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.
本申请实施例中的目标定位装置可以为具有操作系统的装置。该操作系统可以为安卓(Android)操作系统，可以为iOS操作系统，还可以为其他可能的操作系统，本申请实施例不作具体限定。The target positioning device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.
本申请实施例提供的目标定位装置能够实现图2至图4的方法实施例实现的各个过程，为避免重复，这里不再赘述。The target positioning device provided in the embodiment of the present application can implement each process implemented by the method embodiments of Figures 2 to 4, and will not be described again here to avoid repetition.
在一些实施例中，如图6所示，本申请实施例还提供一种电子设备600，包括处理器610、存储器620及存储在存储器620上并可在处理器610上运行的计算机程序，该程序被处理器610执行时实现上述目标定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。In some embodiments, as shown in FIG6 , an embodiment of the present application further provides an electronic device 600, including a processor 610, a memory 620, and a computer program stored in the memory 620 and executable on the processor 610. When the program is executed by the processor 610, each process of the above-mentioned target positioning method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.
需要说明的是，本申请实施例中的电子设备包括上述所述的移动电子设备和非移动电子设备。It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.
本申请实施例还提供一种非暂态计算机可读存储介质，该非暂态计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现上述目标定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned target positioning method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
其中，所述处理器为上述实施例中所述的电子设备中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
本申请实施例还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述目标定位方法。An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned target positioning method when executed by a processor.
其中，所述处理器为上述实施例中所述的电子设备中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述目标定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned target positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
应理解，本申请实施例提到的芯片还可以称为系统级芯片、系统芯片、芯片系统或片上系统芯片等。It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.
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| CN202410057936.1ACN118018839A (en) | 2024-01-15 | 2024-01-15 | Target positioning method, target positioning device, electronic equipment and storage medium |
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| CN202410057936.1ACN118018839A (en) | 2024-01-15 | 2024-01-15 | Target positioning method, target positioning device, electronic equipment and storage medium |
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| CN202410057936.1APendingCN118018839A (en) | 2024-01-15 | 2024-01-15 | Target positioning method, target positioning device, electronic equipment and storage medium |
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