CN111596307A - Laser detection method and device - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The application relates to a laser detection method and a device, wherein the method comprises the following steps: acquiring a natural landscape image of a target area acquired by a camera device; determining an object of interest in the target area according to the natural landscape image; controlling a laser transmitter to transmit laser to the interested object according to the interested object; receiving a first reflection signal of the laser reflected by the object of interest; the state of the object of interest is determined from the first reflected signal. According to the laser detection method, the natural landscape image acquisition is carried out on the target area, the interested object is determined according to the natural landscape image, the detection target is focused on the interested object, the large-range laser signal emission and acquisition are avoided, the data volume of detection calculation is reduced, the complexity of detection calculation is reduced, the calculation efficiency of laser detection is improved, the method can further calibrate the detected data, the calibration result is more accurate, and the safety of vehicles in high-speed operation is ensured.
Description
Technical Field
The invention belongs to the technical field of laser detection, and particularly relates to a laser detection method and device.
Background
The automatic driving technology is a technology which depends on the cooperative cooperation of artificial intelligence, visual calculation, a monitoring device and a global positioning system, so that a traffic tool can drive safely without any active operation of human beings. In recent years, automatic driving technology has become an increasingly object of much enterprise tout and research.
The accurate detection and rapid calculation of the environment of the advancing direction when a vehicle runs at a high speed are important technologies for ensuring the driving safety in the automatic driving technology, the data size of calculation is large in the current detection scheme, even a plurality of supercomputers are required to be used for calculation, and a simple and efficient detection scheme is urgently needed.
Disclosure of Invention
The application provides a laser detection method and a laser detection device, which are used for solving the technical problems of large operation data volume and complex calculation of a detection scheme in the existing automatic driving technology.
The first aspect of the present application provides a laser detection method, including:
acquiring a natural landscape image of a target area acquired by a camera device;
determining an object of interest in the target region according to the natural landscape image;
controlling a laser transmitter to transmit laser to the interested object according to the interested object;
receiving a first reflection signal of the laser reflected by the object of interest;
determining a first state of the object of interest from the first reflected signal.
This application second aspect provides a laser detection device, and the device includes:
the acquisition module is used for acquiring a natural landscape image of a target area acquired by the camera device;
the interested object determining module is used for determining the interested object in the target area according to the natural landscape image;
the first laser emitting module is used for controlling a laser emitter to emit laser to the interested object according to the interested object;
a first reflected signal receiving module, configured to receive a first reflected signal that is obtained by reflecting the laser through the object of interest;
a first state determination module for determining a first state of the object of interest from the first reflected signal.
As can be seen from the above description, the present application provides a laser detection method, which includes: acquiring a natural landscape image of a target area acquired by a camera device; determining an object of interest in the target area according to the natural landscape image; controlling a laser transmitter to transmit laser to the interested object according to the interested object; receiving a first reflection signal of the laser reflected by the object of interest; the state of the object of interest is determined from the first reflected signal. According to the laser detection method, the natural landscape image acquisition is carried out on the target area, the interested object is determined according to the natural landscape image, and the detection target is focused on the interested object, so that the emission and acquisition of laser signals in a large range are avoided, the data volume of detection calculation is reduced, the complexity of the detection calculation is reduced, and the calculation efficiency of the laser detection is improved. When the vehicle runs at high speed, the safety in running is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a laser detection method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a laser detection device according to an embodiment of the present application.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, which is a schematic flow chart of a laser detection method provided by the present invention, the method includes the following steps:
in the embodiment of the application, when the automatic driving vehicle runs, the camera device loaded in the vehicle shoots the natural landscape image of the target area in real time, the target area can be set according to the actual situation, can be set to be within a preset range in front of the vehicle, can also be set to be within a 360-degree range around the vehicle for panoramic shooting, and even can shoot above the vehicle to obtain the natural landscape image of the space above the vehicle. And the processor acquires the natural landscape image of the target area acquired by the camera device in real time for analysis.
In the embodiment of the application, after the natural landscape image shot by the camera device in real time is acquired, the acquired natural landscape image is automatically analyzed to determine objects which can cause danger to driving safety in the natural landscape image, and the objects are determined to be interested objects. The object of interest may be a pedestrian, a driving vehicle, a roadside billboard, a moving animal, etc., or may be a debris flow, a mountain cave or a fallen tree, etc. Some fixed objects such as roads, houses, rivers, etc. may be set as non-interesting objects. The interested object can be automatically judged by the processor and can also be determined by receiving instructions of a user through the human-computer interaction interface. In the automatic determination mode, the category of the object of interest may be input by a user or may be loaded by a processor connected to the internet for automatic acquisition.
And 103, controlling a laser transmitter to transmit laser to the interested object according to the interested object.
104, receiving a first reflection signal emitted by the laser through the interested object;
the state of the object of interest is determined from the first reflected signal, step 105.
In an embodiment of the present application, after determining an object of interest that may pose a threat to the operation of the autonomous vehicle, the laser detection device onboard the autonomous vehicle is controlled to perform laser detection on the object of interest determined in step 102. Namely, the laser emitter is controlled to emit laser with specific frequency to the interested object, and then another camera device is adopted to collect the reflected signal reflected by the interested object. Generally, the laser emitted by the laser emitter adopts light rays with frequencies outside the visual field of human eyes, such as ultraviolet light or infrared light, so as to avoid interference of natural light on the detection signal. A filter can be arranged in front of the lens of the camera for receiving the reflected signal so as to filter out light rays with different laser frequencies from the emitted light, so that the received reflected signal is more accurate. After receiving the reflected signal, the state of the object of interest can be determined according to the reflected signal, thereby completing the detection of the object of interest.
As can be seen from the above description, the laser detection method provided in the embodiments of the present application includes: acquiring a natural landscape image of a target area acquired by a camera device; determining an object of interest in the target area according to the natural landscape image; controlling a laser transmitter to transmit laser to the interested object according to the interested object; receiving a first reflection signal of the laser reflected by the object of interest; the state of the object of interest is determined from the first reflected signal. According to the laser detection method, the natural landscape image acquisition is carried out on the target area, the interested object is determined according to the natural landscape image, the detection target is focused on the interested object, and the object except the interested object does not need to be detected, so that the emission and acquisition of laser signals in a large range are avoided, the data volume of detection calculation is reduced, the complexity of the detection calculation is reduced, and the calculation efficiency of the laser detection is improved. When the vehicle runs at high speed, the faster detection efficiency can further improve the safety during running.
Further, after determining the first state of the object of interest from the first reflected signal, the method further includes:
detecting the distance between two reference objects fixedly arranged opposite to the detecting device;
comparing the measured distance with the actual distance of the two reference objects to obtain a calibration parameter;
and calibrating the first state by using the calibration parameters to obtain a second state of the interested object, and determining the second state as the final state of the interested object.
In the embodiment of the application, because the air near the vehicle in the advancing direction of the vehicle is compressed during the running process of the automatic driving vehicle, especially during the high-speed running process, the air density is higher than the normal atmospheric pressure, and generally, the closer to the vehicle, the higher the air density is. The state of the object of interest to be measured is also biased because the laser light propagating in the air is affected by the air density unevenness to cause refraction, i.e. the detected laser light does not propagate along a straight line but along a curved line during detection. Therefore, it is desirable to calibrate the detected first state of the object of interest such that the detected state of the object of interest is more accurate. The calibration method provided by the embodiment of the application can be used for arranging two reference objects with fixed distance on a vehicle, for example, two sign lines fixedly arranged on the head of the vehicle. In the operation process, the detection device detects the distance between the two reference objects in real time and compares the detected distance with the actual distance to determine the calibration parameters. After the calibration parameter is determined, the first state of the detected interested object is calibrated by using the calibration parameter, so that the second state of the interested object is obtained. And determining the calibrated second state as the final state of the object of interest. It will be appreciated that the second state of the calibrated object of interest is closer to its actual state, i.e. the calibrated detection result is more accurate. It will be appreciated that when the reference is positioned on the head of the vehicle, the object of interest in front of the direction of travel of the object of interest may be calibrated. When the state of the interested object at the side and the rear of the vehicle needs to be calibrated, the reference object can also be arranged at the side or the tail of the vehicle, and the distance between the two reference objects needs to be determined and is fixedly arranged with the detection device. It will be appreciated that the method of providing two reference objects and calibrating based on measuring the distance between the two reference objects and their actual distance is more accurate. The scheme can also set a reference object, and the distance between the reference object and the laser detection device is detected by using laser and compared with the actual distance between the reference object and the laser detection device, so that the calibration parameter is obtained. Of course, a plurality of references, for example, three or four references, may be provided in the present solution, and these solutions all belong to the protection scope of the present application, and the specific calibration manner refers to the content described in the foregoing embodiments, and is not described herein again.
Further, controlling a laser transmitter to transmit laser light to the object of interest according to the object of interest, comprising:
adjusting a diffraction system of the laser transmitter according to the interested object to enable the shape of a light spot passing through the diffraction system to be consistent with that of the interested object;
and controlling the laser transmitter to transmit laser according to the first preset frequency.
In the embodiment of the application, the control of the laser emitter on the laser emitting range is realized by adjusting the diffraction system of the laser emitter, and after the interested object is determined, the diffraction system of the laser emitter is adjusted, so that the shape of a laser spot passing through the diffraction system is consistent with that of the interested object, and the laser only acts on the interested object and does not emit the laser to the positions except the interested object in the target area. And after the diffraction system is adjusted, the laser emitter is controlled to emit laser. It can be understood that the safety of the autonomous vehicle during operation needs to be continuously detected to ensure the real-time safety of the autonomous vehicle during operation. The frequency at which the laser emission is detected therefore needs to be kept at a higher detection frequency, i.e. the laser emitter continues to emit laser light at a higher frequency.
Further, after determining the state of the object of interest according to the reflected signal, the method further includes:
controlling a laser transmitter to transmit laser to a target area according to a second preset frequency, wherein the second preset frequency is smaller than the first preset frequency;
receiving a second reflection signal of the laser reflected by an object in the target area;
the state of the object in the target area is determined from the second reflected signal.
In the embodiment of the present application, in addition to continuously detecting the state of the object of interest at a first frequency of a higher frequency, the laser detection device also detects the target region as a whole at a relatively lower detection frequency. Specifically, the laser transmitter continuously transmits laser light to the object of interest at a high frequency and transmits laser light to the entire target area at a low frequency. The control of the laser action area is controlled by the diffraction system of the laser transmitter. The camera device receives the first reflection signal and determines the state of the object of interest according to the first reflection signal, and simultaneously the camera device also receives the second reflection signal and determines the state of the object in the whole target area according to the second reflection signal. The method and the device for detecting the state of the object of interest can accurately detect the state of the object of interest, can detect the states of other objects in the target area at a low frequency, and avoid the threat of unexpected objects to the running safety of the automatic driving vehicle.
Further, determining a state of the object of interest from the reflected signal comprises:
calculating the distance between the object of interest and the detection point according to the reflection signal;
the motion trend of the object of interest is calculated from the reflected signals.
In the embodiment of the present application, the detection of the state of the object of interest mainly includes the detection of the distance from the object of interest to the detection point and the detection of the motion trend of the object of interest. The detection of the distance to the object of interest may be calculated according to trigonometry to obtain the distance to the object of interest. Since the detection of the object of interest by the laser is performed continuously, the trend of the motion of the object of interest can be determined from the continuous detection over a period of time, e.g. 1 s.
As shown in fig. 2, a laser detection device provided for the present application includes:
the acquisition module 201 is used for acquiring a natural landscape image of a target area acquired by the camera device;
an object of interest determination module 202, configured to determine an object of interest in the target region according to the natural landscape image;
the first laser emitting module 203 is used for controlling a laser emitter to emit laser to the interested object according to the interested object;
a first reflected signal receiving module 204, configured to receive a first reflected signal that is obtained by reflecting the laser through the object of interest;
an object of interest state determination module 205 for determining a state of the object of interest from the first reflected signal.
In the embodiment of the present application, it can be understood that the functions of the modules of the laser detection apparatus provided in the embodiment of the present application are consistent with the contents of the steps in the laser detection method provided in the embodiment of fig. 1, and are not described herein again.
Further, the laser detection device that this application provided still includes:
the reference object distance detection module is used for detecting the distance between two reference objects which are fixedly arranged relative to the detection device;
the calibration parameter determining module is used for comparing the measured distance between the reference objects with the actual distance between the two reference objects to obtain a calibration parameter;
and the calibration module is used for calibrating the first state by using the calibration parameters to obtain a second state of the interested object, and determining that the second state is the final state of the interested object.
It is understood that the functions of the above modules are consistent with the contents of the steps in the laser detection method provided in the foregoing embodiment, and are not described again here.
Further, the first laser emission module includes:
the diffraction system adjusting module is used for adjusting the diffraction system of the laser transmitter according to the interested object, so that the shape of the light spot passing through the diffraction system is consistent with the shape of the interested object;
and the laser control module is used for controlling the laser transmitter to transmit laser according to a first preset frequency.
Further, the laser detection device further comprises:
the second laser emission module is used for controlling the laser emitter to emit laser to the target area according to a second preset frequency, and the second preset frequency is smaller than the first preset frequency;
the second reflected signal receiving module is used for receiving and receiving a second reflected signal of the laser reflected by an object in the target area;
and the target area object state determining module is used for determining the state of the object in the target area according to the second reflection signal.
Further, the object of interest state determination module comprises:
the distance determining module is used for calculating the distance between the object of interest and the detection point according to the reflection signal;
and the motion trend determining module is used for calculating the motion trend of the interested object according to the reflected signals.
Specifically, the laser detection device provided by the present application may include:
at least one laser assembly for emitting laser light;
the system comprises at least two first camera devices and at least two second camera devices, wherein the first camera devices are used for collecting natural landscape images of a target area, the second camera devices are used for collecting laser signals, and the laser signals are obtained by reflecting laser emitted by a laser assembly through an object in the target area; and the number of the first and second groups,
the control host is used for controlling the first camera device to collect natural landscape images of the target area, determining the interested object measured in the target area according to the natural landscape images, controlling the laser assembly to emit laser to the interested object, and calculating the state of the interested object according to the collected laser signals.
When an interested object needing to be detected is determined, the control host controls the emission state of the laser assembly, controls the laser assembly to emit laser to the interested object and controls the second camera device to collect a laser signal returned after the laser is reflected by the interested object in real time. And the calculation processing module of the control host machine calculates according to the acquired laser signals so as to determine the distance of the interested object. It can be understood that the calculation module can not only calculate the distance between the object of interest and the measurement point according to the returned laser signal, but also calculate the three-dimensional spatial position relationship between the object of interest and the measurement point, and also calculate the motion trend of the object of interest.
The number of the laser assemblies in the present application may be one or plural, and the number of the first imaging device and the second imaging device in the present application may be two or more. It will be appreciated that the greater the number of laser assemblies and cameras, the greater the accuracy of the measurement.
Further, the laser assembly may include:
the laser light source is used for generating laser with a preset wavelength;
the lens system is used for expanding the laser with the preset wavelength; and the number of the first and second groups,
and the diffraction system is used for modulating the expanded laser spots according to the interested object, so that the spots of the emergent laser are consistent with the interested object.
In an embodiment of the present application, the laser module in the laser detection apparatus includes a laser light source, a lens system, and a diffraction system. The laser source can be a laser diode, the lens system can be a laser beam expander, and because the laser emitted by the laser source is generally a laser beam with a small diameter, and the range needing to be measured is usually a larger area in the running direction, the laser beam emitted by the laser source is expanded by the lens system. The laser beam after being enlarged is modulated by the diffraction system, the diffraction system can filter the light rays emitted to the interested object in the laser beam, so that the laser beam is only emitted to the interested object, even if the light spot emitting the laser is consistent with the interested object, the returned laser signal amount can be reduced, and the accelerated detection of the state of the interested object can be ensured.
Further, the laser light generated by the laser light source is infrared light and ultraviolet light.
Because infrared light and ultraviolet ray are human naked eye invisible light, adopt above-mentioned laser can avoid causing the influence to other pedestrians, also can avoid the natural light to cause the influence to the testing result.
Furthermore, an optical filter is arranged in front of the lens of the second camera device, and the optical filter is used for filtering light except the laser with the preset wavelength.
In order to avoid the influence of other light rays on the distance measurement, a specific optical filter is adopted in front of the lens of the second camera device to filter light rays outside the preset wavelength, so that only laser signals with the preset wavelength are received, and the accuracy of the received signals is further improved.
Further, the shooting angles of view of the at least two first image pickup devices overlap at the target area, and the shooting angles of view of the at least two second image pickup devices overlap at the target area.
In the embodiment of the present application, when the shooting angles of view of the two or more first image pickup devices and the two or more second image pickup devices overlap at the target area, the accuracy of measurement by the measurement device can be further improved according to the principle of visualization.
Furthermore, the control host of the device controls the laser assembly to emit laser to the interested object according to a first frequency, and also controls the laser assembly to emit laser to an area outside the interested object in the target area according to a second frequency, wherein the second frequency is smaller than the first frequency.
In the embodiment of the application, the distance measurement is carried out on the determined interested object, and the low-frequency detection is carried out on the region except the interested object, so that the influence of unexpected obstacles is avoided, and the safety of the automatic driving vehicle in operation is further improved.
The present application also provides a storage medium, which may be a memory. The storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the laser detection method provided in the embodiment of fig. 1. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a RAM, a magnetic disk, or an optical disk.
The present application also provides an apparatus comprising a memory, a processor, and a computer program stored on the memory that is executable by the processor. The various steps in the provided laser detection method provided by the embodiment of fig. 1 are implemented when a computer program is executed by a processor.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a readable storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned readable storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the technical solutions provided in the present application, those skilled in the art will recognize that there may be variations in the specific embodiments and applications of the concepts provided in the embodiments of the present application.
Claims (10)
1. A laser detection method, the method comprising:
acquiring a natural landscape image of a target area acquired by a camera device;
determining an object of interest in the target region according to the natural landscape image;
controlling a laser transmitter to transmit laser to the interested object according to the interested object;
receiving a first reflection signal of the laser reflected by the object of interest;
determining a first state of the object of interest from the first reflected signal.
2. The laser detection method of claim 1, after determining the first state of the object of interest from the first reflected signal, further comprising:
detecting the distance between two reference objects fixedly arranged opposite to the detecting device;
comparing the distance with the actual distance of the two reference objects to obtain a calibration parameter;
and calibrating the first state by using the calibration parameters to obtain a second state of the interested object, and determining that the second state is the final state of the interested object.
3. The laser detection method of claim 1, wherein the controlling the laser emitter to emit laser light to the object of interest according to the object of interest comprises:
adjusting a diffraction system of the laser transmitter according to the interested object, so that the shape of a light spot passing through the diffraction system is consistent with the shape of the interested object;
and controlling the laser emission emitter to emit laser according to a first preset frequency.
4. The laser detection method of claim 3, further comprising, after determining the state of the object of interest from the reflected signal:
controlling the laser transmitter to transmit laser to the target area according to a second preset frequency, wherein the second preset frequency is smaller than the first preset frequency;
receiving a second reflection signal of the laser reflected by an object in the target area;
and determining the state of the object in the target area according to the second reflection signal.
5. The laser detection method of claim 1, wherein the determining the state of the object of interest from the reflected signal comprises:
calculating the distance between the object of interest and the detection point according to the reflection signal;
and calculating the motion trend of the interested object according to the reflected signals.
6. A laser detection device, the device comprising:
the acquisition module is used for acquiring a natural landscape image of a target area acquired by the camera device;
the interested object determining module is used for determining the interested object in the target area according to the natural landscape image;
the first laser emitting module is used for controlling a laser emitter to emit laser to the interested object according to the interested object;
a first reflected signal receiving module, configured to receive a first reflected signal that is obtained by reflecting the laser through the object of interest;
a first state determination module for determining a first state of the object of interest from the first reflected signal.
7. The laser detection device of claim 6, further comprising:
the reference object distance detection module is used for detecting the distance between two reference objects which are fixedly arranged relative to the detection device;
the calibration parameter determining module is used for comparing the distance with the actual distance of the two reference objects to obtain a calibration parameter;
and the calibration module is used for calibrating the first state by using the calibration parameters to obtain a second state of the interested object, and determining that the second state is the final state of the interested object.
8. The laser detection device of claim 6, wherein the first laser emitting module comprises:
the diffraction system adjusting module is used for adjusting the diffraction system of the laser transmitter according to the interested object, so that the shape of a light spot passing through the diffraction system is consistent with the shape of the interested object;
and the laser control module is used for controlling the laser transmitter to transmit laser according to a first preset frequency.
9. The laser detection device of claim 8, further comprising:
the second laser emitting module is used for controlling the laser emitter to emit laser to the target area according to a second preset frequency, and the second preset frequency is smaller than the first preset frequency;
the second reflected signal receiving module is used for receiving and receiving a second reflected signal of the laser reflected by an object in the target area;
and the target area object state determining module is used for determining the state of the object in the target area according to the second reflection signal.
10. The laser detection apparatus of claim 6, wherein the object of interest state determination module comprises:
a distance determination module for calculating the distance from the object of interest to the detection point according to the reflection signal;
and the motion trend determining module is used for calculating the motion trend of the interested object according to the reflected signal.
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