# US 2022/0284707 A1 · Target detection and control method, system, apparatus and storage medium

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 2022/0284707 A1
- Document ID: US20220284707A1
- Status: Published application
- Kind: A1
- Application number: 17/716,826
- Filed: 2022-04-08
- Published: 2022-09-08
- Earliest claimed: 2021-03-08
- Assignees: Beijing Roborock Technology Co., Ltd.
- Applicants: Beijing Roborock Technology Co., Ltd.
- Inventors: Haojian XIE
- Web page: https://patentgrep.com/patent/US20220284707A1

## CPC

- G01S 17/89: for mapping or imaging
- G06V 20/50: Context or environment of the image
- G01S 7/4815: {using multiple transmitters}
- G01S 17/46: Indirect determination of position data
- G05D 1/0248: {in combination with a laser (lasers per se H01S)}
- G06T 7/0002: {Inspection of images, e.g. flaw detection}
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06V 10/143: Sensing or illuminating at different wavelengths
- G06V 10/761: {Proximity, similarity or dissimilarity measures}
- G06V 10/762: using clustering, e.g. of similar faces in social networks
- G06V 10/82: using neural networks
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- H04N 23/72: Combination of two or more compensation controls
- H04N 23/73: by influencing the exposure time
- H04N 23/74: by influencing the scene brightness using illuminating means
- H04N 23/80: Camera processing pipelines; Components thereof
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30168: Image quality inspection
- G06V 2201/07: Target detection
- G06V 2201/121: using special illumination
- H04N 23/61: based on recognised objects
- H04N 23/671: {in combination with active ranging signals, e.g. using light or sound signals emitted toward objects}
- 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
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

The present disclosure provides a target detection, apparatus, system, device and readable storage medium and relates to the technical field of computer vision. The method may include acquiring a first image captured by an imaging device, wherein the first image is captured when a laser light of a first predetermined wavelength is emitted; acquiring a second image captured by the imaging device, wherein the second image is captured when a light of a second predetermined wavelength is emitted, and the laser light of the first predetermined wavelength and the light of the second predetermined wavelength have a same wavelength or different wavelengths; obtaining a distance between a target object and the imaging device based on the first image; and identifying the target object based on the second image.

## Claims

### Claim 1

A target detection method, comprising:
acquiring a first image captured by an imaging device, wherein the first image is captured when a laser light of a first predetermined wavelength is emitted;
acquiring a second image captured by the imaging device, wherein the second image is captured when a light of a second predetermined wavelength is emitted, and the laser light of the first predetermined wavelength and the light of the second predetermined wavelength have a same wavelength or different wavelengths;
obtaining a distance between a target object and the imaging device based on the first image; and
identifying the target object based on the second image.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the first image comprises a first laser image and a second laser image,
the first laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength at a first angle,
the second laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength at a second angle;
wherein the obtaining the distance between the target object and the imaging device based on the first image comprises:
calculating three-dimensional coordinates, relative to the imaging device, of points at which the laser light of the first predetermined wavelength irradiates the target object at the first angle and the second angle, respectively, based on the first laser image and the second laser image.

### Claim 3 (depends on 1)

The method according to claim 1, further comprising:
acquiring a third image captured by the imaging device, wherein the third image is captured when emitting the laser light of the first predetermined wavelength and the light of the second predetermined wavelength is stopped,
wherein the obtaining the distance between the target object and the imaging device based on the first image further comprises:
obtaining a corrected laser image by calculating a difference between pixel points in the first image and pixel points at corresponding positions in the third image; and
obtaining the distance between the target object and the imaging device based on the corrected laser image.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the first image and the second image are captured alternately by the imaging device.

### Claim 5 (depends on 1)

The method according to claim 1, wherein the first image is captured by the imaging device under preset first exposure parameters;
the second image is captured by the imaging device under second exposure parameters, and the second exposure parameters are obtained according to imaging quality of a captured previous second image frame and exposure parameters when capturing the previous second image frame;
wherein the exposure parameters comprises an exposure time and/or an exposure gain.

### Claim 6

A target detection control method, comprising:
turning on a laser emitting device and a light-compensating device alternately, wherein a first image is captured by an imaging device when the laser emitting device is turned on, and a second image is captured by the imaging device when the light-compensating device is turned on; the laser emitting device is configured to emit a laser light of a first predetermined wavelength, and the light-compensating device is configured to emit a light of a second predetermined wavelength;
obtaining a distance between a target object and the imaging device based on the first image; and
identifying the target object based on the second image.

### Claim 7 (depends on 6)

The method according to claim 6, wherein the laser emitting device comprises a first laser emitting device and a second laser emitting device, the first image comprises a first laser image and a second laser image,
the first laser image is captured by the imaging device when the first laser emitting device is turned on, and the second laser image is captured by the imaging device when the second laser emitting device is turned on;
the first laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength emitted by the first laser emitting device at a first angle,
the second laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength emitted by the second laser emitting device at a second angle;
wherein the obtaining the distance between the target object and the imaging device based on the first image comprises:
calculating three-dimensional coordinates, relative to the imaging device, of points at which the laser light of the first predetermined wavelength irradiates the target object at the first angle and the second angle, respectively, based on the first laser image and the second laser image.

### Claim 8 (depends on 6)

The method according to claim 6, further comprising:
turning off the laser emitting device and the light-compensating device; wherein a third image is captured by the imaging device when the laser emitting device and the light-compensating device are turned off,
wherein the obtaining the distance between the target object and the imaging device based on the first image comprises:
obtaining a corrected laser image by calculating a difference between pixel points in the first image and pixel points at corresponding positions in the third image;
obtaining the distance between the target object and the imaging device based on the corrected laser image.

### Claim 9 (depends on 6)

The method according to claim 6, wherein the first image is captured by the imaging device under preset first exposure parameters;
the second image is acquired by the imaging device under second exposure parameters, and the second exposure parameters are obtained according to imaging quality of a captured previous second image frame and exposure parameters when capturing the previous second image frame;
wherein the exposure parameters comprises an exposure time and/or an exposure gain.

### Claim 10

A target detection system, comprising a laser emitting device, a light-compensating device, an imaging device and a target detection device, wherein:
the laser emitting device is configured to emit a laser light of a first predetermined wavelength;
the light-compensating device is configured to emit a light of a second predetermined wavelength, and the laser light of the first predetermined wavelength and the light of the second predetermined wavelength have a same wavelength or different wavelengths;
the imaging device is configured to capture a first image when the laser light of the first predetermined wavelength is emitted, and capture a second image when the light of the second predetermined wavelength is emitted;
the target detection device comprises:
a ranging module configured to obtain a distance between a target object and the imaging device based on the first image;
an object identification module configured to identify the target object based on the second image.

### Claim 11 (depends on 10)

Self-propelled equipment comprising the target detection system according to claim 10, wherein the Self-propelled equipment further comprises a driving device configured to drive the self-propelled equipment to walk along a working surface.

### Claim 12 (depends on 11)

The self-propelled equipment according to claim 11, wherein the laser emitting device and the light compensating device alternately emit the laser light of the first wavelength and the infrared light of the second wavelength.

### Claim 13 (depends on 12)

The self-propelled equipment according to claim 12, wherein,
a first image is captured by the imaging device when the laser emitting device is working;
a second image is acquired by the imaging device when the light-compensating device is working;
the self-propelled equipment further comprises a control unit, the control unit is configured to obtain a distance between a target object and the imaging device based on the first image and identify the target object based on the second image.

### Claim 14 (depends on 11)

A method for controlling self-propelled equipment according to claim 11, comprising:
acquiring first images captured by an imaging device disposed on the self-propelled equipment at a plurality of time points, wherein the first images are captured when a laser light of a first predetermined wavelength is emitted;
acquiring a plurality of positions where the self-propelled equipment is located when respective images are captured by the imaging device at the plurality of time points;
obtaining a point cloud according to the first images captured by the imaging device at the plurality of time points and the plurality of positions where the self-propelled equipment is located; and
clustering the point cloud and conducting a navigation planning for the self-propelled equipment according to a clustering result.

### Claim 15 (depends on 14)

The method according to claim 14, wherein the conducting the navigation planning for the self-propelled equipment according to the clustering result comprises:
obtaining the clustering result, wherein the clustering result comprises a target object of which size exceeds a preset threshold; and
controlling the self-propelled equipment to bypass when a distance between the self-propelled equipment and the target object of which size exceeds the preset threshold is less than or equal to a preset distance;
wherein a value of the preset distance is greater than 0.

### Claim 16 (depends on 14)

The method according to claim 14, wherein,
the first image comprises a first laser image and a second laser image,
the first laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength at a first angle, and
the second laser image is captured by irradiating the target object with the laser light of the first predetermined wavelength at a second angle.

### Claim 17 (depends on 14)

The method according to claim 14, further comprising:
acquiring a third image captured by the imaging device, wherein the third image is captured when emitting the laser light of the first predetermined wavelength is stopped;
obtaining a corrected laser image by calculating a difference between pixel points in the first image and pixel points at corresponding positions in the third image;
wherein obtaining the point cloud according to the first images captured by the imaging device at the plurality of time points and the plurality of positions where the self-propelled equipment is located comprises:
obtaining the distance between the target object and the imaging device according to a plurality of corrected laser images corresponding to the first images captured at the plurality of time points and the plurality of positions where the self-propelled equipment is located.