阅读说明：本技术 铁磁目标探测方法、装置及系统 (Ferromagnetic target detection method, device and system ) 是由 左庆军 于 2019-02-20 设计创作，主要内容包括：本发明提出一种铁磁目标探测方法、装置及系统,其中,方法应用于信息处理平台,信息处理平台与无人机进行通信,无人机上搭载磁探测阵列单元和光学探测单元,方法包括：确定铁磁目标的探测模式；当无人机飞至探测区域时,根据探测模式,控制磁探测阵列单元和光学探测单元中的一个或多个进行探测；根据磁探测阵列单元探测得到的磁感应信号和/或光学探测单元探测得到的地面图像,从探测区域中确定铁磁目标所在的目标位置。由此,可以实现有针对性地对铁磁目标进行探测,提升探测结果的准确性以及探测效率,并且,无需用户手动探测铁磁目标,可以避免人工探测铁磁目标带来的安全隐患。(The invention provides a ferromagnetic target detection method, a ferromagnetic target detection device and a ferromagnetic target detection system, wherein the ferromagnetic target detection method is applied to an information processing platform, the information processing platform is communicated with an unmanned aerial vehicle, a magnetic detection array unit and an optical detection unit are carried on the unmanned aerial vehicle, and the ferromagnetic target detection method comprises the following steps: determining a detection mode of the ferromagnetic target; when the unmanned aerial vehicle flies to a detection area, controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to a detection mode; and determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit. Therefore, the ferromagnetic target can be detected in a targeted manner, the accuracy of the detection result and the detection efficiency are improved, the ferromagnetic target does not need to be detected manually by a user, and potential safety hazards caused by manual detection of the ferromagnetic target can be avoided.)

1. A ferromagnetic target detection method is applied to an information processing platform, the information processing platform is communicated with an unmanned aerial vehicle, a magnetic detection array unit and an optical detection unit are carried on the unmanned aerial vehicle, and the method comprises the following steps:

determining a detection mode of the ferromagnetic target;

when the unmanned aerial vehicle flies to a detection area, controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode;

and determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

2. The method of claim 1, wherein determining the detection mode of the ferromagnetic target comprises:

determining a detection mode of the ferromagnetic target according to the detection task; alternatively, the first and second electrodes may be,

and determining the detection mode of the ferromagnetic target according to the position characteristics of the ferromagnetic target.

3. The method of claim 2, wherein said controlling one or more of said magnetic detection array unit and said optical detection unit to detect when said positional characteristic of said ferromagnetic target indicates that said ferromagnetic target is above ground comprises:

and controlling the optical detection unit to detect.

4. The method of claim 2, wherein when the positional characteristic of the ferromagnetic target indicates that the ferromagnetic target is located below ground level and the ground level does not contain a hole left by the ferromagnetic target when it falls down, the controlling one or more of the magnetic detection array unit and the optical detection unit to detect comprises:

and controlling the magnetic detection array unit to detect.

5. The method of claim 2, wherein when the positional characteristic of the ferromagnetic target indicates that the ferromagnetic target is located below ground level and the ground level contains a hole left by the ferromagnetic target when it is dropped, the controlling one or more of the magnetic detection array unit and the optical detection unit to detect comprises:

controlling the optical detection unit to detect the detection area to obtain the ground image;

extracting image features of the ground image;

determining a candidate region containing the ferromagnetic target from the detection region according to the image feature;

and controlling the magnetic detection array unit to detect the candidate region.

6. The method according to claim 5, wherein the step of obtaining the target position of the ferromagnetic target in the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit comprises:

and determining the target position of the ferromagnetic target from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

7. The method of claim 2, wherein said controlling one or more of said magnetic detection array unit and said optical detection unit to detect when said positional characteristic of said ferromagnetic target indicates that said position of said ferromagnetic target is unknown comprises:

and controlling the magnetic detection array unit and the optical detection unit to synchronously detect the detection area.

8. The method according to claim 7, wherein the determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit comprises:

extracting image features of the ground image obtained by the detection of the optical detection unit;

determining a target position where the ferromagnetic target is located and/or a candidate region containing the ferromagnetic target from the detection region according to the image features;

and determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit, and/or determining the target position of the ferromagnetic target from the candidate area according to the magnetic induction signal obtained by detecting the candidate area by the magnetic detection array unit.

9. The method of claim 5 or 8, wherein determining the candidate region containing the ferromagnetic target from the detection region based on the image feature comprises:

matching the image features with reference image features; wherein the reference image features are generated according to a preset ferromagnetic target;

and taking the region of the ground image with the matched image feature and the reference image feature as the candidate region.

10. The method of claim 1, wherein prior to the drone flying to a detection zone, the method further comprises:

and controlling the unmanned aerial vehicle to fly to a detection height matched with the detection mode.

11. The method of claim 1, wherein the ferromagnetic target is a carry-over unexplosive object, and wherein after determining the target location in which the ferromagnetic target is located from the detection region, the method further comprises:

determining a display pattern corresponding to the type of the left-behind unexploded object according to a preset database;

marking the display pattern on the target position corresponding to the map of the detection area so as to guide an operator to remove the remaining unexploded objects at the target position.

12. The utility model provides a ferromagnetic target detection device which characterized in that is applied to the information processing platform, the information processing platform communicates with unmanned aerial vehicle, carry on magnetic detection array unit and optical detection unit on the unmanned aerial vehicle, the device includes:

the detection mode determining module is used for determining the detection mode of the ferromagnetic target;

the detection control module is used for controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode when the unmanned aerial vehicle flies to a detection area;

and the information processing module is used for determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

13. A ferromagnetic object detection system, comprising an information processing platform, a drone, a magnetic detection array unit, and an optical detection unit, wherein the information processing platform comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the processor implements the ferromagnetic object detection method of any of claims 1-11.

Technical Field

The invention relates to the technical field of object detection, in particular to a ferromagnetic target detection method, device and system.

Background

Generally, unexplosive ammunition (on the ground or underground) is left in a target range and a post-war area and needs to be detected and removed, and meanwhile, a large number of pipelines exist in the underground of a city and need to be detected and marked, so that how to detect the ferromagnetic targets is very important.

Disclosure of Invention

The invention provides a ferromagnetic target detection method, a ferromagnetic target detection device and a ferromagnetic target detection system, aiming at detecting a ferromagnetic target in a targeted manner, improving the accuracy of a detection result and the detection efficiency, avoiding potential safety hazards caused by manual detection of the ferromagnetic target without manually detecting the ferromagnetic target by a user, and solving the technical problems of low efficiency and high potential safety hazards in manual detection of the ferromagnetic target in the prior art.

An embodiment of the invention provides a ferromagnetic target detection method, which is applied to an information processing platform, wherein the information processing platform is communicated with an unmanned aerial vehicle, and the unmanned aerial vehicle is loaded with a magnetic detection array unit and an optical detection unit, and the method comprises the following steps:

determining a detection mode of the ferromagnetic target;

when the unmanned aerial vehicle flies to a detection area, controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode;

and determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

Another embodiment of the present invention provides a ferromagnetic target detection device, which is applied to an information processing platform, wherein the information processing platform communicates with an unmanned aerial vehicle, the unmanned aerial vehicle is loaded with a magnetic detection array unit and an optical detection unit, and the device includes:

the detection mode determining module is used for determining the detection mode of the ferromagnetic target;

the detection control module is used for controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode when the unmanned aerial vehicle flies to a detection area;

and the information processing module is used for determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

In another embodiment of the present invention, a ferromagnetic object detection system is provided, which includes an information processing platform, an unmanned aerial vehicle, a magnetic detection array unit, and an optical detection unit, where the information processing platform includes a display interface for displaying a scan map, a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the program, the ferromagnetic object detection method as set forth in the foregoing embodiment of the present invention is implemented.

The technical scheme provided by the invention at least has the following technical effects:

and determining a detection mode of the ferromagnetic target, controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode when the unmanned aerial vehicle flies to a detection area, and then determining the target position of the ferromagnetic target in the detection area according to a magnetic induction signal detected by the magnetic detection array unit and/or a ground image detected by the optical detection unit. Therefore, according to the detection mode, one or more of the magnetic detection array unit and the optical detection unit are controlled to detect the ferromagnetic target in the detection area, the ferromagnetic target can be detected in a targeted manner, and the accuracy of the detection result and the detection efficiency are improved. In addition, a user does not need to manually detect the ferromagnetic target, potential safety hazards caused by manual detection of the ferromagnetic target can be avoided, and the ferromagnetic target detection method is safe and high in efficiency.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a ferromagnetic target detection method according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a ferromagnetic target detection method according to a second embodiment of the present invention;

fig. 3(a) is a schematic view of a flight trajectory of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3(b) is a schematic view of a flight trajectory of the unmanned aerial vehicle in the embodiment of the present invention;

fig. 4 is a schematic view of a detection scene of the unmanned aerial vehicle in the embodiment of the present invention;

fig. 5 is a schematic flowchart of a ferromagnetic target detection method according to a third embodiment of the present invention;

FIG. 6(a) is a first schematic structural diagram of a magnetic detection array unit according to an embodiment of the present invention;

FIG. 6(b) is a second schematic structural diagram of a magnetic detection array unit according to an embodiment of the present invention;

FIG. 6(c) is a schematic structural diagram III of a magnetic detection array unit according to an embodiment of the present invention;

FIG. 6(d) is a diagram illustrating a fourth exemplary structure of a magnetic detection array unit according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of a ferromagnetic target detection method according to a fourth embodiment of the present invention;

fig. 8 is a schematic flowchart of a ferromagnetic target detection method according to a fifth embodiment of the present invention;

fig. 9 is a schematic flow chart of a ferromagnetic target detection method according to a sixth embodiment of the present invention;

fig. 10 is a schematic flow chart of a ferromagnetic target detection method according to a seventh embodiment of the present invention;

FIG. 11 is a schematic diagram illustrating a process of modifying a ground image according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a ferromagnetic target detection device according to an eighth embodiment of the present invention;

fig. 13 is a schematic structural diagram of a ferromagnetic target detection device according to a ninth embodiment of the present invention;

fig. 14 is a schematic structural diagram of a ferromagnetic target detection system according to a tenth embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The ferromagnetic object detection method, apparatus and system of embodiments of the present invention are described below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a ferromagnetic target detection method according to an embodiment of the present invention.

The ferromagnetic target detection method provided by the embodiment of the invention can be applied to an information processing platform, the information processing platform is communicated with an unmanned aerial vehicle, and the unmanned aerial vehicle is loaded with a magnetic detection array unit and an optical detection unit.

The magnetic detection array unit may be composed of at least two magnetic sensors, for example, 2, 3, 4, 5, and … magnetic sensors, which is not limited herein.

As shown in fig. 1, the ferromagnetic target detection method may include the steps of:

step 101, determining a detection mode of a ferromagnetic target.

In the embodiment of the present invention, the ferromagnetic target is a ferromagnetic metal substance, for example, a pipeline, and by the detection method of the present invention, the pipeline may be detected and marked in an urban pipeline detection scene, or may be a dangerous object with an explosion risk, such as an ammunition, a grenade, and the like, and may be detected and cleared in a detection area.

In the embodiment of the present invention, the detection mode may be determined according to the position characteristics of the ferromagnetic target, or the detection mode may be determined according to the detection task generated according to the position characteristics of the ferromagnetic target. Wherein, when the detection tasks are different, or when the position characteristics of the ferromagnetic targets are different, the detection modes can be different.

It will be appreciated that when the user has a good knowledge of the detection zone, the user can determine the detection task or the location characteristic of the ferromagnetic target and thus the detection mode of the ferromagnetic target. For example, when the detection task is to detect a ground-deployed mine, a sub-ammunition that does not penetrate the ground, i.e., the location characteristic of the ferromagnetic target indicates that the ferromagnetic target is located above the ground, the detection mode may be mode one; when the detection task is to detect the ammunition drilled into the ground and the ammunition hole is completely eliminated through the influence of the natural environment, namely the position characteristic of the ferromagnetic target indicates that the ferromagnetic target is positioned below the ground and the ground does not contain a hole left when the ferromagnetic target falls down, at the moment, the detection mode can be a mode two; when the detection task is to detect the ammunition drilled into the ground and the ammunition hole is not disappeared, that is, the position feature of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground contains the hole left when the ferromagnetic target falls, the detection mode is mode three. It should be noted that when the user does not know the detection area or the ammunition left in the detection area is uncertain, the position characteristic of the ferromagnetic target cannot be determined, that is, the position characteristic of the ferromagnetic target indicates that the position of the ferromagnetic target is unknown, for example, the ferromagnetic target may be located above the ground, or may be located below the ground (whether the ground includes a hole left when the ferromagnetic target falls), or may be located above the ground and below the ground at the same time, and the detection mode is mode four.

It should be understood that, in the above example, the position characteristic of the detection task or the ferromagnetic target is determined only by the user according to the knowledge of the detection area or the experience of the user, in practical applications, the position characteristic of the detection task, the ferromagnetic target and the detection mode may also be determined according to the acquired image, for example, if only a ferromagnetic target on the ground exists on the acquired image, the detection mode may be determined as mode one; if the ferromagnetic target on the ground does not exist on the acquired image and the hole left when the ferromagnetic target falls down is not included on the ground, determining that the detection mode is a mode two; if the ferromagnetic target on the ground does not exist on the acquired image and the ground contains a hole left when the ferromagnetic target falls down, the detection mode can be determined to be a mode three; if a ferromagnetic target on the ground exists on the acquired image and the ground contains a hole left when the ferromagnetic target falls, the detection mode can be determined to be the mode four.

And 102, when the unmanned aerial vehicle flies to the detection area, controlling one or more of the magnetic detection array unit and the optical detection unit to detect according to the detection mode.

In the embodiment of the invention, the unmanned aerial vehicle can be composed of a rotor unmanned aerial vehicle, a flight control system, wireless information transmission equipment and the like and is used for carrying the magnetic detection array unit and the optical detection unit to detect the detection area. The detection area may be defined by the detection scene, for example, the corresponding detection area may be determined according to the detection task.

In the embodiment of the invention, when the detection area needs to be detected, the information processing platform can control the unmanned aerial vehicle to fly to the detection area, and then one or more of the magnetic detection array unit and the optical detection unit can be controlled to detect according to the detection mode.

In particular, when the detection mode is mode one, at this time, since only the ferromagnetic target above the ground is present, the detection can be performed only by the optical detection unit. Because the visual angle of the optical detection unit is wide, the detection efficiency can be greatly improved.

When the detection mode is mode two, at this time, since only the ferromagnetic target below the ground exists, detection can be performed only by the magnetic detection array unit. Although the detection visual angle of the magnetic detection array unit is smaller than that of the optical detection unit, the magnetic detection array unit detects the ferromagnetic target, and the accuracy of the detection result can be improved.

When the detection mode is the third mode, at this time, although the ferromagnetic target is located below the ground, since the ground includes the hole left when the ferromagnetic target falls, in order to improve the detection efficiency, the optical detection unit may be controlled to detect the detection region to obtain a ground image, then the image feature of the ground image is extracted, the candidate region including the ferromagnetic target, that is, the candidate region where the hole is located, is determined from the detection region according to the image feature, and then, the magnetic detection array unit may be controlled to detect the ferromagnetic target only in the candidate region, so that the ferromagnetic target may be detected in a targeted manner, and the detection efficiency is greatly improved.

When the detection mode is the mode four, the position of the ferromagnetic target is unknown, for example, the ferromagnetic target may be located above the ground, or may be located below the ground (regardless of whether the ground includes a hole left when the ferromagnetic target falls), or may be located above the ground and below the ground at the same time, and at this time, the magnetic detection array unit and the optical detection unit may be controlled to synchronously detect the detection area, so as to improve the accuracy of the detection result.

In the embodiment of the invention, the detection area is detected by selecting the appropriate detection mode according to the position characteristics of the ferromagnetic target, so that the detection area can be detected in a targeted manner, and the accuracy of the detection result and the detection efficiency are improved.

It should be noted that, when the information processing platform controls the unmanned aerial vehicle to fly in the detection area, the unmanned aerial vehicle can be controlled to fly in the detection area according to the set flight trajectory and the detection height matched with the detection mode. Specifically, when the detection mode is the mode one, at this time, since the visual angle of the optical detection unit is large and the accuracy is high, in order to improve the detection efficiency, the unmanned aerial vehicle can be controlled to fly at a high height, for example, the unmanned aerial vehicle is controlled to fly at a height of 20 meters from the ground; when the detection mode is the second mode, at this time, because the visual angle of the magnetic detection array unit is low, in order to improve the accuracy of the detection result, the unmanned aerial vehicle can be controlled to fly at a low height, for example, the unmanned aerial vehicle is controlled to fly at a height of 2 meters from the ground; when the detection mode is the third mode, the unmanned aerial vehicle can be controlled to fly at a higher height firstly, the detection is carried out by the optical detection unit, after the candidate area is determined, the unmanned aerial vehicle is controlled to fly at a lower height, and the candidate area is detected by the magnetic detection array unit; when the mode is four, the unmanned aerial vehicle can be controlled to fly at a lower height because the magnetic detection array unit and the optical detection unit are required to synchronously detect.

And 103, determining the target position of the ferromagnetic target from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

In the embodiment of the invention, when the detection mode is the mode one, the ground image can be obtained by directly detecting the detection area according to the optical detection unit, and the target position where the ferromagnetic target is located in the detection area is determined.

When the detection mode is the mode two, the target position where the ferromagnetic target is located in the detection area can be determined directly according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit.

When the detection mode is the third mode, the target position where the ferromagnetic target is located can be determined from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

When the detection mode is the fourth mode, the ferromagnetic target above the ground and the candidate area where the hole is located can be determined according to the ground image detected by the optical detection unit, and meanwhile, the ferromagnetic target below the ground and the ferromagnetic target near the candidate area are determined according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit. Specifically, the image feature may be extracted from the ground image detected by the optical detection unit, and then the target position where the ferromagnetic target is located and/or the candidate region containing the ferromagnetic target may be determined from the detection region according to the image feature, and meanwhile, the target position where the ferromagnetic target is located may be determined from the detection region according to the magnetic induction signal obtained by detecting the detection region by the magnetic detection array unit, and/or the target position where the ferromagnetic target is located may be determined from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

According to the ferromagnetic target detection method provided by the embodiment of the invention, by determining the detection mode of the ferromagnetic target, when the unmanned aerial vehicle flies to the detection area, one or more of the magnetic detection array unit and the optical detection unit are controlled to detect according to the detection mode, and then the target position where the ferromagnetic target is located is determined from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit. Therefore, according to the detection mode, one or more of the magnetic detection array unit and the optical detection unit are controlled to detect the ferromagnetic target in the detection area, the ferromagnetic target can be detected in a targeted manner, and the accuracy of the detection result and the detection efficiency are improved. In addition, a user does not need to manually detect the ferromagnetic target, potential safety hazards caused by manual detection of the ferromagnetic target can be avoided, and the ferromagnetic target detection method is safe and high in efficiency.

As an application scenario, when the detection task is for detecting the land mine spread on the ground and the ammunition which cannot penetrate into the ground, the position characteristic of the ferromagnetic target indicates that the ferromagnetic target is located above the ground, at the moment, the detection mode is mode one, in order to improve the detection efficiency, the unmanned aerial vehicle can be directly controlled to fly at a higher height, and meanwhile, the optical detection unit can be controlled to detect the detection area so as to determine the target position where the ferromagnetic target is located. The above process is described in detail below with reference to fig. 2.

Fig. 2 is a schematic flow chart of a ferromagnetic target detection method according to a second embodiment of the present invention.

As shown in fig. 2, the ferromagnetic target detection method may include the steps of:

and step 201, when the position characteristics of the ferromagnetic target indicate that the ferromagnetic target is located above the ground, controlling the unmanned aerial vehicle to fly to a first height.

In the embodiment of the present invention, the first height is a higher height, and may be 20 meters, for example. The first height may be determined according to the performance of the optical detection unit, and the first height is higher when the viewing angle of the optical detection unit is larger or the accuracy is higher, whereas the first height is lower when the viewing angle of the optical detection unit is smaller or the accuracy is lower. The location characteristics of the ferromagnetic target may be determined based on user experience, or may be determined based on the acquired images, without limitation.

It will be appreciated that when the ferromagnetic target is ammunition, torpedo, or other hazardous material that is at risk of explosion, and the ferromagnetic target is located on the ground, the ground necessarily has a corresponding representation that will be reflected in the image. Thus, it is possible to identify from the acquired images whether there is a ferromagnetic object on the ground, i.e. the position characteristics of the ferromagnetic object can be determined from the acquired images.

Step 202, controlling the optical detection unit to perform detection.

In the embodiment of the invention, when the ferromagnetic target is positioned above the ground, the ferromagnetic target can be detected only by the optical detection unit, and the optical detection unit has a wider visual angle and higher precision, so that the unmanned aerial vehicle can fly in a relatively higher area, namely the unmanned aerial vehicle is controlled to fly at the first height.

And step 203, determining the target position of the ferromagnetic target from the detection area according to the ground image detected by the optical detection unit.

It will be appreciated that when a ferromagnetic target is included in the detection zone, for example when a non-explosive material is left on the ground, the ground will necessarily have a corresponding representation which will be reflected in the ground image, for example when a projectile is left on the ground, then when the ground image is acquired, a projectile image will necessarily be found which includes an image of a complete projectile, including an image of a part of the projectile or of pieces of the projectile after blasting, etc.

Therefore, in the embodiment of the present invention, the target position where the ferromagnetic target is located may be determined from the detection area according to the ground image detected by the optical detection unit.

As a possible implementation manner, the shot images including different ferromagnetic targets are collected in advance at different shooting angles, and the image features of the corresponding ferromagnetic targets in the shot images are extracted to obtain the reference image features. After the optical detection unit detects the ground image, the image features of the ground image can be extracted, the image features are matched with the reference image features, and the position information of the area where the image features in the ground image are matched with the reference image features is used as the target position where the ferromagnetic target is located.

For example, when the optical detection unit detects the detection area, the positioning device on the drone can acquire and position the flight coordinates of the current drone. Wherein, the positioning device can include radar detection equipment, big dipper positioning device etc.. Because in the actual implementation process, for a clearer detection area, the height of the unmanned aerial vehicle from the ground is lower, and therefore the flight coordinate of the unmanned aerial vehicle is close to the geographical position information of the detection area, in this embodiment, the information detected based on the positioning device can be used as the geographical position information of the detection area. Of course, the geographical location information corresponding to the detection area may also be directly obtained from a map system, such as a Baidu map, and the geographical location information may be carried in the ground image. Therefore, the target position information of the ferromagnetic target can be positioned according to the ground image.

It should be noted that, in the actual flying process of the unmanned aerial vehicle, in order to ensure that the ground image obtained by detection by the optical detection unit completely covers the detection area, the flying trajectory of the unmanned aerial vehicle may be designed, for example, the unmanned aerial vehicle may be controlled to fly according to the trajectory shown in fig. 3(a), that is, the unmanned aerial vehicle is controlled to fly back and forth from the east-west direction and from the north-south direction and from the south-north direction, according to the direction shown by the arrow shown in fig. 3 (b).

As an example, referring to fig. 4, after determining the flight trajectory and the detected altitude of the drone, the drone may be controlled to fly along the flight trajectory at a preset speed v.

In the embodiment of the invention, the optical detection unit directly detects the ferromagnetic target on the ground, so that the detection efficiency of the ferromagnetic target can be improved.

As another application scenario, when the detection task is to detect ammunition drilled into the ground, and the ammunition hole completely disappears under the influence of the natural environment, the position characteristic of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground does not contain a hole left when the ferromagnetic target falls down, at this moment, the detection mode is the mode two, in order to improve the accuracy of the detection result, the unmanned aerial vehicle can be directly controlled to fly at a lower height, and meanwhile, the magnetic detection array unit can be controlled to detect the detection area so as to determine the target position where the ferromagnetic target is located. The above process is described in detail below with reference to fig. 5.

Fig. 5 is a schematic flowchart of a ferromagnetic target detection method according to a third embodiment of the present invention.

As shown in fig. 5, the ferromagnetic target detection method may include the steps of:

step 301, when the position feature of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground does not include a hole left when the ferromagnetic target falls down, controlling the unmanned aerial vehicle to fly to a second height.

In an embodiment of the invention, the second height is a lower height, which may be 2 meters, for example. Wherein the second height may be determined according to the performance of the magnetic detection array unit, the second height being higher when the performance of the magnetic detection array unit is better, and conversely, the second height being lower when the performance of the magnetic detection array unit is worse. The location characteristics of the ferromagnetic target may be determined based on user experience, or may be determined based on the acquired images, without limitation.

It is understood that when the ferromagnetic target is ammunition, torpedo, or other dangerous object with explosion risk, the holes left on the ground when the ferromagnetic target falls are different from the holes in general and have certain characteristics, for example, the holes left when the shell falls on the ground are different from rat holes. Based on the above features, the hole left when the ferromagnetic target falls can be identified from the acquired image. The following embodiments will be described in detail, and will not be described herein.

And step 302, controlling the magnetic detection array unit to detect.

In the embodiment of the invention, when the ferromagnetic target is positioned below the ground and the ground does not contain the hole left by the falling ferromagnetic target, the detection can be carried out only by the magnetic detection array unit, and the unmanned aerial vehicle can be controlled to fly on a relatively lower area, namely, the unmanned aerial vehicle is controlled to fly at the second height due to the narrow visual angle of the magnetic detection array unit.

As an example, when the magnetic detection array unit is composed of 2 magnetic sensors, referring to fig. 6(a), two magnetic sensors may be horizontally disposed, or, referring to fig. 6(b), two magnetic sensors may be vertically disposed. When the magnetic detection array unit is composed of 3 magnetic sensors, three magnetic sensors may be arranged as shown in fig. 6 (c). When the magnetic detection array unit is composed of 4 magnetic sensors, four magnetic sensors may be arranged as shown in fig. 6 (d). It should be noted that the present invention is exemplified as shown in fig. 6(a) to 6(d) only by the setting rule of the magnetic sensors, and when the present invention is actually applied, a user can set the position of each magnetic sensor according to an application scenario or a requirement of the user, which is not limited to this.

Step 303, determining a target position where the ferromagnetic target is located from the detection area according to the magnetic induction signal detected by the magnetic detection array unit.

It should be understood that the magnetic induction signal obtained by the magnetic detection array unit detecting the non-ferromagnetic metal substance is different from the magnetic induction signal obtained by detecting the ferromagnetic metal substance, for example, the magnetic induction signal corresponding to the cannonball is different from garbage, grass and trees, and the like. Therefore, the magnetic induction signal corresponding to the ferromagnetic target has the characteristic of distinguishing other non-ferromagnetic metal substances. Based on the characteristics, the target position of the ferromagnetic target can be determined from the detection area according to the magnetic induction signal detected by the magnetic detection array unit.

In the embodiment of the invention, the magnetic detection array unit directly detects the magnet target below the ground, so that the accuracy of the detection result of the magnet target can be improved.

As another application scenario, when the detection task is to detect ammunition drilled into the ground, and an ammunition hole does not disappear, the position feature of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground contains a hole left when the ferromagnetic target falls, at this time, the detection mode is the mode three, in order to improve the detection efficiency, the optical detection unit can be controlled to detect the detection region to obtain a ground image, then the image feature of the ground image is extracted, the candidate region containing the ferromagnetic target, that is, the candidate region where the hole is located, is determined from the detection region according to the image feature, then, the magnetic detection array unit can be controlled to detect the ferromagnetic target only in the candidate region, the ferromagnetic target can be detected in a targeted manner, and the detection efficiency is greatly improved. The above process is explained in detail below with reference to fig. 7.

Fig. 7 is a schematic flowchart of a ferromagnetic target detection method according to a fourth embodiment of the present invention.

As shown in fig. 7, the ferromagnetic target detection method may include the steps of:

step 401, when the position features of the ferromagnetic target indicate that the ferromagnetic target is located below the ground and the ground includes a hole left when the ferromagnetic target falls, controlling the unmanned aerial vehicle to fly to a first height.

Step 402, controlling the optical detection unit to detect the detection area to obtain a ground image.

In the embodiment of the invention, although the ferromagnetic target is located below the ground, since the ground includes the hole left when the ferromagnetic target falls, in order to improve the detection efficiency, the unmanned aerial vehicle can be controlled to fly to a higher first height, and then the optical detection unit is controlled to detect the detection area to obtain the ground image.

And step 403, extracting image features of the ground image.

In the embodiment of the present invention, the image features may be extracted from the ground image based on an image processing technique of deep learning, or the image features may be extracted from the ground image based on a feature extraction algorithm in a related technique, which is not limited to this.

In step 404, a candidate region containing the ferromagnetic target is determined from the detection region according to the image characteristics.

It is understood that the ferromagnetic target may not fall vertically when falling, and therefore, the ferromagnetic target may not be located directly below the hole, and therefore, in the present invention, the candidate region including the hole may be identified first. Specifically, image features of the corresponding region where the hole is located may be extracted in advance according to hole images when different ferromagnetic targets fall down to obtain respective reference image features, after the optical detection unit detects a ground image, the image features of the ground image may be extracted, the image features may be matched with the respective reference image features, and a region where the image features in the ground image are matched with the reference image features is used as a candidate region.

And step 405, controlling the unmanned aerial vehicle to descend to a second height.

And step 406, controlling the magnetic detection array unit to detect the candidate region.

In the embodiment of the invention, because the visual angle of the magnetic detection array unit is narrow, in order to ensure the accuracy of the detection result, the unmanned aerial vehicle can be controlled to descend to the second height, and then the magnetic detection array unit is controlled to detect the candidate area.

Step 407, determining a target position where the ferromagnetic target is located from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

In the embodiment of the invention, the target position of the ferromagnetic target is determined from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit, so that the ferromagnetic target can be detected in a targeted manner, and the detection efficiency is greatly improved.

As another application scenario, when the user does not know the detection area, or the ammunition left by the user in the detection area is uncertain, at this time, the position characteristic of the ferromagnetic target cannot be determined, that is, the position characteristic of the ferromagnetic target indicates that the position of the ferromagnetic target is unknown, for example, the ferromagnetic target may be located above the ground, or may be located below the ground (whether the ground includes a hole left when the ferromagnetic target falls), or may be located above the ground and below the ground at the same time, at this time, the detection mode is mode four, and in order to improve the accuracy of the detection result, the magnetic detection array unit and the optical detection unit may be controlled to synchronously detect the detection area. The above process is described in detail below with reference to fig. 8.

Fig. 8 is a schematic flowchart of a ferromagnetic target detection method according to a fifth embodiment of the present invention.

As shown in fig. 8, the ferromagnetic target detection method may include the steps of:

and step 501, when the position characteristics of the ferromagnetic target indicate that the position of the ferromagnetic target is unknown, controlling the unmanned aerial vehicle to descend to a second height.

And step 502, controlling the magnetic detection array unit and the optical detection unit to synchronously detect the detection area.

In the embodiment of the invention, when the position of the ferromagnetic target is unknown, for example, the ferromagnetic target may be located above the ground, or may also be located below the ground (no matter whether the ground includes a hole left when the ferromagnetic target falls), or may be located above the ground and below the ground at the same time, at this time, the magnetic detection array unit and the optical detection unit may be controlled to synchronously detect the detection area, so as to improve the accuracy of the detection result.

Step 503, extracting image features from the ground image detected by the optical detection unit.

And step 504, determining the target position where the ferromagnetic target is located and/or the candidate region containing the ferromagnetic target from the detection region according to the image characteristics.

In the embodiment of the present invention, for the ferromagnetic target above the ground, the target position where the ferromagnetic target is located may be determined from the detection area directly according to the image characteristics, and the specific implementation process refers to the implementation process of step 203 in the above embodiment, which is not described herein again. For the ferromagnetic target under the ground, and the ground includes the hole left when the ferromagnetic target falls, the candidate region including the hole or the ferromagnetic target in the detection region may be determined according to the image feature, and the specific implementation process refers to the implementation process of step 404 in the above embodiment, which is not described herein again.

And 505, determining the target position of the ferromagnetic target in the detection area according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit, and/or determining the target position of the ferromagnetic target in the candidate area according to the magnetic induction signal obtained by detecting the candidate area by the magnetic detection array unit.

In the embodiment of the present invention, for a ferromagnetic target below the ground and the ground does not include a hole left when the ferromagnetic target falls, the target position where the ferromagnetic target is located may be determined from the detection area directly according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit, and the specific execution process refers to the execution process of step 303 in the above embodiment, which is not described herein again. For the ferromagnetic target under the ground, and the ground includes the hole left when the ferromagnetic target falls, the magnetic induction signal obtained by detecting the candidate region including the hole or the ferromagnetic target may be directly detected according to the magnetic detection array unit, and the target position where the ferromagnetic target is located is determined from the candidate region.

It should be noted that, in order to improve the detection efficiency, the step 505 is executed in parallel with the step 503-504, and the present invention is only exemplified by the sequence of the step 505 and the step 503-504. Specifically, when the target position of the ferromagnetic target above the ground is determined from the detection area according to the image characteristics, the target position of the ferromagnetic target below the ground can be determined from the detection area simultaneously according to the magnetic induction signal obtained by detecting the detection area by the magnetic detection array unit. When the candidate region including the hole or the ferromagnetic target is determined from the detection region according to the image feature, the target position where the ferromagnetic target near the hole is located may be determined from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

As a possible implementation manner, after the target position of the ferromagnetic target is determined, in order to facilitate the operator to remove the ferromagnetic target, a label may be marked on the target position corresponding to the map of the detection area to guide the operator to remove the ferromagnetic target. In addition, when the ferromagnetic target is left-behind unexploded objects, the types of the left-behind unexploded objects are different, and the corresponding materials of the left-behind unexploded objects are also different, so as to further reduce the removal risk of the left-behind unexploded objects and guide the operators to take effective protective measures in time according to the types of the left-behind unexploded objects. The above process is described in detail below with reference to fig. 9.

Fig. 9 is a schematic flowchart of a ferromagnetic target detection method according to a sixth embodiment of the present invention.

As shown in fig. 9, on the basis of the above embodiment, the ferromagnetic target detecting method may further include the following steps:

step 601, determining a display pattern corresponding to the type of the left unexploded object according to a preset database.

In the embodiment of the invention, the preset database comprises the corresponding relation between the type of the left-behind unexplosive substances and the display patterns, the display patterns corresponding to the type of the left-behind unexplosive substances can be calibrated by a system, or can be calibrated by an operator according to operation habits, for example, the display patterns corresponding to shells are shell patterns and the like.

Step 602, marking a display pattern on a target position corresponding to a map of the detection area to guide an operator to remove the remaining unexploded objects at the target position.

In the embodiment of the invention, the display pattern is marked on the target position corresponding to the map of the detection area, so that the operator can be guided to remove the remaining unexploded objects at the target position. Therefore, potential safety hazards caused by manual detection of the left-over unexploded objects by operators are avoided, and the safe and efficient detection method for the left-over unexploded objects is provided.

It should be noted that, in different application scenarios, the target positions on the map of the detection area are marked in different ways, and the remaining unexploded objects may be marked by highlighting the target positions, or marking the remaining unexploded objects by marking display patterns on the target positions, or marking the remaining unexploded objects by marking characters on the target positions, which is not limited in the embodiment of the present invention.

Of course, in the actual implementation process, the amount of calculation for identifying the ground image of the whole detection area may be relatively large, while part of ferromagnetic targets (for example, remaining unexplosive objects) in the ground image have been identified in the previous identification, and this identification obviously only needs to identify the ferromagnetic target newly generated after the previous identification, so in an embodiment of the present invention, as shown in fig. 10, on the basis of the ground image detected by the optical detection unit, before determining the target position where the ferromagnetic target is located from the detection area, the method further includes:

step 701, obtaining the historical image feature corresponding to the last detected historical ferromagnetic target and the historical target position corresponding to the historical image feature.

It can be understood that, for each detected historical ground image, the historical image features corresponding to each historical ferromagnetic target in the historical ground image can be extracted, the historical target position corresponding to the historical image features can be determined, and then the historical image features and the historical target position can be correspondingly stored.

Step 702, detecting the image features of the ground image and the candidate image features corresponding to the historical target position, judging whether the candidate image features are matched with the historical image features, and if so, removing the candidate image features in the image features of the ground image.

Specifically, for the image features of the ground image, it may be detected whether a candidate image feature corresponding to the historical target position exists in the image features, and if yes, it is determined whether the candidate image feature matches the historical image feature, for example, the shape, color, and size of the candidate image feature may be matched with the historical image feature, and if so, it indicates that the candidate image feature is a ferromagnetic target that has been identified in the last detection process, that is, it is determined that the ferromagnetic target that has been detected last exists in the candidate image, and therefore, the candidate image feature in the image features of the ground image may be removed.

For example, as shown in the left diagram of fig. 11, if a ferromagnetic target in the previous detection process is identified and processed (black dots in the drawing indicate the ferromagnetic target), as shown in the right diagram of fig. 11, after the ground image obtained this time, the historical image features may be identified, and further, the historical image features may be cleared, and the ground image obtained after the clearing may be as shown in the right diagram of fig. 11, so that it may be realized to only retain the ferromagnetic target that newly appears at this time when the current identification is performed with respect to the previous identification (white dots in the drawing indicate the ferromagnetic target that newly appears this time).

In order to realize the embodiment, the invention further provides a ferromagnetic target detection device.

Fig. 12 is a schematic structural diagram of a ferromagnetic object detecting device according to an eighth embodiment of the present invention.

The ferromagnetic target detection device provided by the embodiment of the invention is applied to an information processing platform, the information processing platform is communicated with an unmanned aerial vehicle, and the unmanned aerial vehicle is loaded with a magnetic detection array unit and an optical detection unit.

As shown in fig. 12, the ferromagnetic object detecting device includes: a detection mode determination module 101, a detection control module 102 and an information processing module 103. Wherein the content of the first and second substances,

the detection mode determining module 101 is configured to determine a detection mode of the ferromagnetic target.

As a possible implementation manner, the detection mode determining module 101 is specifically configured to: determining a detection mode of the ferromagnetic target according to the detection task; or determining the detection mode of the ferromagnetic target according to the position characteristics of the ferromagnetic target.

And the detection control module 102 is configured to control one or more of the magnetic detection array unit and the optical detection unit to detect according to a detection mode when the unmanned aerial vehicle flies to the detection area.

As a possible implementation, when the position characteristic of the ferromagnetic target indicates that the ferromagnetic target is located above the ground, the detection control module 102 is specifically configured to: and controlling the optical detection unit to detect.

As another possible implementation manner, when the position feature of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground does not include the hole left by the ferromagnetic target when the ferromagnetic target falls down, the detection control module 102 is specifically configured to: and controlling the magnetic detection array unit to detect.

As another possible implementation manner, when the position feature of the ferromagnetic target indicates that the ferromagnetic target is located below the ground and the ground includes a hole left when the ferromagnetic target falls down, the detection control module 102 is specifically configured to: controlling an optical detection unit to detect a detection area to obtain a ground image; extracting image features of the ground image; determining a candidate region containing the ferromagnetic target from the detection region according to the image characteristics; and controlling the magnetic detection array unit to detect the candidate region.

The information processing module 103 is specifically configured to: and determining the target position of the ferromagnetic target from the candidate region according to the magnetic induction signal obtained by detecting the candidate region by the magnetic detection array unit.

As another possible implementation manner, when the position characteristic of the ferromagnetic target indicates that the position of the ferromagnetic target is unknown, the detection control module 102 is specifically configured to: and controlling the magnetic detection array unit and the optical detection unit to synchronously detect the detection area.

The information processing module 103 is specifically configured to: extracting image characteristics of the ground image obtained by the detection of the optical detection unit; determining the target position where the ferromagnetic target is located and/or a candidate region containing the ferromagnetic target from the detection region according to the image characteristics; and/or determining the target position of the ferromagnetic target from the candidate area according to the magnetic induction signal obtained by detecting the candidate area by the magnetic detection array unit.

As a possible implementation manner, the information processing module 103 is further configured to: matching the image features with reference image features; wherein the reference image features are generated according to a preset ferromagnetic target; and taking the region of the ground image with the matched image feature and the reference image feature as a candidate region.

And the information processing module 103 is configured to determine a target position where the ferromagnetic target is located from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit.

As a possible implementation, the detection control module 102 is further configured to: and controlling the unmanned aerial vehicle to fly to a detection height matched with the detection mode before the unmanned aerial vehicle flies to the detection area.

Further, in a possible implementation manner of the embodiment of the invention, referring to fig. 13, on the basis of the embodiment shown in fig. 12, the ferromagnetic target detecting device may further include: and a labeling module 104.

The marking module 104 is configured to determine, when the ferromagnetic target is an left-behind unexplosive substance, a target position where the ferromagnetic target is located from the detection area, and then determine, according to a preset database, a display pattern corresponding to the type of the left-behind unexplosive substance; and marking a display pattern on the target position corresponding to the map of the detection area so as to guide the operator to remove the residual unexploded objects at the target position.

It should be noted that the foregoing description focuses on the explanation of the embodiment of the ferromagnetic target detection method, and is also applicable to the ferromagnetic target detection apparatus according to the embodiment of the present invention, and the implementation principle is similar, and is not described herein again.

To sum up, the ferromagnetic target detection device according to the embodiment of the present invention determines the detection mode of the ferromagnetic target, and when the unmanned aerial vehicle flies to the detection area, controls one or more of the magnetic detection array unit and the optical detection unit to perform detection according to the detection mode, and then determines the target position where the ferromagnetic target is located from the detection area according to the magnetic induction signal detected by the magnetic detection array unit and/or the ground image detected by the optical detection unit. Therefore, according to the detection mode, one or more of the magnetic detection array unit and the optical detection unit are controlled to detect the ferromagnetic target in the detection area, the ferromagnetic target can be detected in a targeted manner, and the accuracy of the detection result and the detection efficiency are improved.

In order to realize the embodiment, the invention further provides a ferromagnetic target detection system.

Fig. 14 is a schematic structural diagram of a ferromagnetic target detection system according to a tenth embodiment of the present invention.

As shown in fig. 14, the ferromagnetic target detection system includes: the information processing platform 100 comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the ferromagnetic target detection method according to the above embodiment of the present invention.

In an embodiment of the present invention, the ferromagnetic target detection system may further include a handheld operation terminal, where the handheld operation terminal is held by an operator, and a map of the detection area may be displayed on a display interface of the operation terminal to guide the operator to reach a target position where the ferromagnetic target is located.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units 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 stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.