CN107065627A - The control method of smart machine, apparatus and system, storage medium - Google Patents
The control method of smart machine, apparatus and system, storage medium Download PDFInfo
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- CN107065627A CN107065627A CN201710407838.6A CN201710407838A CN107065627A CN 107065627 A CN107065627 A CN 107065627A CN 201710407838 A CN201710407838 A CN 201710407838A CN 107065627 A CN107065627 A CN 107065627A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
A kind of control method of smart machine, apparatus and system, storage medium, the control method, including：The three-dimensional image information in preset range is obtained, the three-dimensional image information includes：The parameter information of 3-D view in 3-D view in preset range, and the preset range；Space coordinate, each spatial point member and the space distance of itself with reference to each spatial point member, carry out graphical analysis to the 3-D view, extract the spatial shape information of the object in the preset range；When the spatial shape information of the object in the preset range extracted is different from default normed space shape information, control instruction corresponding with the spatial shape information of the object in the preset range extracted is generated；The control instruction of generation is exported to corresponding smart machine so that the smart machine performs corresponding operation according to the control instruction.Using such scheme, the degree of accuracy controlled smart machine can be improved.
Description
Technical field
The present invention relates to smart machine control technology field, more particularly to a kind of control method of smart machine, device and
System, storage medium.
Background technology
With the development of science and technology, the control method of some equipment increasingly tends to intelligent.For example, supermarket, market etc. are passed through
Often use automatic sensing door, when sense someone close to when, can automatically open up.And for example, the shield door on subway when closed,
When detect clamp foreign matter when, can automatically open up.
However, in actual applications, often there are some maloperation phenomenons.For example, someone only from automatic sensing in front of the door
By, and room is not introduced into, door can still be automatically opened up.And for example, when subway shield door clips to the foreign matter of small volume sometimes,
The presence of foreign matter is then can't detect, shield door will not be automatically opened up, it is thus possible to the healthy of passenger can be damaged.
To sum up, the control accuracy of some existing smart machines is relatively low.
The content of the invention
Present invention solves the technical problem that being how to improve the degree of accuracy controlled smart machine.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of control method of smart machine, including：Obtain pre-
If the three-dimensional image information in scope, the three-dimensional image information includes：3-D view in preset range, and it is described default
In the range of 3-D view parameter information；Wherein, the parameter information of the 3-D view in the preset range includes：Each space
Space coordinate, each spatial point member and the space distance of itself of point member；Space coordinate, each space with reference to each spatial point member
Point member and the space distance of itself, carry out graphical analysis to the 3-D view, extract the object in the preset range
Spatial shape information；When the spatial shape information and default normed space shape of the object in the preset range extracted
When state information is different, control instruction corresponding with the spatial shape information of the object in the preset range extracted is generated；
The control instruction of generation is exported to corresponding smart machine so that the smart machine performs correspondence according to the control instruction
Operation.
Alternatively, the three-dimensional image information obtained in preset range, including：Using time-of-flight images sensor die
Group obtains the three-dimensional image information in preset range.
Alternatively, the use time-of-flight images sensor module obtains the three-dimensional image information in preset range, bag
Include：Object emission light pulse into preset range；The light pulse reflected from the object is received, according to flying for light pulse
The row time obtains each spatial point member and the space distance of itself；According to the flight time of light pulse, during using the flight
Between space coordinates in imaging sensor module, obtain the space coordinate of each spatial point member；According to spatial point member with itself
Space distance and space coordinate, obtain the 3-D view in preset range.
Alternatively, the spatial shape information for working as the object in the preset range extracted and default standard null
Between shape information it is different when, generate and corresponding with the spatial shape information of the object in the preset range extracted control to refer to
Order, including：The spatial shape information of object in the preset range of extraction is entered with default normed space shape information
Row is compared；When comparison result shows the spatial shape information and default normed space of the object in the preset range extracted
When shape information is different, the spatial shape information of foreign matter is extracted；Determine the corresponding sky of spatial shape information of extracted foreign matter
Between image；According to identified spatial image, corresponding control instruction is generated.
Alternatively, spatial image determined by the basis, generates corresponding control instruction, including following at least one：
According to identified spatial image, the control instruction for controlling the smart machine to perform alarm and reminding operation is generated；According to
Identified spatial image, generates the control instruction for controlling the smart machine to change the working condition of itself；According to institute
The spatial image of determination, generates the control instruction for controlling the smart machine to change the location of itself.
The embodiment of the present invention also provides a kind of control device of smart machine, including：Three-dimensional image information acquiring unit, is fitted
In obtaining the three-dimensional image information in preset range, the three-dimensional image information includes：3-D view in preset range, and
The parameter information of 3-D view in the preset range；Wherein, the parameter information bag of the 3-D view in the preset range
Include：Space coordinate, each spatial point member and the space distance of itself of each spatial point member；Image analyzing unit, suitable for combining
Space coordinate, each spatial point member and the space distance of itself of each spatial point member, image point is carried out to the 3-D view
Analysis, extracts the spatial shape information of the object in the preset range；Control instruction generation unit, described in working as and being extracted
When the spatial shape information of object in preset range is different from default normed space shape information, generation and the institute extracted
State the corresponding control instruction of spatial shape information of the object in preset range；Output unit, suitable for by the control instruction of generation
Export to corresponding smart machine so that the smart machine performs corresponding operation according to the control instruction.
Alternatively, the three-dimensional image information acquiring unit includes：Time-of-flight images sensor module.
Alternatively, the time-of-flight images sensor module includes：Light pulse emission module, image sensor chip,
Data analysis module and module control module, wherein：
Alternatively, the module control module, respectively with the light pulse emission module and described image sensor chip
Coupling, is controlled suitable for the working condition to the light pulse emission module and described image sensor chip；The smooth arteries and veins
Transmitter module is rushed, suitable for the object emission light pulse into preset range；Described image sensor chip, suitable for receiving from described
The light pulse that object is reflected；The data analysis module, suitable for obtaining each spatial point member according to the flight time of light pulse
With the space distance of itself；According to the flight time of light pulse, using in the time-of-flight images sensor module
Space coordinates, obtain the space coordinate of each spatial point member；And according to space distance and sky of the spatial point member with itself
Between coordinate, obtain the 3-D view in preset range.
Alternatively, the control instruction generation unit includes：Compare subelement, extract subelement, determination subelement and life
Into subelement, wherein：The comparison subelement, suitable for the object in the preset range by extraction spatial shape information with
Default normed space shape information is compared；The extraction subelement, suitable for showing the described pre- of extraction when comparison result
If the spatial shape information of the object in scope is different from default normed space shape information, the spatial shape of foreign matter is extracted
Information；The determination subelement, is adapted to determine that the corresponding spatial image of spatial shape information of extracted foreign matter；The generation
Subelement, suitable for the spatial image according to determined by the determination subelement, generates corresponding control instruction.
Alternatively, the generation subelement, suitable for the spatial image according to determined by the determination subelement, generation is following
At least one control instruction：For controlling the smart machine to perform the control instruction of alarm and reminding operation；It is described for controlling
Smart machine changes the control instruction of the working condition of itself；For controlling the smart machine to change the location of itself
Control instruction.
The embodiment of the present invention also provides the control device of another smart machine, including：Memory and processor, it is described to deposit
Be stored with the computer instruction that can be run on the processor on reservoir, when the processor runs the computer instruction
The step of performing the control method of any of the above-described smart machine.
The embodiment of the present invention also provides a kind of computer-readable recording medium, is stored thereon with computer instruction, the meter
The step of control method of any of the above-described smart machine being performed during calculation machine instruction operation.
The embodiment of the present invention also provides a kind of control system of smart machine, including：The control of any of the above-described smart machine
Device processed, and the smart machine with the control device communication connection of the smart machine.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
By obtaining the three-dimensional image information in preset range, graphical analysis is carried out to the 3-D view, with reference to three-dimensional
The parameter information of image, extracts the spatial shape information of the object in the preset range.When in the preset range of extraction
Object spatial shape information it is different from default normed space shape information when, generation and the preset range extracted
The corresponding control instruction of spatial shape information of interior object is simultaneously exported to corresponding smart machine, and the intelligence is set with realizing
Standby automatically controls.Because the parameter information of the 3-D view includes：The space coordinate of each spatial point member, each spatial point member with
The space distance of itself, the degree of accuracy of the spatial shape information of the foreign matter extracted from 3-D view is higher, so as to
The degree of accuracy of generated control instruction is improved, namely improves the degree of accuracy controlled smart machine.
Further, using time-of-flight images sensor module, preset range is obtained by way of launching light pulse
Interior three-dimensional image information, is not easily susceptible to the interference of ambient, and the accuracy of resulting three-dimensional image information is higher, therefore can
The degree of accuracy of the spatial shape information of the foreign matter extracted with improving from three-dimensional image information, sets so as to improve to intelligence
The degree of accuracy of standby control.
Further, smart machine performs alarm and reminding operation according to control instruction, can be by way of alarm and reminding
The biological attention near smart machine is reminded to avoid or take safeguard procedures, to protect smart machine and its neighbouring biological peace
Entirely.Smart machine changes the working condition of itself according to control instruction, or changes the location of itself according to control instruction,
By using active measures, to avoid injury of the foreign matter to smart machine, and injury of the smart machine to foreign matter, so as to
Realize the protection to smart machine and foreign matter.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the control method of smart machine in the embodiment of the present invention；
Fig. 2 is a kind of structural representation of the control device of smart machine in the embodiment of the present invention；
Fig. 3 is a kind of structural representation of time-of-flight images sensor module in the embodiment of the present invention；
Fig. 4 is a kind of structural representation of the control system of smart machine in the embodiment of the present invention.
Embodiment
As described above, at present, the degree of accuracy automatically controlled to smart machine is relatively low.
To improve the degree of accuracy of the control to smart machine, in embodiments of the present invention, by obtaining in preset range
Three-dimensional image information, graphical analysis is carried out to the 3-D view, with reference to the parameter information of 3-D view, extracts the default model
The spatial shape information of object in enclosing.When the spatial shape information and default mark of the object in the preset range of extraction
When quasi- spatial shape information is different, control corresponding with the spatial shape information of the object in the preset range extracted is generated
System is instructed and exported to corresponding smart machine, and the smart machine is automatically controlled with realizing.Due to from 3-D view
The degree of accuracy of the spatial shape information of the foreign matter of extraction is higher, so as to improve the degree of accuracy of generated control instruction,
Improve the degree of accuracy controlled smart machine.
Become apparent for the above-mentioned purpose, feature and beneficial effect that enable the embodiment of the present invention it is understandable, with reference to attached
Figure is described in detail to the specific embodiment of the present invention.
Reference picture 1, gives a kind of flow chart of the control method of smart machine in the embodiment of the present invention.With reference to tool
Body step is described in detail.
Step 11, the three-dimensional image information in preset range is obtained.
In specific implementation, the three-dimensional image information in accessed preset range can include：In preset range
The parameter information of 3-D view in 3-D view, and the preset range.
In specific implementation, the parameter information of the 3-D view in the preset range can include：Each spatial point member
Space coordinate, each spatial point member and the space distance of itself.
In being embodied in, the three-dimensional image information in preset range can be obtained using various ways.
For example, using binocular vision system, by the image in two camera acquisition preset ranges, and combining 3D modeling
Obtain the three-dimensional image information in preset range.
And for example, the three-dimensional image information in preset range is obtained using structure light raster-scan method.
For another example, obtained using flight time (Time Of Flight, TOF) imaging sensor module in preset range
Three-dimensional image information.Because TOF imaging sensors are when obtaining three-dimensional image information, the light interference in the external world is not easily susceptible to, is obtained
The three-dimensional image information degree of accuracy got is higher.
It is understood that in actual applications, it would however also be possible to employ other modes get the three-dimensional in preset range
Image, is not repeated herein.
Step 12, space coordinate, each spatial point member and the space distance of itself with reference to each spatial point member, to described
3-D view carries out graphical analysis, extracts the spatial shape information of the object in the preset range.
In specific implementation, after the three-dimensional image information in preset range is got, 3-D view can be carried out
Graphical analysis, in the parameter information of the 3-D view each spatial point member space coordinate, each spatial point member and itself
Space distance, extract the spatial shape information of the object in preset range.
In specific implementation, the spatial shape information of the object in preset range extracted can include preset range
The spatial image of the outer surface of interior all objects, can also include the parameter letter of the spatial point member of all objects in preset range
Breath.
Step 13, when the spatial shape information and default normed space shape of the object in the preset range extracted
When state information is different, control instruction corresponding with the spatial shape information of the object in the preset range extracted is generated.
In an embodiment of the present invention, can be by the way of comparing, to determine in the preset range extracted
Whether the spatial shape information of object is identical with default normed space shape information.Specifically, default mark can be obtained
Quasi- spatial shape information, by the spatial shape information of the object in the preset range of extraction and default normed space form
Information is compared.
In specific implementation, when spatial shape information and the default standard null of the object in the preset range of extraction
Between shape information it is different when, control instruction corresponding with the spatial shape information of the object in the preset range can be generated.
For example, from subway shield door close when three-dimensional image information in, obtain subway shield door close when space shape
State information, and normed space shape information corresponding with shield door normal switching-off is compared, when the two is different, then table
Bright shield door when closed, may clip to knapsack, clothes or passenger etc., at this point it is possible to generate for controlling shield door to beat
The control instruction opened, to protect passenger safety.
Step 14, the control instruction of generation is exported to corresponding smart machine so that the smart machine is according to described
Control instruction performs corresponding operation.
In specific implementation, after generation control instruction, the control instruction of generation can be sent to corresponding intelligence and set
It is standby.The smart machine is received after the control instruction, performs corresponding operation.
In specific implementation, the smart machine can perform alarm and reminding operation according to control instruction, can also basis
Control instruction changes the working condition of itself, can also change the location of itself according to control instruction.Specifically, can be with
Different control instructions are set according to the type of smart machine difference, to control smart machine to perform different operations.
As shown in the above, by obtaining the three-dimensional image information in preset range, the 3-D view is schemed
As analysis, with reference to the parameter information of 3-D view, the spatial shape information of the object in the preset range is extracted.When extraction
When the spatial shape information of object in the preset range is different from default normed space shape information, generate with being extracted
The preset range in object the corresponding control instruction of spatial shape information and export to corresponding smart machine, with reality
Now the smart machine is automatically controlled.Because the parameter information of the 3-D view includes：The space of each spatial point member is sat
Mark, each spatial point member with the space distance of itself, the spatial shape information of the foreign matter extracted from 3-D view it is accurate
Degree is higher, so as to improve the degree of accuracy of generated control instruction, namely improves the degree of accuracy controlled smart machine.
In specific implementation, the smart machine can be intelligent home device, or automated production equipment, also
It can be public transport equipment or aircraft etc., not repeat herein.
, can when obtaining the three-dimensional image information in preset range using TOF imaging sensors module in specific implementation
To realize in the following way：Object emission light pulse into preset range, receives the light arteries and veins reflected from the object
Punching, each spatial point member and the space distance of itself are obtained according to the flight time of light pulse.During according to the flight of light pulse
Between, using the space coordinates in the time-of-flight images sensor module, the space coordinate of each spatial point member is obtained, according to
Spatial point member and the space distance and space coordinate of itself, obtain the 3-D view in preset range.
In specific implementation, the light pulse of the TOF imaging sensors module transmitting can be continuous light pulse, also may be used
Think the light pulse of predetermined period, the light pulse that setting can be needed to be interrupted according to.
In specific implementation, the reception for the light pulse that can be reflected according to the emission time and object of each light pulse
At the moment, obtain the flight time of light pulse.Thing can be obtained according to the flight time of light pulse and skyborne spread speed
Body and the relative distance of itself.
In specific implementation, the TOF imaging sensors module is constantly in open state after the power-up, gathers pre- at any time
If the three-dimensional image information of the object in scope., can also be according to a user operation instruction when user needs in order to save energy consumption
Start, and length is reached automatically into resting state after preset duration on startup, can also be carried out according to the dormancy instruction of user
Resting state.For example, user can start the TOF imaging sensors module by pressing physical button, language can also be passed through
Sound instruction starts the TOF imaging sensors module, can also start the TOF imaging sensors by default gesture motion
Module.
Further to improve the degree of accuracy controlled smart machine, in an embodiment of the present invention, step 13 can pass through
Following manner is realized：
The spatial shape information of object in the preset range of extraction is entered with default normed space shape information
Row is compared；When comparison result shows the spatial shape information and default normed space of the object in the preset range extracted
When shape information is different, the spatial shape information of foreign matter is extracted.Determine the corresponding sky of spatial shape information of extracted foreign matter
Between image；According to identified spatial image, corresponding control instruction is generated.
In specific implementation, it can determine what type foreign matter belongs to according to the spatial image of identified foreign matter.According to
Different types of foreign matter generates corresponding control instruction, so as to or not the difference of the influence degree of the smart machine
The situation of same type takes targetedly measure, further improve to smart machine control accuracy and with actual environment
Matching.
In specific implementation, it can be generated according to identified spatial image for controlling the smart machine to perform police
Report reminds the control instruction of operation；It can be generated according to identified spatial image for controlling the smart machine to change certainly
The control instruction of the working condition of body；It can also be generated according to identified spatial image for controlling the smart machine to change
Become the control instruction of the location of itself.
For example, smart machine is the shield door of subway, when foreign matter is hand, it can generate what is opened for controlling shield door
Control instruction, can also be generated for controlling to generate the control for sending alarm and reminding while the control instruction of shield door opening
System instruction.When foreign matter is knapsack, the control instruction for controlling shield door to open can be generated.
And for example, when smart machine is automobile, during reversing automobile, when detecting someone in preset range, control
Instruction can control automobile to send alarm and reminding, to remind neighbouring pedestrian to note avoidance.
For another example, smart machine is the automatic-packaging in automated production equipment, when the shape for detecting object to be packaged
When state occurs abnormal, e.g., bottle to be packaged is toppled over, damaged, and can send alarm and reminding, can also will appear from abnormal object
Screen.
For another example, smart machine is train, during train vibration influence, according to the spatial shape information pair of the foreign matter extracted
The spatial image answered, when determining that the foreign matter on rail is behaved, can control train to send sound of blowing a whistle, to remind by control instruction
People leaves.Further, in order to improve pedestrian and traffic safety, when in preset duration detecting pedestrian and not avoiding, generation subtracts
Fast control instruction, controls train speed reducing, and stops, to protect the safety of pedestrian and train.When it is determined that the foreign matter on rail is big
During stone, vehicle deceleration, and the stopping traveling before boulder is bumped against can be controlled by control instruction.
It is understood that the species of the smart machine is not limited in the vapour enumerated listed by the above embodiment of the present invention
Car, automation equipment and train, can also be other smart machines, not repeat herein.
The embodiment of the present invention is better understood from and realized for ease of those skilled in the art, and the embodiment of the present invention is additionally provided
A kind of control device corresponding with above-mentioned smart machine control method.
A kind of structural representation of the control device of smart machine in reference picture 2, the embodiment of the present invention provided.The intelligence
The control device 20 of energy equipment can include：Three-dimensional image information acquiring unit 21, image analyzing unit 22, control instruction generation
Unit 23 and output unit 24, wherein：
The three-dimensional image information acquiring unit 21, suitable for obtaining the three-dimensional image information in preset range, the three-dimensional
Image information includes：The parameter information of 3-D view in 3-D view in preset range, and the preset range；Its
In, the parameter information of the 3-D view in the preset range includes：The space coordinate of each spatial point member, each spatial point member with from
The space distance of body；
Described image analytic unit 22, space coordinate, each spatial point member and the phase of itself suitable for combining each spatial point member
To space length, graphical analysis is carried out to the 3-D view, the spatial shape information of the object in the preset range is extracted；
The control instruction generation unit 23, the spatial shape letter of the object in the preset range extracted suitable for working as
When breath is different from default normed space shape information, generation and the spatial shape of the object in the preset range extracted
The corresponding control instruction of information；In an embodiment of the present invention, control instruction generation unit 23 is generated for controlling the intelligence
Equipment performs the control instruction of alarm and reminding operation.In an alternative embodiment of the invention, the generation of control instruction generation unit 23 is used
In the control instruction for controlling the smart machine to change the working condition of itself.In still another embodiment of the process, control instruction
Generation unit 23 generates the control instruction for controlling the smart machine to change the location of itself.
It is understood that in actual applications, according to the difference of actual application scenarios and smart machine, the control
Instruction processed can also control smart machine to perform other operations, not repeat herein.
The output unit 24, suitable for the control instruction of generation is exported to corresponding smart machine so that the intelligence
Equipment performs corresponding operation according to the control instruction.
Using such scheme, by obtaining the three-dimensional image information in preset range, image is carried out to the 3-D view
Analysis, with reference to the parameter information of 3-D view, extracts the spatial shape information of the object in the preset range.When the institute of extraction
State object in preset range spatial shape information it is different from default normed space shape information when, generation is with being extracted
The corresponding control instruction of spatial shape information of object in the preset range is simultaneously exported to corresponding smart machine, to realize
The smart machine is automatically controlled.Because the parameter information of the 3-D view includes：The space coordinate of each spatial point member,
Each spatial point member and the space distance of itself, the degree of accuracy of the spatial shape information of the foreign matter extracted from 3-D view compared with
Height, so as to improve the degree of accuracy of generated control instruction, namely improves the degree of accuracy controlled smart machine.
In an embodiment of the present invention, the three-dimensional image information acquiring unit 21 is to use time-of-flight images sensor
Module.In an alternative embodiment of the invention, the three-dimensional image information acquiring unit 21 is binocular vision system.
In specific implementation, when the three-dimensional image information acquiring unit 21 is the time-of-flight images sensor module
When, reference picture 3, the time-of-flight images sensor module 30 can include：Light pulse emission module 31, imaging sensor core
Piece 32, data analysis module 33 and module control module 34, wherein：
The module control module 34, respectively with the light pulse emission module 31 and the coupling of described image sensor chip 32
Connect, be controlled suitable for the working condition to the light pulse emission module 31 and described image sensor chip 32；
The light pulse emission module 31, suitable for the object emission light pulse into preset range；Implement in the present invention one
In example, the light pulse emission module 31 is camera lens, using object emission light pulse of the camera lens into preset range.
Described image sensor chip 32, suitable for receiving the light pulse reflected from the object；
The data analysis module 33 is relative with itself suitable for obtaining each spatial point member according to the flight time of light pulse
Space length；According to the flight time of light pulse, using the space coordinates in the time-of-flight images sensor module, obtain
To the space coordinate of each spatial point member；And according to space distance and space coordinate of the spatial point member with itself, obtain pre-
If the 3-D view in scope.
In specific implementation, the module control module 34 can control the light pulse according to the enabled instruction of user
Transmitter module 31 is started working, the object emission light pulse into preset range, and controls described image sensor chip 32 to open
Beginning receives the light pulse reflected from the object.The module control module 34 can also meet the smooth arteries and veins detecting
When rushing the trigger condition of the start-up operation of transmitter module 31, the light pulse emission module 31 is controlled to start working, to preset range
Interior object emission light pulse, and control described image sensor chip 32 to start the light arteries and veins for receiving to reflect from the object
Punching.
In specific implementation, the control instruction generation unit 23 can include：Compare subelement, extract subelement, really
Stator unit and generation subelement, wherein：
The comparison subelement, suitable for the object in the preset range by extraction spatial shape information with it is default
Normed space shape information is compared；The extraction subelement, suitable for showing the preset range extracted when comparison result
When the spatial shape information of interior object is different from default normed space shape information, the spatial shape information of foreign matter is extracted；
The determination subelement, is adapted to determine that the corresponding spatial image of spatial shape information of extracted foreign matter；Generation is single
Member, suitable for the spatial image according to determined by the determination subelement, generates corresponding control instruction.
In specific implementation, the generation subelement is raw suitable for the spatial image according to determined by the determination subelement
Into following at least one control instruction：For controlling the smart machine to perform the control instruction of alarm and reminding operation；For controlling
Make the control instruction that the smart machine changes the working condition of itself；For controlling the smart machine to change residing for itself
The control instruction of position.
In specific implementation, the operation principle of the control device of the smart machine and control flow to smart machine can
With the description in the control method with reference to the smart machine provided in the above embodiment of the present invention, do not repeat herein.
Reference picture 4, the embodiment of the present invention also provides a kind of control system of smart machine.The control system of the smart machine
System can include：The control device 20 for any smart machine that the above embodiment of the present invention is provided, and set with the intelligence
The smart machine 41 that standby control device 20 is communicated to connect.
In specific implementation, smart machine 41 is controlled using the control device 20 of the smart machine, at some
Smart machine 41 while the degree of accuracy controlled smart machine 41 is improved, may can drop with the related place of people
Lower security hidden danger.
For example, in industrial processes, when in the three-dimensional image information from collection, when extracting spatial image in one's hands,
Can be out of service with control machine, to prevent from clipping to the hand of operating personnel, the healthy of operating personnel is damaged.
And for example, applied in automobile, when the corresponding space of the shape information of the user extracted from three-dimensional image information
When image spatial image corresponding with default doze state is identical, controllable alarm set sends prompting, by driver from sleepy
Sleep in state and wake up, so as to improve traffic safety.
For another example, applied in aircraft, when obtaining front from three-dimensional image information and having barrier, flight can be controlled
Device change of flight direction, so as to improve the flight safety of aircraft.
In specific implementation, the control flow and control principle of the control device of the smart machine to the smart machine
It is referred in the control method of smart machine that is provided in the various embodiments described above of the present invention and the control device of smart machine
Description, is not repeated herein.
The embodiment of the present invention also provides the control device of another smart machine, including：Memory and processor, it is described to deposit
Be stored with the computer instruction that can be run on the processor on reservoir, when the processor runs the computer instruction
The step of performing the control method of smart machine described in any of the above-described embodiment.
The embodiment of the present invention also provides a kind of calculation machine readable storage medium storing program for executing, is stored thereon with computer instruction, the calculating
The step of control method of smart machine described in any of the above-described embodiment is performed during machine instruction operation.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, are not departing from this
In the spirit and scope of invention, it can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (13)
1. a kind of control method of smart machine, it is characterised in that including：
The three-dimensional image information in preset range is obtained, the three-dimensional image information includes：3-D view in preset range, with
And the parameter information of the 3-D view in the preset range；Wherein, the parameter information of the 3-D view in the preset range
Including：Space coordinate, each spatial point member and the space distance of itself of each spatial point member；
Space coordinate, each spatial point member and the space distance of itself with reference to each spatial point member, enter to the 3-D view
Row graphical analysis, extracts the spatial shape information of the object in the preset range；
When the spatial shape information of the object in the preset range extracted is different from default normed space shape information
When, generate control instruction corresponding with the spatial shape information of the object in the preset range extracted；
The control instruction of generation is exported to corresponding smart machine so that the smart machine is performed according to the control instruction
Corresponding operation.
2. the control method of smart machine according to claim 1, it is characterised in that three in the acquisition preset range
Image information is tieed up, including：
Three-dimensional image information in preset range is obtained using time-of-flight images sensor module.
3. the control method of smart machine according to claim 2, it is characterised in that the use time-of-flight images are passed
Sensor module obtains the three-dimensional image information in preset range, including：
Object emission light pulse into preset range；
Receive the light pulse that is reflected from the object, according to the flight time of light pulse obtain each spatial point member with itself
Space distance；
According to the flight time of light pulse, using the space coordinates in the time-of-flight images sensor module, obtain each
The space coordinate of spatial point member；
According to space distance and space coordinate of the spatial point member with itself, the 3-D view in preset range is obtained.
4. the control method of smart machine according to claim 1, it is characterised in that described to work as extracted described default
In the range of object spatial shape information it is different from default normed space shape information when, generate with extracted it is described pre-
If the corresponding control instruction of spatial shape information of the object in scope, including：
The spatial shape information of object in the preset range of extraction is compared with default normed space shape information
It is right；
When comparison result shows the spatial shape information and default normed space shape of the object in the preset range extracted
When state information is different, the spatial shape information of foreign matter is extracted；
Determine the corresponding spatial image of spatial shape information of extracted foreign matter；
According to identified spatial image, corresponding control instruction is generated.
5. the control method of smart machine according to claim 4, it is characterised in that space diagram determined by the basis
Picture, generates corresponding control instruction, including following at least one：
According to identified spatial image, the control instruction for controlling the smart machine to perform alarm and reminding operation is generated；
According to identified spatial image, generate and refer to for the control for controlling the smart machine to change the working condition of itself
Order；
According to identified spatial image, generate and refer to for the control for controlling the smart machine to change the location of itself
Order.
6. a kind of control device of smart machine, it is characterised in that including：
Three-dimensional image information acquiring unit, suitable for obtaining the three-dimensional image information in preset range, the three-dimensional image information bag
Include：The parameter information of 3-D view in 3-D view in preset range, and the preset range；Wherein, it is described default
In the range of the parameter information of 3-D view include：Space coordinate, each spatial point member of each spatial point member are relatively empty with itself
Between distance；
Image analyzing unit, space coordinate, each spatial point member and the space distance of itself suitable for combining each spatial point member,
Graphical analysis is carried out to the 3-D view, the spatial shape information of the object in the preset range is extracted；
Control instruction generation unit, the spatial shape information of the object in the preset range extracted suitable for working as with it is default
When normed space shape information is different, generate corresponding with the spatial shape information of the object in the preset range extracted
Control instruction；
Output unit, suitable for the control instruction of generation is exported to corresponding smart machine so that the smart machine is according to institute
State control instruction and perform corresponding operation.
7. the control device of smart machine according to claim 6, it is characterised in that the three-dimensional image information obtains single
Member includes：Time-of-flight images sensor module.
8. the control device of smart machine according to claim 7, it is characterised in that the time-of-flight images sensor
Module includes：Light pulse emission module, image sensor chip, data analysis module and module control module, wherein：
The module control module, is coupled with the light pulse emission module and described image sensor chip respectively, suitable for pair
The light pulse emission module and the working condition of described image sensor chip are controlled；
The light pulse emission module, suitable for the object emission light pulse into preset range；
Described image sensor chip, suitable for receiving the light pulse reflected from the object；
The data analysis module, suitable for according to the flight time of light pulse obtain each spatial point member and the space of itself away from
From；According to the flight time of light pulse, using the space coordinates in the time-of-flight images sensor module, each sky is obtained
Between put member space coordinate；And according to space distance and space coordinate of the spatial point member with itself, obtain preset range
Interior 3-D view.
9. the control device of smart machine according to claim 6, it is characterised in that the control instruction generation unit bag
Include：Compare subelement, extract subelement, determination subelement and generation subelement, wherein：
The comparison subelement, spatial shape information and default standard suitable for the object in the preset range by extraction
Spatial shape information is compared；
The extraction subelement, the spatial shape information suitable for showing the object in the preset range extracted when comparison result
When different from default normed space shape information, the spatial shape information of foreign matter is extracted；
The determination subelement, is adapted to determine that the corresponding spatial image of spatial shape information of extracted foreign matter；
The generation subelement, suitable for the spatial image according to determined by the determination subelement, generates corresponding control instruction.
10. the control device of smart machine according to claim 9, it is characterised in that the generation subelement, suitable for root
According to spatial image determined by the determination subelement, the following at least one control instruction of generation：
For controlling the smart machine to perform the control instruction of alarm and reminding operation；
For controlling the smart machine to change the control instruction of the working condition of itself；
For controlling the smart machine to change the control instruction of the location of itself.
11. a kind of control device of smart machine, it is characterised in that including：Stored on memory and processor, the memory
There is the computer instruction that can be run on the processor, perform claim will when the processor runs the computer instruction
The step of seeking the control method of smart machine described in 1 to 5 any one.
12. a kind of computer-readable recording medium, is stored thereon with computer instruction, it is characterised in that the computer instruction
The step of perform claim requires the control method of the smart machine described in 1 to 5 any one during operation.
13. a kind of control system of smart machine, it is characterised in that including：Intelligence as described in any one of claim 6 to 10
The control device of equipment, and the smart machine with the control device communication connection of the smart machine.
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Application publication date: 20170818 |