CN107065628A - 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 PDF

Info

Publication number
CN107065628A
CN107065628A CN201710408302.6A CN201710408302A CN107065628A CN 107065628 A CN107065628 A CN 107065628A CN 201710408302 A CN201710408302 A CN 201710408302A CN 107065628 A CN107065628 A CN 107065628A
Authority
CN
China
Prior art keywords
spatial
information
foreign
smart device
preset range
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710408302.6A
Other languages
Chinese (zh)
Inventor
贺行政
罗文哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brigates Microelectronic Co Ltd
Original Assignee
Brigates Microelectronic Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brigates Microelectronic Co Ltd filed Critical Brigates Microelectronic Co Ltd
Priority to CN201710408302.6A priority Critical patent/CN107065628A/en
Publication of CN107065628A publication Critical patent/CN107065628A/en
Pending legal-status Critical Current

Links

Classifications

    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)

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；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, the spatial shape information of foreign matter is extracted；According to the spatial shape information of extracted foreign matter, the spatial relationship information of the foreign matter and the smart machine is obtained；According to the spatial relationship information of the foreign matter and the smart machine, corresponding control instruction is generated, and export to the smart machine so that the smart machine performs corresponding operation.Using such scheme, the disposal ability that emergency situations are tackled in the control process of smart machine can be lifted, it is to avoid potential safety hazard.

Description

Control method, device and system of intelligent equipment and storage medium
Technical Field
The present invention relates to the field of intelligent device control technologies, and in particular, to a method, an apparatus, and a system for controlling an intelligent device, and a storage medium.
Background
With the development of science and technology, more and more devices realize automatic control, which brings great convenience to the life of people and the industrial production.
For example, the automatic driving can be realized by the current subways, trains, high-speed rails, automobiles and the like. Because the subway, the train or the high-speed rail runs on the track, the running state of the subway, the train or the high-speed rail can be correspondingly controlled according to the preset running route information. For another example, during automatic driving of an automobile, the running state of the automobile is controlled by sensing the surrounding environment and according to the sensed environmental information.
Because some faults or sudden states may occur in the automatic driving process of a subway, a train or a high-speed rail, the driving safety is improved by adopting a mode of combining manual operation and automation at present. However, this requires the driver to pay close attention to the actual situation of the track, but due to the limitation of the state of the person, when some sudden situations occur, the judgment error sometimes occurs, thereby affecting the driving safety.
The existing automatic driving automobile has low sensing precision on the surrounding environment, and when some emergency occurs, the automobile cannot be accurately controlled to execute corresponding operation according to the emergency, so that potential safety hazards can be brought.
In summary, some current automatic control intelligent devices have weak processing capability to deal with emergency situations.
Disclosure of Invention
The invention solves the technical problem of how to improve the processing capacity of dealing with the emergency situation in the control process of the intelligent equipment and avoid potential safety hazard.
In order to solve the above technical problem, an embodiment of the present invention provides a method for controlling an intelligent device, including: acquiring three-dimensional image information in a preset range, wherein the three-dimensional image information comprises: the method comprises the steps of acquiring three-dimensional images within a preset range and parameter information of the three-dimensional images within the preset range; wherein the parameter information of the three-dimensional image in the preset range comprises: the space coordinates of each space point element and the relative space distance between each space point element and the space coordinate; combining the space coordinates of each space point element and the relative space distance between each space point element and the three-dimensional image, carrying out image analysis on the three-dimensional image, and extracting the space form information of the object in the preset range; extracting spatial form information of foreign matter when the extracted spatial form information of the object in the preset range is different from preset standard spatial form information; according to the extracted spatial form information of the foreign matters, spatial relation information of the foreign matters and the intelligent equipment is obtained; and generating a corresponding control instruction according to the spatial relationship information of the foreign matters and the intelligent equipment, and outputting the control instruction to the intelligent equipment so that the intelligent equipment executes corresponding operation according to the control instruction.
Optionally, the acquiring three-dimensional image information within a preset range includes: and acquiring three-dimensional image information within a preset range by adopting a flight time image sensor module.
Optionally, the acquiring, by the time-of-flight image sensor module, three-dimensional image information within a preset range includes: emitting light pulses to an object within a preset range; receiving the light pulse reflected from the object, and obtaining the relative spatial distance between each spatial point element and the light pulse according to the flight time of the light pulse; according to the flight time of the light pulse, adopting a space coordinate system in the flight time image sensor module to obtain the space coordinate of each space point element; and obtaining a three-dimensional image within a preset range according to the relative spatial distance and spatial coordinates of the spatial point elements and the spatial point elements.
Optionally, the spatial relationship information between the foreign object and the smart device is: a relative distance of the foreign object from the smart device; or the relative distance between the foreign matter and the intelligent equipment, and the movement trend of the foreign matter.
Optionally, the information of the spatial relationship between the foreign object and the smart device is a relative distance between the foreign object and the smart device, and the generating a corresponding control instruction includes: and when the relative distance between the foreign matter and the intelligent equipment is smaller than a preset safety threshold value, generating a control instruction corresponding to the relative distance between the foreign matter and the intelligent equipment.
Optionally, the spatial relationship information between the foreign object and the smart device is: the relative distance between the foreign object and the intelligent equipment and the movement trend of the foreign object; the generating of the corresponding control instruction comprises: and generating a control instruction corresponding to the spatial relationship information of the foreign matters and the intelligent equipment and the movement trend of the foreign matters according to the spatial relationship information of the foreign matters and the intelligent equipment and the movement trend of the foreign matters.
Optionally, the movement tendency of the foreign matter is obtained as follows: acquiring the spatial form information of the foreign matters within a preset time length; and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
Optionally, the control method further includes: after the spatial form information of the foreign matters is extracted, determining the types of the foreign matters according to the extracted spatial form information of the foreign matters; generating a corresponding control instruction according to the spatial relationship information of the foreign matters and the intelligent equipment, wherein the method comprises the following steps: and generating a control command corresponding to the determined type of the foreign matter and the spatial relationship information between the foreign matter and the intelligent equipment according to the spatial relationship information between the foreign matter and the intelligent equipment and the type of the foreign matter.
Optionally, the generating the corresponding control instruction includes at least one of: generating a control instruction for controlling the intelligent equipment to execute an alarm reminding operation; generating a control instruction for controlling the intelligent equipment to change the working state of the intelligent equipment; and generating a control instruction for controlling the intelligent device to change the position of the intelligent device.
An embodiment of the present invention further provides a control apparatus for an intelligent device, including: the three-dimensional image information acquisition unit is suitable for acquiring three-dimensional image information in a preset range, and the three-dimensional image information comprises: the method comprises the steps of acquiring three-dimensional images within a preset range and parameter information of the three-dimensional images within the preset range; wherein the parameter information of the three-dimensional image in the preset range comprises: the space coordinates of each space point element and the relative space distance between each space point element and the space coordinate; the image analysis unit is suitable for combining the space coordinates of the space point elements and the relative space distance between the space point elements and the image analysis unit, carrying out image analysis on the three-dimensional image and extracting the space form information of the object in the preset range; an extracting unit adapted to extract spatial form information of a foreign object when the extracted spatial form information of the object within the preset range is different from preset standard spatial form information; the spatial relationship information acquisition unit is suitable for acquiring the spatial relationship information between the foreign matters and the intelligent equipment according to the spatial form information of the extracted foreign matters; the control instruction generating unit is suitable for generating a corresponding control instruction according to the spatial relationship information of the foreign matters and the intelligent equipment; and the output unit is suitable for outputting the generated control instruction to the intelligent equipment, so that the intelligent equipment executes corresponding operation according to the control instruction.
Optionally, the three-dimensional image information acquiring unit includes: time-of-flight image sensor module.
Optionally, the time-of-flight image sensor module comprises: light pulse emission module, image sensor chip, data analysis module and module control module, wherein: the module control module is respectively coupled with the optical pulse transmitting module and the image sensor chip and is suitable for controlling the working states of the optical pulse transmitting module and the image sensor chip; the optical pulse transmitting module is suitable for transmitting optical pulses to the object within the preset range; the image sensor chip is suitable for receiving the light pulse reflected from the object; the data analysis module is suitable for obtaining the relative spatial distance between each spatial point element and the data analysis module according to the flight time of the light pulse; according to the flight time of the light pulse, adopting a space coordinate system in the flight time image sensor module to obtain the space coordinate of each space point element; and obtaining a three-dimensional image within a preset range according to the relative spatial distance and spatial coordinates between the spatial point elements and the spatial point elements.
Optionally, the spatial relationship information between the foreign object and the smart device is: a relative distance of the foreign object from the smart device; or the relative distance between the foreign matter and the intelligent equipment, and the movement trend of the foreign matter.
Optionally, the spatial relationship information between the foreign object and the smart device is a relative distance between the foreign object and the smart device, and the control instruction generating unit is adapted to generate a control instruction corresponding to the relative distance between the foreign object and the smart device when the relative distance between the foreign object and the smart device is smaller than a preset safety threshold.
Optionally, the spatial relationship information between the foreign object and the smart device is: the relative distance between the foreign object and the intelligent equipment and the movement trend of the foreign object; the control instruction generating unit is suitable for generating a control instruction corresponding to the spatial relationship information between the foreign matters and the intelligent equipment and the movement trend of the foreign matters according to the spatial relationship information between the foreign matters and the intelligent equipment and the movement trend of the foreign matters.
Optionally, the spatial relationship information acquiring unit is adapted to obtain the movement trend of the foreign object by: acquiring the spatial form information of the foreign matters within a preset time length; and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
Optionally, the control device further comprises: a foreign matter type determination unit adapted to determine a type of the foreign matter according to the extracted spatial form information of the foreign matter after extracting the spatial form information of the foreign matter; the control instruction generating unit is further adapted to generate a control instruction corresponding to the determined type of the foreign object and the spatial relationship information between the foreign object and the intelligent device according to the spatial relationship information between the foreign object and the intelligent device and the type of the foreign object.
Optionally, the control instruction generating unit is adapted to generate at least one of the following control instructions: control instructions for controlling the smart device to perform an alarm alert operation; the control instruction is used for controlling the intelligent equipment to change the working state of the intelligent equipment; and the control instruction is used for controlling the intelligent equipment to change the position of the intelligent equipment.
An embodiment of the present invention further provides a control apparatus for an intelligent device, including: the intelligent device comprises a memory and a processor, wherein the memory is stored with computer instructions capable of running on the processor, and the processor executes the steps of the control method of the intelligent device.
The embodiment of the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the control method for the intelligent device are executed.
An embodiment of the present invention further provides a control system for an intelligent device, including: the control device of any one of the above intelligent devices, and the intelligent device in communication connection with the control device of the intelligent device.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the method comprises the steps of carrying out image analysis on a three-dimensional image by acquiring three-dimensional image information within a preset range, and extracting spatial form information of an object within the preset range by combining parameter information of the three-dimensional image. When the extracted space form information of the object in the preset range is different from the preset standard space form information, extracting the space form information of the foreign object, generating a corresponding control instruction according to the space relation information of the foreign object and the intelligent equipment, and when the foreign object appears, performing corresponding automatic control on the intelligent equipment. Since the parameter information of the three-dimensional image includes: the spatial coordinates of each spatial point element and the relative spatial distance between each spatial point element and the spatial point element, so that the accuracy of the spatial form information of the foreign object extracted from the three-dimensional image and the spatial relationship information between the foreign object and the intelligent device is higher, and the accuracy of the generated control command can be improved. When the foreign matter appears, can generate corresponding control command, and then to the smart machine control process, can promote the throughput that the smart machine dealt with emergency, avoid the potential safety hazard.
Further, adopt time of flight image sensor module, acquire the three-dimensional image information of predetermineeing the within range through the mode of launching the light pulse, be difficult for receiving the interference of external light, the accuracy of the three-dimensional image information who obtains is higher, so can improve the degree of accuracy of the spatial morphology information of the foreign matter of extracting from three-dimensional image information, and in case the foreign matter appears, can be with accurate learning and generate corresponding control command to can improve the degree of accuracy of the control to smart machine and use proruption's throughput.
Furthermore, according to the movement trend of the foreign matter, the corresponding control instruction is generated by combining the distance between the foreign matter and the intelligent equipment, the accuracy of judgment of the influence of the foreign matter on the intelligent equipment can be improved, the accuracy of the generated control instruction is further improved, and the conformity between the generated control instruction and the actual situation is higher.
Further, when the control instruction is generated, the accuracy of the generated control instruction is further improved by combining the type of the foreign matter, and the generated control instruction is higher in conformity with the actual situation.
Drawings
Fig. 1 is a flowchart of a control method of an intelligent device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control device of an intelligent device in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a time-of-flight image sensor module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control system of an intelligent device in an embodiment of the present invention.
Detailed Description
As mentioned above, some current automated smart devices have poor handling capabilities for handling emergency situations.
In order to solve the above problem, in the embodiment of the present invention, three-dimensional image information in a preset range is obtained, the three-dimensional image is subjected to image analysis, and spatial form information of an object in the preset range is extracted in combination with parameter information of the three-dimensional image. When the extracted space form information of the object in the preset range is different from the preset standard space form information, extracting the space form information of the foreign object, generating a corresponding control instruction according to the space relation information of the foreign object and the intelligent equipment, and when the foreign object appears, performing corresponding automatic control on the intelligent equipment. The accuracy of the generated control command can be improved due to the fact that the accuracy of the spatial form information of the foreign matters extracted from the three-dimensional image and the accuracy of the spatial relation information of the foreign matters and the intelligent device are high. When the foreign matter appears, can generate corresponding control command, and then to the smart machine control process, can promote the throughput that the smart machine dealt with emergency, avoid the potential safety hazard.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, a flowchart of a control method of an intelligent device in an embodiment of the present invention is shown. The details are described below with reference to specific steps.
And step 11, acquiring three-dimensional image information within a preset range.
In a specific implementation, the acquired three-dimensional image information within the preset range may include: the three-dimensional image processing method comprises the steps of obtaining a three-dimensional image in a preset range and parameter information of the three-dimensional image in the preset range. In a specific implementation, the parameter information of the three-dimensional image within the preset range may include: the space coordinate of each space point element and the relative space distance between each space point element and the space coordinate.
In particular, the three-dimensional image information within the preset range may be acquired in various ways.
For example, a binocular vision system is adopted, images within a preset range are collected through two cameras, and three-dimensional image information within the preset range is obtained by combining 3D modeling.
For another example, a structured light raster scanning method is used to obtain three-dimensional image information within a preset range.
For another example, a Time Of Flight (TOF) image sensor module is used to obtain three-dimensional image information within a preset range. When the TOF image sensor acquires three-dimensional image information, the TOF image sensor is not easily interfered by external light, and the accuracy of the acquired three-dimensional image information is high.
It can be understood that, in practical applications, the three-dimensional image in the preset range may also be obtained in other manners, which is not described herein.
And step 12, combining the space coordinates of each space point element and the relative space distance between each space point element and the three-dimensional image, carrying out image analysis on the three-dimensional image, and extracting the space form information of the object in the preset range.
In specific implementation, after the three-dimensional image information within the preset range is acquired, image analysis may be performed on the three-dimensional image, and the spatial form information of the object within the preset range is extracted according to the spatial coordinates of each spatial point element and the relative spatial distance between each spatial point element and the three-dimensional image in the parameter information of the three-dimensional image.
In a specific implementation, the extracted spatial form information of the objects within the preset range may include spatial images of the outer surfaces of all the objects within the preset range, and may also include parameter information of spatial point elements of all the objects within the preset range.
And step 13, when the extracted spatial form information of the object in the preset range is different from the preset standard spatial form information, extracting the spatial form information of the foreign object.
In a specific implementation, in an embodiment of the present invention, a comparison method may be used to determine whether the extracted spatial configuration information of the object within the preset range is the same as the preset standard spatial configuration information. Specifically, preset standard spatial form information can be acquired, and the extracted spatial form information of the object in the preset range is compared with the preset standard spatial form information.
In a specific implementation, when the extracted spatial form information of the object in the preset range is different from the preset standard spatial form information, the spatial form information of a different object, that is, the spatial form information of the foreign object, may be extracted.
And 14, obtaining the spatial relationship information of the foreign matters and the intelligent equipment according to the extracted spatial form information of the foreign matters.
In a specific implementation, the spatial relationship information such as the relative distance between the foreign object and the intelligent device or the relative movement trend between the foreign object and the intelligent device may be obtained according to the spatial form information of the extracted foreign object.
And step 15, generating a corresponding control instruction according to the spatial relationship information between the foreign matter and the intelligent equipment, and outputting the control instruction to the intelligent equipment, so that the intelligent equipment executes corresponding operation according to the control instruction.
In a specific implementation, after the corresponding control instruction is generated according to the spatial relationship information between the foreign object and the smart device, the generated control instruction may be output to the corresponding smart device. And after receiving the control instruction, the intelligent equipment executes corresponding operation.
In specific implementation, the generated control instruction may control the intelligent device to execute an alarm reminding operation, may also control the intelligent device to change its own working state, and may also control the intelligent device to change its own position. Different control instructions can be generated according to different types of the intelligent equipment so as to control the intelligent equipment to execute different operations.
In specific implementation, the foreign object and the smart device have different spatial relationship information, and may correspond to different control instructions.
For example, the spatial relationship information between the foreign object and the smart device includes: a relative distance of the foreign object from the smart device. When the relative distance between the foreign object and the intelligent device is smaller than a first threshold value, a control instruction for sending out an alarm prompt can be generated. When the relative distance between the foreign object and the intelligent device is smaller than a second threshold value, a control instruction for changing the working state of the intelligent device can be generated, wherein the first threshold value can be larger than the second threshold value.
According to the scheme, the three-dimensional image information in the preset range is obtained, the three-dimensional image is subjected to image analysis, and the spatial form information of the object in the preset range is extracted by combining the parameter information of the three-dimensional image. When the extracted space form information of the object in the preset range is different from the preset standard space form information, extracting the space form information of the foreign object, generating a corresponding control instruction according to the space relation information of the foreign object and the intelligent equipment, and when the foreign object appears, performing corresponding automatic control on the intelligent equipment. Since the parameter information of the three-dimensional image includes: the spatial coordinates of each spatial point element and the relative spatial distance between each spatial point element and the spatial point element, so that the accuracy of the spatial form information of the foreign object extracted from the three-dimensional image and the spatial relationship information between the foreign object and the intelligent device is higher, and the accuracy of the generated control command can be improved. When the foreign matter appears, can generate corresponding control command, and then to the smart machine control process, can promote the throughput that the smart machine dealt with emergency, avoid the potential safety hazard.
In specific implementation, the intelligent device may be an intelligent home device, an automatic production device, a transportation device, such as a train, a motor car, a high-speed rail, an automobile, an airplane, or other intelligent devices such as an aircraft, and details thereof are not repeated herein.
In specific implementation, when the TOF image sensor module is used for acquiring three-dimensional image information within a preset range, the method can be implemented as follows: and transmitting light pulses to an object within a preset range, receiving the light pulses reflected from the object, and obtaining the relative spatial distance between each spatial point element and the object according to the flight time of the light pulses. And obtaining the space coordinates of each space point element by adopting a space coordinate system in the flight time image sensor module according to the flight time of the light pulse, and obtaining a three-dimensional image within a preset range according to the relative space distance between the space point element and the space coordinate.
In specific implementation, the light pulse emitted by the TOF image sensor module may be a continuous light pulse, a preset period of light pulse, or an intermittent light pulse set according to needs.
In a specific implementation, the flight time of the light pulse may be obtained according to the emission time of each light pulse and the receiving time of the light pulse reflected by the object. The relative distance of the object from itself can be derived from the time of flight of the light pulse and the speed of propagation in air.
By adopting the scheme, the three-dimensional image information within the preset range is acquired by adopting the mode of transmitting the light pulse by the flight time image sensor module, the interference of external light rays is not easy to be caused, the accuracy of the acquired three-dimensional image information is higher, so that the accuracy of the spatial form information of the foreign matters extracted from the three-dimensional image information can be improved, and in case of the foreign matters, the corresponding control instructions can be accurately obtained and generated, so that the accuracy of the control on the intelligent equipment and the processing capacity of applying the emergency can be improved
In specific implementation, the TOF image sensor module is always in a power-on state after being powered on, and can acquire three-dimensional image information of an object within a preset range at any time. In order to save energy consumption, the system can be started when a user needs the system according to a user operation instruction, automatically enters a dormant state after a preset time length is reached, and can also be in the dormant state according to the user dormant instruction. For example, the TOF image sensor module can be started by a user by pressing a physical key, the TOF image sensor module can be started by a voice instruction, and the TOF image sensor module can be started by a preset gesture action.
In a specific implementation, the spatial relationship information between the foreign object and the smart device may be a relative distance between the foreign object and the smart device, or may also be a relative distance between the foreign object and the smart device and a movement trend of the foreign object.
In an embodiment of the present invention, the spatial relationship information between the foreign object and the smart device is a relative distance between the foreign object and the smart device, and when the relative distance between the foreign object and the smart device is smaller than a preset safety threshold, a control instruction corresponding to the relative distance between the foreign object and the smart device may be generated.
For example, in the process of backing up the unmanned automobile, when it is detected that the distance from a pedestrian to the unmanned automobile is smaller than a first distance, a control instruction for warning reminding can be generated, and the unmanned automobile sends out whistling sound according to the control instruction to remind the pedestrian of avoiding.
For another example, in the process of backing up the unmanned vehicle, when it is detected that the distance from the pedestrian to the unmanned vehicle is smaller than a second distance, a brake control instruction may be generated to control the vehicle to stop, so as to avoid an accident, where the first distance is greater than the second distance.
In practical applications, sometimes the foreign object is not always in a stationary state, and sometimes may move, in order to further improve the accuracy of the generated control command, in another embodiment of the present invention, the spatial relationship information of the foreign object and the smart device may be: the relative distance of the foreign object from the smart device and the movement tendency of the foreign object. According to the movement trend of the foreign matters, the control instruction corresponding to the spatial relationship information of the foreign matters and the intelligent equipment and the movement trend of the foreign matters can be generated by combining the relative distance between the foreign matters and the intelligent equipment.
For example, although the relative distance between the foreign object and the smart device is smaller than the safe distance, the foreign object presents a movement trend away from the foreign object, a control instruction for alarm reminding can be generated, and then whether the movement state or the working state of the smart device needs to be changed or not is determined according to the actual situation of the foreign object.
For another example, although the relative distance between the foreign object and the intelligent device is greater than the safe distance, the foreign object presents a motion trend close to itself, so that a control instruction for warning can be generated, a control instruction for changing the motion state or the working state of the intelligent device can also be generated, and active measures are adopted to perform condition processing, so as to reduce potential safety hazards.
In a specific implementation, the movement tendency of the foreign matter can be obtained as follows: acquiring the spatial form information of the foreign matters within a preset time length; and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
In a specific implementation, since the types of the foreign objects are different, the degrees of influence on the smart device are also different, and in order to further improve the accuracy of controlling the smart device and improve the capability of handling the burst state, in an embodiment of the present invention, after the spatial form information of the foreign objects is extracted, the types of the foreign objects may be determined according to the extracted spatial form information of the foreign objects. And generating a control command corresponding to the determined type of the foreign matter and the spatial relationship information between the foreign matter and the intelligent equipment according to the spatial relationship information between the foreign matter and the intelligent equipment and the type of the foreign matter.
In a specific implementation, the type of the foreign object can be determined according to the extracted spatial form information of the foreign object. And setting corresponding control instructions according to different influence degrees of different types of foreign matters on the intelligent equipment and the spatial relationship information between the foreign matters and the intelligent equipment, so that specific measures can be taken for different types of conditions, the accuracy of intelligent equipment control and the matching with the actual environment are further improved, and the processing capacity of dealing with sudden conditions is improved.
In specific implementation, the relative distance between the foreign object and the intelligent device, the moving trend of the foreign object and the type of the foreign object can be integrated to generate a corresponding control instruction.
For example, in the driving process of an unmanned automobile, if the suddenly appearing foreign matter is a paper box, the paper box can be decelerated properly and bypasses the past, and if the suddenly appearing foreign matter is a pedestrian, emergency braking is needed, and a whistle is given to protect the personal safety of the pedestrian.
In order to facilitate better understanding and implementation of the embodiments of the present invention for those skilled in the art, the embodiments of the present invention further provide a control device corresponding to the control method of the intelligent device.
Referring to fig. 2, a schematic structural diagram of a control device of an intelligent device in an embodiment of the present invention is shown. The control means 20 of the smart device may comprise: a three-dimensional image information acquisition unit 21, an image analysis unit 22, an extraction unit 23, a spatial relationship information acquisition unit 24, a control instruction generation unit 25, and an output unit 26.
The three-dimensional image information obtaining unit 21 is adapted to obtain three-dimensional image information within a preset range, where the three-dimensional image information includes: the method comprises the steps of acquiring three-dimensional images within a preset range and parameter information of the three-dimensional images within the preset range; wherein the parameter information of the three-dimensional image in the preset range comprises: the space coordinates of each space point element and the relative space distance between each space point element and the space coordinate;
the image analysis unit 22 is adapted to perform image analysis on the three-dimensional image by combining the spatial coordinates of each spatial point element and the relative spatial distance between each spatial point element and the image analysis unit, and extract the spatial form information of the object within the preset range;
the extracting unit 23 is adapted to extract spatial form information of the foreign object when the extracted spatial form information of the object within the preset range is different from preset standard spatial form information;
the spatial relationship information obtaining unit 24 is adapted to obtain spatial relationship information between the foreign object and the smart device according to the extracted spatial form information of the foreign object;
the control instruction generating unit 25 is adapted to generate a corresponding control instruction according to the spatial relationship information between the foreign object and the intelligent device;
the output unit 26 is adapted to output the generated control instruction to the smart device, so that the smart device executes a corresponding operation according to the control instruction.
By adopting the scheme, the three-dimensional image information in the preset range is obtained, the three-dimensional image is subjected to image analysis, and the spatial form information of the object in the preset range is extracted by combining the parameter information of the three-dimensional image. When the extracted space form information of the object in the preset range is different from the preset standard space form information, extracting the space form information of the foreign object, generating a corresponding control instruction according to the space relation information of the foreign object and the intelligent equipment, and when the foreign object appears, performing corresponding automatic control on the intelligent equipment. Since the parameter information of the three-dimensional image includes: the spatial coordinates of each spatial point element and the relative spatial distance between each spatial point element and the spatial point element, so that the accuracy of the spatial form information of the foreign object extracted from the three-dimensional image and the spatial relationship information between the foreign object and the intelligent device is higher, and the accuracy of the generated control command can be improved. When the foreign matter appears, can generate corresponding control command, and then to the smart machine control process, can promote the throughput that the smart machine dealt with emergency, avoid the potential safety hazard.
In an embodiment of the present invention, the three-dimensional image information obtaining unit 21 is a time-of-flight image sensor module. In another embodiment of the present invention, the three-dimensional image information obtaining unit 21 is a binocular vision system.
In a specific implementation, when the three-dimensional image information obtaining unit 21 is the time-of-flight image sensor module, referring to fig. 3, the time-of-flight image sensor module 30 may include: light pulse emission module 31, image sensor chip 32, data analysis module 33 and module control module 34, wherein:
the module control module 34 is adapted to be coupled to the optical pulse transmitting module 31 and the image sensor chip 32, respectively, and adapted to control the operating states of the optical pulse transmitting module 31 and the image sensor chip 32;
the optical pulse transmitting module 31 is adapted to transmit optical pulses to objects within a preset range; in an embodiment of the present invention, the optical pulse emitting module 31 is a lens, and the lens is used to emit optical pulses to an object within a preset range.
The image sensor chip 32 adapted to receive the light pulses reflected from the object;
the data analysis module 33 is adapted to obtain the relative spatial distance between each spatial point element and the data analysis module according to the flight time of the light pulse; according to the flight time of the light pulse, adopting a space coordinate system in the flight time image sensor module to obtain the space coordinate of each space point element; and obtaining a three-dimensional image within a preset range according to the relative spatial distance and spatial coordinates between the spatial point elements and the spatial point elements.
In a specific implementation, the module control module 34 may control the light pulse emitting module 31 to start to operate according to a start instruction of a user, emit a light pulse to an object within a preset range, and control the image sensor chip 32 to start to receive the light pulse reflected from the object. The module control module 34 may also control the optical pulse transmitting module 31 to start operating when detecting that a trigger condition for the optical pulse transmitting module 31 to start operating is met, transmit an optical pulse to an object within a preset range, and control the image sensor chip 32 to start receiving an optical pulse reflected from the object.
In a specific implementation, the spatial relationship information of the foreign object and the smart device may be a relative distance between the foreign object and the smart device; the relative distance between the foreign object and the intelligent device and the movement trend of the foreign object can also be considered.
With reference to fig. 2, in a specific implementation, the spatial relationship information of the foreign object and the smart device is a relative distance between the foreign object and the smart device, and the control instruction generating unit 25 is adapted to generate a control instruction corresponding to the relative distance between the foreign object and the smart device when the relative distance between the foreign object and the smart device is smaller than a preset safety threshold.
In a specific implementation, the spatial relationship information between the foreign object and the smart device is: the relative distance between the foreign object and the intelligent equipment and the movement trend of the foreign object; the control instruction generating unit 25 is adapted to generate a control instruction corresponding to the spatial relationship information between the foreign object and the smart device and the movement trend of the foreign object according to the spatial relationship information between the foreign object and the smart device and the movement trend of the foreign object.
In a specific implementation, the spatial relationship information obtaining unit 24 is adapted to obtain the movement trend of the foreign object by the following method: acquiring the spatial form information of the foreign matters within a preset time length; and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
In a specific implementation, the control device 20 of the intelligent device may further include: a foreign matter type determination unit (not shown) adapted to determine a type of the foreign matter according to the extracted spatial form information of the foreign matter after extracting the spatial form information of the foreign matter; the control instruction generating unit 25 is further adapted to generate a control instruction corresponding to the determined type of the foreign object and the spatial relationship information between the foreign object and the smart device according to the spatial relationship information between the foreign object and the smart device and the type of the foreign object.
In a specific implementation, the control instruction generating unit 25 is adapted to generate at least one of the following control instructions: control instructions for controlling the smart device to perform an alarm alert operation; the control instruction is used for controlling the intelligent equipment to change the working state of the intelligent equipment; and the control instruction is used for controlling the intelligent equipment to change the position of the intelligent equipment.
An embodiment of the present invention further provides another control apparatus for an intelligent device, including: the intelligent device control method comprises a memory and a processor, wherein the memory is stored with computer instructions capable of running on the processor, and the processor executes the steps of the intelligent device control method according to any one of the above embodiments when executing the computer instructions.
Referring to fig. 4, an embodiment of the present invention further provides a control system for an intelligent device. The control system of the smart device may include: the control device 20 of any one of the intelligent devices provided by the above embodiments of the present invention, and the intelligent device 41 communicatively connected to the control device 20 of the intelligent device.
In the implementation, the control device 20 using the intelligent device controls the intelligent device 41, and in some places where the intelligent device 41 may be related to people, the accuracy of controlling the intelligent device 41 is improved, and meanwhile, the potential safety hazard is reduced.
In a specific implementation, the control flow and the control principle of the intelligent device by the control device of the intelligent device may refer to the description of the control method of the intelligent device and the control device of the intelligent device provided in the foregoing embodiments of the present invention, and details are not repeated herein.
The embodiment of the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the control method of the intelligent device described in any of the above embodiments are executed.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (21)

1. A control method of an intelligent device is characterized by comprising the following steps:
acquiring three-dimensional image information in a preset range, wherein the three-dimensional image information comprises: the method comprises the steps of acquiring three-dimensional images within a preset range and parameter information of the three-dimensional images within the preset range; wherein the parameter information of the three-dimensional image in the preset range comprises: the space coordinates of each space point element and the relative space distance between each space point element and the space coordinate;
combining the space coordinates of each space point element and the relative space distance between each space point element and the three-dimensional image, carrying out image analysis on the three-dimensional image, and extracting the space form information of the object in the preset range;
extracting spatial form information of foreign matter when the extracted spatial form information of the object in the preset range is different from preset standard spatial form information;
according to the extracted spatial form information of the foreign matters, spatial relation information of the foreign matters and the intelligent equipment is obtained;
and generating a corresponding control instruction according to the spatial relationship information of the foreign matters and the intelligent equipment, and outputting the control instruction to the intelligent equipment so that the intelligent equipment executes corresponding operation according to the control instruction.
2. The method for controlling the intelligent device according to claim 1, wherein the acquiring three-dimensional image information within a preset range includes:
and acquiring three-dimensional image information within a preset range by adopting a flight time image sensor module.
3. The method for controlling the intelligent device according to claim 2, wherein the acquiring the three-dimensional image information within the preset range by using the time-of-flight image sensor module comprises:
emitting light pulses to an object within a preset range;
receiving the light pulse reflected from the object, and obtaining the relative spatial distance between each spatial point element and the light pulse according to the flight time of the light pulse;
according to the flight time of the light pulse, adopting a space coordinate system in the flight time image sensor module to obtain the space coordinate of each space point element;
and obtaining a three-dimensional image within a preset range according to the relative spatial distance and spatial coordinates of the spatial point elements and the spatial point elements.
4. The method according to claim 1, wherein the spatial relationship information of the foreign object and the smart device is:
a relative distance of the foreign object from the smart device; or,
the relative distance of the foreign object from the smart device, and the movement tendency of the foreign object.
5. The method for controlling the smart device according to claim 4, wherein the information on the spatial relationship between the foreign object and the smart device is a relative distance between the foreign object and the smart device, and the generating of the corresponding control command includes:
and when the relative distance between the foreign matter and the intelligent equipment is smaller than a preset safety threshold value, generating a control instruction corresponding to the relative distance between the foreign matter and the intelligent equipment.
6. The method according to claim 4, wherein the spatial relationship information of the foreign object and the smart device is: the relative distance between the foreign object and the intelligent equipment and the movement trend of the foreign object; the generating of the corresponding control instruction comprises:
and generating a control instruction corresponding to the spatial relationship information of the foreign matters and the intelligent equipment and the movement trend of the foreign matters according to the spatial relationship information of the foreign matters and the intelligent equipment and the movement trend of the foreign matters.
7. The control method of the intelligent device according to claim 4, wherein the movement tendency of the foreign matter is obtained as follows:
acquiring the spatial form information of the foreign matters within a preset time length;
and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
8. The control method of the smart device according to claim 4, further comprising:
after the spatial form information of the foreign matters is extracted, determining the types of the foreign matters according to the extracted spatial form information of the foreign matters;
generating a corresponding control instruction according to the spatial relationship information of the foreign matters and the intelligent equipment, wherein the method comprises the following steps:
and generating a control command corresponding to the determined type of the foreign matter and the spatial relationship information between the foreign matter and the intelligent equipment according to the spatial relationship information between the foreign matter and the intelligent equipment and the type of the foreign matter.
9. The method according to claim 1, wherein the generating of the corresponding control command includes at least one of:
generating a control instruction for controlling the intelligent equipment to execute an alarm reminding operation;
generating a control instruction for controlling the intelligent equipment to change the working state of the intelligent equipment;
and generating a control instruction for controlling the intelligent device to change the position of the intelligent device.
10. A control device of an intelligent device, comprising:
the three-dimensional image information acquisition unit is suitable for acquiring three-dimensional image information in a preset range, and the three-dimensional image information comprises: the method comprises the steps of acquiring three-dimensional images within a preset range and parameter information of the three-dimensional images within the preset range; wherein the parameter information of the three-dimensional image in the preset range comprises: the space coordinates of each space point element and the relative space distance between each space point element and the space coordinate;
the image analysis unit is suitable for combining the space coordinates of the space point elements and the relative space distance between the space point elements and the image analysis unit, carrying out image analysis on the three-dimensional image and extracting the space form information of the object in the preset range;
an extracting unit adapted to extract spatial form information of a foreign object when the extracted spatial form information of the object within the preset range is different from preset standard spatial form information;
the spatial relationship information acquisition unit is suitable for acquiring the spatial relationship information between the foreign matters and the intelligent equipment according to the spatial form information of the extracted foreign matters;
a control instruction generating unit adapted to generate a control instruction for controlling the smart device according to the spatial relationship information of the foreign object and the smart device,
generating a corresponding control instruction;
and the output unit is suitable for outputting the generated control instruction to the intelligent equipment, so that the intelligent equipment executes corresponding operation according to the control instruction.
11. The control apparatus of an intelligent device according to claim 10, wherein the three-dimensional image information acquisition unit includes: time-of-flight image sensor module.
12. The control device of smart device of claim 11, wherein the time-of-flight image sensor module comprises: light pulse emission module, image sensor chip, data analysis module and module control module, wherein:
the module control module is respectively coupled with the optical pulse transmitting module and the image sensor chip and is suitable for controlling the working states of the optical pulse transmitting module and the image sensor chip;
the optical pulse transmitting module is suitable for transmitting optical pulses to the object within the preset range;
the image sensor chip is suitable for receiving the light pulse reflected from the object;
the data analysis module is suitable for obtaining the relative spatial distance between each spatial point element and the data analysis module according to the flight time of the light pulse; according to the flight time of the light pulse, adopting a space coordinate system in the flight time image sensor module to obtain the space coordinate of each space point element; and obtaining a three-dimensional image within a preset range according to the relative spatial distance and spatial coordinates between the spatial point elements and the spatial point elements.
13. The control apparatus of a smart device according to claim 10, wherein the spatial relationship information of the foreign object with the smart device is:
a relative distance of the foreign object from the smart device; or,
the relative distance of the foreign object from the smart device, and the movement tendency of the foreign object.
14. The control apparatus of the smart device according to claim 13, wherein the information on the spatial relationship between the foreign object and the smart device is a relative distance between the foreign object and the smart device, and the control instruction generating unit is adapted to generate the control instruction corresponding to the relative distance between the foreign object and the smart device when the relative distance between the foreign object and the smart device is smaller than a preset safety threshold.
15. The control apparatus of a smart device according to claim 13, wherein the spatial relationship information of the foreign object with the smart device is: the relative distance between the foreign object and the intelligent equipment and the movement trend of the foreign object; the control instruction generating unit is suitable for generating a control instruction corresponding to the spatial relationship information between the foreign matters and the intelligent equipment and the movement trend of the foreign matters according to the spatial relationship information between the foreign matters and the intelligent equipment and the movement trend of the foreign matters.
16. The control device of the smart device according to claim 13, wherein the spatial relationship information obtaining unit is adapted to obtain the movement tendency of the foreign object by: acquiring the spatial form information of the foreign matters within a preset time length; and analyzing the spatial form information of the foreign matters according to a time sequence to obtain the motion trend of the foreign matters.
17. The control apparatus of a smart device according to claim 13, further comprising: a foreign matter type determination unit adapted to determine a type of the foreign matter according to the extracted spatial form information of the foreign matter after extracting the spatial form information of the foreign matter; the control instruction generating unit is further adapted to generate a control instruction corresponding to the determined type of the foreign object and the spatial relationship information between the foreign object and the intelligent device according to the spatial relationship information between the foreign object and the intelligent device and the type of the foreign object.
18. The control device of the intelligent equipment according to claim 10, wherein the control instruction generating unit is adapted to generate at least one of the following control instructions:
control instructions for controlling the smart device to perform an alarm alert operation;
the control instruction is used for controlling the intelligent equipment to change the working state of the intelligent equipment;
and the control instruction is used for controlling the intelligent equipment to change the position of the intelligent equipment.
19. A control device of an intelligent device, comprising: a memory having stored thereon computer instructions executable on the processor, the processor when executing the computer instructions performing the steps of the method of controlling a smart device of any of claims 1 to 9.
20. A computer readable storage medium having stored thereon computer instructions, characterized in that the computer instructions when executed perform the steps of the control method of a smart device according to any one of claims 1 to 9.
21. A control system for a smart device, comprising: control means for a smart device according to any of claims 10-18, and a smart device communicatively connected to the control means for the smart device.
CN201710408302.6A 2017-06-02 2017-06-02 The control method of smart machine, apparatus and system, storage medium Pending CN107065628A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710408302.6A CN107065628A (en) 2017-06-02 2017-06-02 The control method of smart machine, apparatus and system, storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710408302.6A CN107065628A (en) 2017-06-02 2017-06-02 The control method of smart machine, apparatus and system, storage medium

Publications (1)

Publication Number Publication Date
CN107065628A true CN107065628A (en) 2017-08-18

Family

ID=59617704

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710408302.6A Pending CN107065628A (en) 2017-06-02 2017-06-02 The control method of smart machine, apparatus and system, storage medium

Country Status (1)

Country Link
CN (1) CN107065628A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050103559A (en) * 2004-04-26 2005-11-01 서울특별시지하철공사 A screen door control system using photo sensor
CN101927776A (en) * 2010-09-03 2010-12-29 中铁上海设计院集团有限公司 System linkage method for disaster occurrence in rail transportation
CN104049281A (en) * 2014-07-02 2014-09-17 广州市地下铁道总公司 Device and method for automatically detecting foreign matter between screen door of curve subway platform and train
CN104777521A (en) * 2015-03-24 2015-07-15 广州市地下铁道总公司 Binocular-vision-based detection system for foreign matter between train door and platform shield gate, as well as detection method for detection system
CN106081776A (en) * 2016-08-22 2016-11-09 广州日滨科技发展有限公司 The method of elevator safety monitoring, Apparatus and system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050103559A (en) * 2004-04-26 2005-11-01 서울특별시지하철공사 A screen door control system using photo sensor
CN101927776A (en) * 2010-09-03 2010-12-29 中铁上海设计院集团有限公司 System linkage method for disaster occurrence in rail transportation
CN104049281A (en) * 2014-07-02 2014-09-17 广州市地下铁道总公司 Device and method for automatically detecting foreign matter between screen door of curve subway platform and train
CN104777521A (en) * 2015-03-24 2015-07-15 广州市地下铁道总公司 Binocular-vision-based detection system for foreign matter between train door and platform shield gate, as well as detection method for detection system
CN106081776A (en) * 2016-08-22 2016-11-09 广州日滨科技发展有限公司 The method of elevator safety monitoring, Apparatus and system

Similar Documents

Publication Publication Date Title
US10768616B2 (en) Parking control method and parking control device
US9747802B2 (en) Collision avoidance system and method for an underground mine environment
CN110659543B (en) Gesture recognition-based vehicle control method and system and vehicle
CN109878516A (en) The monitoring and adjustment in the gap between vehicle
CN107074210B (en) The sensor-triggered of friction catch and regenerative braking
US20080033603A1 (en) Device for bringing a motor vehicle to a target position
CN113085900B (en) Method for calling vehicle to travel to user position
JP2023500994A (en) Obstacle recognition method, device, autonomous mobile device and storage medium
CN109064763A (en) Test method, device, test equipment and the storage medium of automatic driving vehicle
CN108960035A (en) The method and system of usage scenario detection pattern object of classification in perception scene figure
WO2019044571A1 (en) Image processing device, image processing method, program, and mobile body
CN210542119U (en) Intelligent wheelchair with obstacle avoidance and face recognition functions
CN104200689A (en) Road early warning method and device
CN108944920A (en) It is generated in road vehicle application program and using the method and system of perception scene figure
CN108944919A (en) The method and system with the perception scene figure of focal zone is generated for motor vehicles
CN108021899A (en) Vehicle intelligent front truck anti-collision early warning method based on binocular camera
CN110857111B (en) Vehicle controller, vehicle control method and vehicle
CN110703770A (en) Method and device for controlling automatic running of track inspection vehicle
JP6613999B2 (en) Driving support system
EP2915715B1 (en) Vehicle speed control device and vehicle provided therewith
CN107826107A (en) A kind of emergent obstacle avoidance system of autonomous driving vehicle
CN107161145A (en) Method and control device for avoiding rear-end collision
CN108958908A (en) The method and system of priority ordering is carried out for the sensor to sensory perceptual system
CN110758387A (en) Unmanned vehicle-based anti-collision device and method
CN110843775A (en) Obstacle identification method and system based on pressure sensor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20170818

RJ01 Rejection of invention patent application after publication