CN107367767A - A kind of vent cabinet window foreign matter detecting method and system and a kind of controller - Google Patents
A kind of vent cabinet window foreign matter detecting method and system and a kind of controller Download PDFInfo
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- CN107367767A CN107367767A CN201710501869.8A CN201710501869A CN107367767A CN 107367767 A CN107367767 A CN 107367767A CN 201710501869 A CN201710501869 A CN 201710501869A CN 107367767 A CN107367767 A CN 107367767A
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- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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Abstract
The present invention, which provides a kind of vent cabinet window foreign matter detecting method and system and a kind of controller, methods described, to be included：Gather the video in window of vent cabinet and the three-dimensional point cloud image that processing forms window is carried out to the video in window；Identify positional information of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of the window；Determine that the foreign matter is exported to the controlling organization of control vent cabinet air quantity in the locus of the vent cabinet window and by the foreign matter in the locus of the vent cabinet window according to positional information of the foreign matter in the three-dimensional point cloud image.The present invention can carry out the detection of contactless window foreign matter, effectively solve the problems, such as that the detection to vent cabinet window in the prior art does not possess versatility and installation is difficult in maintenance.
Description
Technical field
The present invention relates to industrial ventilation technical field, particularly vent cabinet technical field, specially a kind of vent cabinet window
Foreign matter detecting method and system and a kind of controller.
Background technology
Laboratory ventilation is an indispensable part in lab design.In order that laboratory worker is not
Suck or swallow should have in the chemical substance and organism, laboratory that some are poisonous, can causing a disease or toxicity is not clear it is good
Ventilation.To prevent the absorption of some steams, gas and particulate (smog, coal smoke, dust and aerosol), polluter must use ventilation
Cabinet, ventilator cowling or the method for local ventilation remove.Vent cabinet is a kind of intermittent local ventilation the most frequently used in laboratory, and species is numerous
More, because its structure is different, the condition used is different, and its exhaust effect also differs.The good ring of the performance of vent cabinet, mainly depends on
In the speed moved by vent cabinet air.Maximum purpose using vent cabinet is caused pernicious gas in discharge experiment, is protected
Protect the health of experimenter, that is to say, that to have the security of height and superior operability.Because vent cabinet is in biochemical test
Occupy very important position in room, from improving laboratory environment, improving labour health condition, improve operating efficiency etc. and examine
Consider, the use number of units of vent cabinet increases by leaps and bounds.The thing followed is that ventilation shaft, pipe arrangement, distribution, air draft etc. all turns into experiment
The important topic that room is built.Air-volume-variable fume hood carries out variable air rate control for the face wind speed of holding safety in the air flow system of laboratory
System.
If the window of vent cabinet have foreign matter can influence divulge information quality, so generally require whether have to the window of vent cabinet it is different
Thing is detected.Vent cabinet detection window foreign matter typically with automatic displacement is by installing grating or to penetrating photoelectric sensor
Carry out detection window foreign matter, but the installation of the sensor such as grating needs for various types of operation windows for design, lead to
Bad with property, installation is difficult in maintenance.
The content of the invention
In view of the above the shortcomings that prior art, it is an object of the invention to provide a kind of vent cabinet window foreign bodies detection
Method and system and a kind of controller, for solve in the prior art the detection to vent cabinet window do not possess versatility and
The problem of difficult in maintenance, is installed.
In order to achieve the above objects and other related objects, embodiments of the invention provide a kind of vent cabinet window foreign bodies detection
Method, the vent cabinet window foreign matter detecting method include：Gather the video in window of vent cabinet and the video in window is carried out
Processing forms the three-dimensional point cloud image of window；Identify that foreign matter is in the three-dimensional point cloud image in the three-dimensional point cloud image of the window
In positional information；Determine the foreign matter in the ventilation according to positional information of the foreign matter in the three-dimensional point cloud image
The locus of cabinet window simultaneously exports the foreign matter to control vent cabinet air quantity in the locus of the vent cabinet window
Controlling organization.
In one embodiment of the invention, the video in window of the vent cabinet is gathered using a binocular camera.
In one embodiment of the invention, it is used to enter the binocular camera in insufficient light using an infrared light supply
Row light filling.
In one embodiment of the invention, after the three-dimensional point cloud image of window is formed, in addition to the dimension point cloud
Video in window in image carries out positioning calibration.
In one embodiment of the invention, foreign matter is in the three-dimensional point in the three-dimensional point cloud image of the identification window
Positional information in cloud atlas picture specifically includes：Collect the point cloud in window plane pre-determined distance in the three-dimensional point cloud image
Data；Cluster segmentation is carried out to the cloud data of collection, forms window face cloud data and foreign matter cloud data；According to described
Positional information of the foreign matter in the three-dimensional point cloud image described in foreign matter point cloud data acquisition.
Embodiments of the invention also provide a kind of vent cabinet window foreign matter detection system, the vent cabinet window foreign bodies detection
System includes：Image capture module, for gathering the video in window of vent cabinet；Image processing module, for the window figure
The three-dimensional point cloud image of window is formed as carrying out processing, identifies that foreign matter is in the three-dimensional point in the three-dimensional point cloud image of the window
Positional information in cloud atlas picture；Data outputting module, for being believed according to position of the foreign matter in the three-dimensional point cloud image
Breath determine the foreign matter in the locus of the vent cabinet window and by the foreign matter in the space bit of the vent cabinet window
Output is put to the controlling organization for controlling vent cabinet air quantity.
In one embodiment of the invention, described image acquisition module includes：One window for gathering the vent cabinet
The binocular camera of image.
In one embodiment of the invention, the vent cabinet window foreign matter detection system also includes：One infrared light supply module,
For carrying out light filling to the binocular camera in insufficient light.
In one embodiment of the invention, described image processing module be additionally operable to formed window three-dimensional point cloud image it
Afterwards, positioning calibration is carried out to the video in window in the dimension point cloud chart picture.
In one embodiment of the invention, described image processing module specifically includes：Collector unit, for collecting described three
Tie up the cloud data in window plane pre-determined distance in point cloud chart picture；Cluster segmentation unit, for the point to collection
Cloud data carry out cluster segmentation, form window face cloud data and foreign matter cloud data；Acquiring unit, for according to the foreign matter point
Positional information of the foreign matter described in cloud data acquisition in the three-dimensional point cloud image.
Embodiments of the invention also provide a kind of controller, and the controller includes vent cabinet window foreign matter as described above
Image processing module in detecting system, the controller is with controlling the controlling organization of vent cabinet air quantity to be connected, the controller
The locus for the vent cabinet window that image processing module is obtained is sent to the controlling organization.
As described above, a kind of vent cabinet window foreign matter detecting method and system and a kind of controller of the present invention, have
Following beneficial effect：
1st, the present invention is carried out processing to the video in window and formed using the video in window of binocular camera collection vent cabinet
The three-dimensional point cloud image of window, identify position of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of the window
Information, determine the foreign matter in the vent cabinet window according to positional information of the foreign matter in the three-dimensional point cloud image
Locus simultaneously exports the foreign matter to the controlling organization of control vent cabinet air quantity in the locus of the vent cabinet window,
Controlling organization is controlled action pane in real time, collision free, so the present invention can carry out contactless window foreign matter
Detection, effectively solve detection in the prior art to vent cabinet window and do not possess versatility and difficult in maintenance ask is installed
Topic.
2nd, the present invention instead of with whether the sensor detection vent cabinet window of traditional photo-electric has foreign matter, and can basis
Demand calculates real space position residing for foreign matter, has extensive autgmentability, is advantageous to the intellectuality in vent cabinet and laboratory.
3rd, the present invention is easy for installation, has stronger versatility and practicality.
Brief description of the drawings
Fig. 1 is shown as a kind of schematic flow sheet of vent cabinet window foreign matter detecting method of the present invention.
Fig. 2 is shown as a kind of principle schematic of vent cabinet window foreign matter detection system of the present invention.
Fig. 3 is shown as the overall structure diagram of vent cabinet in a kind of vent cabinet window foreign matter detection system of the present invention.
Fig. 4 is shown as the placement location signal of cylinder demarcation thing in a kind of vent cabinet window foreign matter detection system of the present invention
Figure.
Fig. 5 is shown as the principle signal of image processing module in a kind of vent cabinet window foreign matter detection system of the present invention
Figure.
Fig. 6 is shown as a kind of principle schematic of controller of the present invention.
Component label instructions
100 vent cabinet window foreign matter detection systems
101 image capture modules
102 image processing modules
1021 collector units
1022 cluster segmentation units
1023 acquiring units
103 data outputting modules
2 vent cabinets
3 windows
4 controllers
S101~S103 steps
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
Fig. 1 is referred to Fig. 6.It should be clear that structure, ratio, size depicted in this specification accompanying drawing etc., only coordinating
Content disclosed in specification, so that those skilled in the art understands and reads, it is enforceable to be not limited to the present invention
Qualifications, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size,
Do not influence under the effect of present invention can be generated and the purpose that can reach, all should still fall in disclosed technology contents
Obtain in the range of covering.Meanwhile cited such as " on ", " under ", "left", "right", " centre " and " one " in this specification
Term, be merely convenient to understanding for narration, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or
Adjustment, in the case where changing technology contents without essence, when being also considered as the enforceable category of the present invention.
It is an object of the invention to provide a kind of vent cabinet window foreign matter detecting method and system and a kind of controller, uses
In solve the problems, such as the detection to vent cabinet window in the prior art do not possess versatility and installation it is difficult in maintenance.Below will be detailed
The thin a kind of vent cabinet window foreign matter detecting method and system and the principle and embodiment of a kind of controller for illustrating the present invention,
Make those skilled in the art do not need creative work be appreciated that the present invention a kind of vent cabinet window foreign matter detecting method with
System and a kind of controller.
The present embodiment provides a kind of vent cabinet window foreign matter detecting method and system and a kind of controller, by binocular into
As collection, realized using binocular image and the position of operation window is positioned, and then realize effective control to operation window, it is main special
Point is that regulation window is found a view by binocular camera, obtains cloud data, the cloud data of acquisition is entered within a processor
Row processing, identification foreign matter position, according to the result of processing, controlling organization controlling organization is sent to action pane by foreign matter position
Controlled in real time, collision free.The present embodiment present invention is instead of in vent cabinet field to penetrating trigger sensor, is had extensive
Autgmentability, be advantageous to the intellectuality in vent cabinet and laboratory.
As shown in figure 1, the present embodiment provides a kind of vent cabinet window foreign matter detecting method, specifically, in the present embodiment,
The vent cabinet window foreign matter detecting method comprises the following steps：
Step S101, gather the video in window of vent cabinet and the three-dimensional point that processing forms window is carried out to the video in window
Cloud atlas picture.
Specifically, in the present embodiment, the video in window of the vent cabinet is gathered using a binocular camera.Wherein, institute
State binocular camera and be mountable at the top margin center of vent cabinet the simultaneously window of frontage and airiness cabinet, because binocular camera has two
Individual camera, binocular camera are located at the center at the top of window, the video in window of the window of the vent cabinet so collected
It is apparent complete uniform, be advantageous to image procossing identification, improve accuracy of identification.
The video in window is carried out processing formed window three-dimensional point cloud image in, wherein, point cloud be and object table
The magnanimity point set of face characteristic, after the space coordinates of each sampled point of body surface is obtained, what is obtained is the set of a point,
Referred to as put cloud.The point data set on the product appearance surface obtained in reverse-engineering by measuring instrument is also referred to as a little
Cloud, the spacing usually using the fewer point of point quantity obtained by three dimensional coordinate measuring machine and point is also bigger, is sparse cloud；
And the point cloud point quantity that is obtained using three-dimensional laser scanner or photographic-type scanner is bigger and than comparatively dense, is point off density
Cloud, wherein, the point cloud obtained according to photogrammetry principles, including three-dimensional coordinate (XYZ) and colouring information (RGB).So this reality
Apply in example, the three-dimensional point cloud of processing formation window is carried out according to the video in window that the vent cabinet is gathered to the binocular camera
Image includes three-dimensional coordinate (XYZ) and colouring information (RGB).
In addition, in an embodiment, it is used to carry out the binocular camera in insufficient light using an infrared light supply
Light filling, its mid-infrared light source can also reduce the interference of other light in addition to for supplementing light.
Step S102, identify position letter of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of the window
Breath.
In the present embodiment, after the three-dimensional point cloud image of window is formed, in addition to the dimension point cloud chart as in
Video in window carries out positioning calibration, it is therefore an objective to which the window of the vent cabinet of operation is positioned.
The detailed process for the video in window in the dimension point cloud chart picture position calibration is as follows：
The interference of Null Spot in three-dimensional point cloud image is removed first, then utilizes RANSAC (Random Sample
Consensus plane and plane equation parameter, the operating desk plane include binocular camera energy where) obtaining operating desk
All objects in institute's range of exposures, including windowsill, article, desktop etc. are enough obtained, is obtained and grasped by three-dimensional point cloud using RANSAC
Make table top plane equation A*x+B*y+C*z+D=0, wherein (A, B, C, D) is the plane parameter that can represent operating table surface.Wherein,
RANSAC is the mathematical model parameter that data are calculated according to one group of sample data set for including abnormal data, obtains effective sample
The algorithm of notebook data；Then remove operating desk data point planar, along the horizontal positioned cylinder mark in window direction
Earnest, the equation parameter of cylinder demarcation thing is obtained using RANSAC, is demarcated according to the operating desk plane equation parameter and cylinder
The equation parameter of thing calculates action pane plane equation and parameter.
A cylinder demarcation thing is placed positioned at windowing institute operating desk plane planar, in removal operating desk plane
After point, calculated using RANSAC in cylinder parameter, including axle a bit (x, y, z), the direction vector (X, Y, Z) and radius R of axle,
This 7 parameters can determine a cylinder cylinder, binding operation table top plane (A, B, C, D), cylinder parameter point (x, y, z) and
The bars such as direction (X, Y, Z), operating desk plane ⊥ windowings plane, cylinder axis ∈ windowings plane, cylinder axis ∥ operating desk planes
Part can calculate window face equation parameter.
In the present embodiment, foreign matter is in the three-dimensional point cloud image in the three-dimensional point cloud image of the identification window
Positional information specifically include：
Collect the cloud data in window plane pre-determined distance in the three-dimensional point cloud image.For example, collect three-dimensional
Point cloud chart is as the cloud data in data in window plane 5cm distances, labeled as cloud data C1.
Pair then cluster segmentation is carried out to the cloud data of collection, forms window face cloud data and foreign matter cloud data, i.e.,
Cloud data C1 carries out cluster segmentation, and segmentation result includes：Window face cloud data and foreign matter cloud data.
Finally positional information of the foreign matter in the three-dimensional point cloud image according to the foreign matter point cloud data acquisition, tool
Body, a cloud is sorted out according to cloud data (window face cloud data and foreign matter cloud data) morphological character after segmentation,
Ultimate range of the foreign matter apart from window plane equation is calculated simultaneously, the ultimate range is the foreign matter in the three-dimensional point cloud atlas
Position as in.
Step S103, determine the foreign matter in described according to positional information of the foreign matter in the three-dimensional point cloud image
The locus of vent cabinet window simultaneously exports the foreign matter to control vent cabinet wind in the locus of the vent cabinet window
The controlling organization of amount, to cause controlling organization to control action pane in real time, collision free is so the ventilation of the present embodiment
Cabinet window foreign matter detecting method can carry out the detection of contactless window foreign matter, effectively solve in the prior art to vent cabinet
The detection of window does not possess the problem of versatility and installation difficult in maintenance.
To realize a kind of measuring method of above-mentioned vent cabinet windowing height, it is different that the present embodiment also provides a kind of vent cabinet window
Quality testing examining system 100, as shown in Fig. 2 the vent cabinet window foreign matter detection system 100 includes：Image capture module 101, figure
As processing module 102 and data outputting module 103.
In the present embodiment, described image acquisition module 101 is used for the video in window for gathering vent cabinet.
In the present embodiment, described image acquisition module 101 includes：For pair for the video in window for gathering the vent cabinet
Mesh camera.
I.e. in the present embodiment, as shown in figure 3, gathering the image of window 3 of the vent cabinet 2 using a binocular camera.
Wherein, the binocular camera is mountable at the top margin center of vent cabinet 2 the simultaneously window 3 of frontage and airiness cabinet 2, because binocular is taken the photograph
Picture head has two cameras, and binocular camera is located at the center at the top of window 3, the window of the vent cabinet 2 so collected
The video in window of mouth 3 is apparent complete uniform, is advantageous to image procossing identification, improves accuracy of identification.
In one embodiment of the invention, the window foreign matter detection system 100 of vent cabinet 2 also includes：One infrared light supply
Module, for carrying out light filling to the binocular camera in insufficient light, wherein the infrared light supply module is except for mending
The interference of other light can also be reduced by filling outside light.
In the present embodiment, described image processing module 102 is used to carry out the video in window processing formation window 3
Three-dimensional point cloud image simultaneously identifies positional information of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of the window.
Wherein, point cloud is in the magnanimity point set with target surface characteristic, is obtaining the sky of each sampled point of body surface
Between after coordinate, what is obtained is the set of a point, referred to as puts cloud.Outside the product obtained in reverse-engineering by measuring instrument
See the point data set also referred to as point cloud on surface, usually using the fewer point of point quantity obtained by three dimensional coordinate measuring machine with
The spacing of point is also bigger, is sparse cloud；And the point cloud point number obtained using three-dimensional laser scanner or photographic-type scanner
Measure bigger and than comparatively dense, be point off density cloud, wherein, the point cloud obtained according to photogrammetry principles, including three-dimensional coordinate
And colouring information (RGB) (XYZ).So in the present embodiment, according to the window that the vent cabinet 2 is gathered to the binocular camera
The three-dimensional point cloud image that image carries out processing formation window 3 includes three-dimensional coordinate (XYZ) and colouring information (RGB).
In an embodiment, described image processing module 102 is additionally operable to after the three-dimensional point cloud image of window 3 is formed,
Positioning calibration is carried out to the video in window in the dimension point cloud chart picture.
Described image processing module 102 to the video in window in the dimension point cloud chart picture position the detailed process of calibration
It is as follows：
The interference of Null Spot in three-dimensional point cloud image is removed first, then utilizes RANSAC (Random Sample
Consensus plane and plane equation parameter, the operating desk plane include binocular camera energy where) obtaining operating desk
All objects in institute's range of exposures, including windowsill, article, desktop etc. are enough obtained, is obtained and grasped by three-dimensional point cloud using RANSAC
Make table top plane equation A*x+B*y+C*z+D=0, wherein (A, B, C, D) is the plane parameter that can represent operating table surface.Wherein,
RANSAC is the mathematical model parameter that data are calculated according to one group of sample data set for including abnormal data, obtains effective sample
The algorithm of notebook data；Then remove operating desk data point planar, along the horizontal positioned cylinder mark in the direction of window 3
Earnest, the equation parameter of cylinder demarcation thing is obtained using RANSAC, is demarcated according to the operating desk plane equation parameter and cylinder
The equation parameter of thing calculates action pane plane equation and parameter.
As shown in figure 4, placing a cylinder demarcation thing positioned at windowing institute operating desk plane planar, operation is being removed
After point in platform plane, cylinder parameter is calculated using RANSAC, including on axle a bit (x, y, z), the direction vector of axle (X, Y,
Z) and radius R, this 7 parameters can determine a cylinder cylinder, binding operation table top plane (A, B, C, D), cylinder parameter point
(x, y, z) and direction (X, Y, Z), operating desk plane ⊥ windowing plane, cylinder axis ∈ windowings plane, cylinder axis ∥ operations
The conditions such as platform plane can calculate window face equation parameter.
In an embodiment, as shown in figure 5, described image processing module 102 specifically includes：
Collector unit 1021, for collecting the point cloud number in the three-dimensional point cloud image in window plane pre-determined distance
According to；For example, the cloud data in three-dimensional point cloud view data in window plane 5cm distances is collected, labeled as cloud data
C1。
Cluster segmentation unit 1022, for carrying out cluster segmentation to the cloud data of collection, form window face point cloud number
According to foreign matter cloud data, i.e., cluster segmentation is carried out to cloud data C1, segmentation result includes：Window face cloud data and foreign matter point
Cloud data.
Acquiring unit 1023, for obtaining position of the foreign matter in the three-dimensional point cloud image in the foreign matter cloud data
Information.
Specifically, according to cloud data (window face cloud data and foreign matter cloud data) morphological character after segmentation to a cloud
Sorted out, while calculate ultimate range of the foreign matter apart from window plane equation, the ultimate range is the foreign matter in described
Position in three-dimensional point cloud image.
In the present embodiment, the data outputting module 103 is used for according to the foreign matter in the three-dimensional point cloud image
Positional information determine the foreign matter in the locus of the window 3 of vent cabinet 2 and by the foreign matter in the window of vent cabinet 2
The locus of mouth 3 is exported to the controlling organization of the control air quantity of vent cabinet 2, make it that it is real-time that controlling organization is carried out to action pane
Control, collision free.
So the vent cabinet window foreign matter detection system 100 of the present embodiment can carry out the inspection of contactless window foreign matter
Survey, effectively solve the problems, such as that the detection to vent cabinet window in the prior art does not possess versatility and installation is difficult in maintenance.
In addition, as shown in fig. 6, the present embodiment also provides a kind of controller 4, include in the controller 4 as described above
The window foreign matter detection system 100 of vent cabinet 2 in image processing module 102, the controller 4 with control the air quantity of vent cabinet 2
Controlling organization be connected, the controller 4 is by the foreign matter that image processing module 102 obtains in the space bit of the vent cabinet window
Transmission is put to the controlling organization, make it that the controlling organization is controlled action pane in real time, collision free.
In summary, the present invention gathers the video in window of vent cabinet using binocular camera and the video in window is carried out
Processing forms the three-dimensional point cloud image of window, identifies that foreign matter is in the three-dimensional point cloud image in the three-dimensional point cloud image of the window
In positional information, determine the foreign matter in the ventilation according to positional information of the foreign matter in the three-dimensional point cloud image
The locus of cabinet window simultaneously exports the foreign matter to control vent cabinet air quantity in the locus of the vent cabinet window
Actuating mechanism controls mechanism, controlling organization are controlled action pane in real time, collision free, thus the present invention can carry out it is non-
The detection of the window foreign matter of contact, effectively solve the detection to vent cabinet window in the prior art and do not possess versatility and peace
Fill the problem of difficult in maintenance；The present invention instead of with whether the sensor detection vent cabinet window of traditional photo-electric has foreign matter,
And real space position residing for foreign matter can be calculated according to demand, there is extensive autgmentability, be advantageous to vent cabinet and laboratory
Intellectuality；The present invention is easy for installation, has stronger versatility and practicality.So the present invention effectively overcomes existing skill
Various shortcoming in art and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (11)
1. a kind of vent cabinet window foreign matter detecting method, it is characterised in that the vent cabinet window foreign matter detecting method includes：
Gather the video in window of vent cabinet and the three-dimensional point cloud image that processing forms window is carried out to the video in window；
Identify positional information of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of the window；
Determine the foreign matter in the vent cabinet window according to positional information of the foreign matter in the three-dimensional point cloud image
Locus simultaneously exports the foreign matter to the controlling organization of control vent cabinet air quantity in the locus of the vent cabinet window.
2. vent cabinet window foreign matter detecting method according to claim 1, it is characterised in that adopted using a binocular camera
Collect the video in window of the vent cabinet.
3. vent cabinet window foreign matter detecting method according to claim 2, it is characterised in that be used for using an infrared light supply
Light filling is carried out to the binocular camera in insufficient light.
4. vent cabinet window foreign matter detecting method according to claim 1, it is characterised in that forming the three-dimensional point of window
After cloud atlas picture, in addition to positioning calibration is carried out to the video in window in the dimension point cloud chart picture.
5. vent cabinet window foreign matter detecting method according to claim 1, it is characterised in that the identification window
Positional information of the foreign matter in the three-dimensional point cloud image specifically includes in three-dimensional point cloud image：
Collect the cloud data in window plane pre-determined distance in the three-dimensional point cloud image；
Cluster segmentation is carried out to the cloud data of collection, forms window face cloud data and foreign matter cloud data；
According to positional information of the foreign matter in the three-dimensional point cloud image described in the foreign matter point cloud data acquisition.
6. a kind of vent cabinet window foreign matter detection system, it is characterised in that the vent cabinet window foreign matter detection system includes：
Image capture module, for gathering the video in window of vent cabinet；
Image processing module, for carrying out the three-dimensional point cloud image of processing formation window to the video in window and identifying the window
Positional information of the foreign matter in the three-dimensional point cloud image in the three-dimensional point cloud image of mouth；
Data outputting module, for according to positional information of the foreign matter in the three-dimensional point cloud image determine the foreign matter in
The locus of the vent cabinet window simultaneously exports the foreign matter to control ventilation in the locus of the vent cabinet window
The controlling organization of cabinet air quantity.
7. vent cabinet window foreign matter detection system according to claim 6, it is characterised in that described image acquisition module bag
Include：The binocular camera of one video in window for gathering the vent cabinet.
8. vent cabinet window foreign matter detection system according to claim 7, it is characterised in that the vent cabinet window foreign matter
Detecting system also includes：One infrared light supply module, for carrying out light filling to the binocular camera in insufficient light.
9. vent cabinet window foreign matter detection system according to claim 6, it is characterised in that described image processing module is also
For after the three-dimensional point cloud image of window is formed, positioning calibration to be carried out to the video in window in the dimension point cloud chart picture.
10. vent cabinet window foreign matter detection system according to claim 6, it is characterised in that described image processing module
Specifically include：
Collector unit, for collecting the cloud data in the three-dimensional point cloud image in window plane pre-determined distance；
Cluster segmentation unit, for carrying out cluster segmentation to the cloud data of collection, form window face cloud data and foreign matter
Cloud data；
Acquiring unit, for position letter of the foreign matter in the three-dimensional point cloud image according to the foreign matter point cloud data acquisition
Breath.
11. a kind of controller, it is characterised in that the controller includes claim 6 to claim 10 any claim
Image processing module in described vent cabinet window foreign matter detection system, the control of the controller and control vent cabinet air quantity
Mechanism is connected, and the locus for the vent cabinet window that the controller obtains image processing module is sent to the control
Mechanism.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959801A (en) * | 2017-12-22 | 2019-07-02 | 上海卓思智能科技股份有限公司 | NTC detection circuit and wind speed measuring sensor for wind speed measurement |
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