CN107514745A - A kind of method and system of intelligent air condition stereoscopic vision positioning - Google Patents
A kind of method and system of intelligent air condition stereoscopic vision positioning Download PDFInfo
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- CN107514745A CN107514745A CN201710656194.4A CN201710656194A CN107514745A CN 107514745 A CN107514745 A CN 107514745A CN 201710656194 A CN201710656194 A CN 201710656194A CN 107514745 A CN107514745 A CN 107514745A
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Abstract
The invention discloses a kind of method of intelligent air condition stereoscopic vision positioning, to solve the problems, such as that the scanning wind direction of air-conditioning can only be adjusted by default air conditioning mode in the prior art.The present invention includes step：S1：Human body target is imaged, and human body target image is pre-processed and corrected；S2：According to the human body target image after pretreatment and correction, human body target image and human body target image background are split；S3：According to the human body target image after segmentation, determine target area and obtain the three-dimensional data of the target area；S4：According to the three-dimensional data of the target area and target area, determine that air-conditioning sweeps wind region；S5：Wind region is swept according to air-conditioning, wind angle is swept by calculating acquisition air-conditioning.The correlation technique of stereoscopic vision can be combined using the present invention, the relevant position region of moving human body is positioned and measured, reaches targeting, dynamic adjusts the effect of air-conditioning wind direction.
Description
Technical field
The present invention relates to the method and system neck of air-conditioning technical field, more particularly to a kind of positioning of intelligent air condition stereoscopic vision
Domain.
Background technology
Current air-conditioning mainly carries out wind direction, wind intensity, the regulation and control of humidity by artificially presetting specific pattern, it is impossible to
The active state for intelligently tracking people enters Mobile state adjustment.
Thermal camera imaging technique or comparative maturity in the prior art, are mainly carried out by detecting ambient temperature
Imaging, compared to common video camera imaging, can by thermal camera into picture and ambient background form obvious profile, and
Into picture be internally formed smooth UNICOM region；This is very big for that need not have to the imaging of image progress characteristic point mark
Effect.
Stereoscopic vision basic fundamental, predominantly binocular stereo vision basic fundamental in the prior art, by simulating the double of people
Eye, binocular stereo vision video camera is after demarcation, can be to external object at two after getting the inside and outside parameter of video camera
The position of imaging in video camera, by computation vision difference, utilize the inside and outside parameter and Conversion Matrix of Coordinate of video camera, meter
The three-dimensional position of target object is calculated, technique of binocular stereoscopic vision has been widely used in automatic driving at present, calculates
The association area such as machine assisted surgery, reverse-engineering, interaction entertainment, measurement.
And thermal camera imaging technique and binocular stereo vision basic fundamental sky is not attached to also in the prior art
In conditioning technology field.
Publication No. 102889666A Chinese patent, disclose a kind of air conditioning control method and air-conditioning.The air-conditioning control
Method processed comprises the steps：Infrared sensor is set in indoor apparatus of air conditioner；Control infrared sensor Scanning Detction region with
Infrared ray in detection zone, and export scanning result；Judge detection zone whether where someone and people according to scanning result
Test position；Air conditioning operating mode is adjusted according to judged result.The invention is automatic by the infrared sensor being arranged in air-conditioning
The information of environment space people is detected, and air conditioning operating mode can be automatically adjusted according to testing result, realizes the intelligence fortune of air-conditioning
Row control.
Although foregoing invention can scan the region where people, automatically adjust operational mode, can not reach intelligence,
Targeting, the dynamic effect for adjusting wind direction.
In summary, in order to solve the problems, such as intelligently determine that air-conditioning sweeps wind region, it is necessary to design one in the prior art
Kind infrared Binocular Stereo Vision System can be utilized to target, dynamically adjust air-conditioning come the scope of activities of people in dynamic monitoring room
Sweep the intelligent air condition stereoscopic vision localization method and system in wind region.
The content of the invention
The purpose of the present invention is for defect present in prior art, there is provided a kind of intelligent air condition stereoscopic vision positioning side
Method and system, can be intelligent, need not preset dynamically and artificially air-conditioning scan pattern and sweep wind angle.
In order to realize the above object the present invention uses following technical scheme：
A kind of method of intelligent air condition stereoscopic vision positioning, including step：
S1：Human body target is imaged, and human body target image is pre-processed and corrected；
S2：According to the human body target image after pretreatment and correction, by human body target image and human body target image background
Split；
S3：According to the human body target image after segmentation, determine target area and obtain the three-dimensional data of the target area；
S4：According to the three-dimensional data of the target area and target area, determine that air-conditioning sweeps wind region；
S5：Wind region is swept according to air-conditioning, wind angle is swept by calculating acquisition air-conditioning.
Wherein, human body target being imaged by thermal camera, the quantity of the thermal camera is for 2 or multiple,
It is described human body target image and human body target image background are subjected to segmentation to include step：
Calculate the average background figure of human body target image background；
Split by the gray scale difference value of human body target image and the average background figure.
Further, obtaining the three-dimensional data of the target area includes step：
The marginal point of target area is extracted；
The target area marginal point that different thermal cameras extract is matched and the three-dimensional of target area is calculated
Data.
Further, the posture of the human body target is identified, according to the posture of the human body target and the human body mesh
Air-conditioning, which is preset, corresponding to the three-dimensional data selection of mark posture sweeps wind region.
Wherein determine that air-conditioning sweeps wind region and specifically includes step：
Determined to sweep the quantity in wind region according to the quantity of target area；
The circumscribed rectangular body of the target area is calculated according to the three-dimensional data of each target area；
Determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area.
When the air-conditioning sweep wind region for it is multiple when, the multiple air-conditioning is swept into wind region merging technique into always sweeping wind region；
Sweep when wind region is always swept described in wind, when sweeping to multiple air-conditionings and sweeping wind region intermediate blank region, adjust this and sweep wind
Speed is that default blank sweeps wind velocity.
A kind of intelligent air condition stereoscopic vision alignment system, including：
Image-forming module：For being imaged to human body target；
Image preprocessing and correction module, for human body target image to be pre-processed and corrected；
Target Segmentation module, for human body target image and human body target image background to be split；
Characteristic area determining module, for determining target area and obtaining the three-dimensional data of the target area；
Wind area determination module is swept, for determining that air-conditioning sweeps wind region；
Wind angle adjustment module is swept, wind angle is swept for calculating acquisition air-conditioning.
Wherein image preprocessing and correction module includes：
Image pre-processing module, for carrying out noise suppressed or enhancing and to human body target image to human body target image
Corrected；
Image correction module, for carrying out human body target image parameter correction according to default uncalibrated image.
The characteristic area determining module includes：
Target area determining module, for determining target area；
Three-dimensional data acquisition module, for obtaining the three-dimensional data of target area by calculating.
Further, including：
Identification module, for identifying the posture of the human body target；
Selecting module, for the selection pair of the three-dimensional data of the posture according to the human body target and the human body target posture
The default air-conditioning answered sweeps wind region.
The wind area determination module of sweeping includes：
Quantity determining module, for being determined to sweep the quantity in wind region according to the quantity of target area；
Area determination module, for calculating the external of the target area according to the three-dimensional data of each target area
Cuboid, and determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area；
Further, in addition to：
Merging module, for when it is multiple that the air-conditioning, which sweeps wind region, the multiple air-conditioning to be swept into wind region merging technique shape
Into always sweeping wind region；
Wind velocity module is swept in adjustment, for sweeping wind region according to the air-conditioning always swept in wind region and multiple air-conditionings sweep wind
White space between region carries out sweeping wind velocity adjustment.
The beneficial effects of the invention are as follows：By using infrared binocular stereo vision alignment system, indoor human body target is detected
Temperature be imaged, simulate the eyes of human body, using the image space in different cameras, pass through computation vision difference, it is real
The scope of activities of people in existing dynamic monitoring room, targeting, the dynamic region for adjusting air-conditioning and sweeping wind.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the method for intelligent air condition stereoscopic vision positioning；
Fig. 2 is a kind of another flow chart of the method for intelligent air condition stereoscopic vision positioning；
Fig. 3 is a kind of Stereo matching schematic diagram of intelligent air condition stereoscopic vision localization method；
Fig. 4 is a kind of three-dimensional data chart of the acquisition characteristic point of intelligent air condition stereoscopic vision localization method；
Fig. 5 is that a kind of air-conditioning of intelligent air condition stereoscopic vision localization method sweeps wind angle-determining figure；
Fig. 6 is a kind of structural principle block diagram of intelligent air condition stereoscopic vision alignment system；
Fig. 7 is a kind of another structure principle chart of intelligent air condition stereoscopic vision alignment system.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment one
A kind of method of intelligent air condition stereoscopic vision positioning is present embodiments provided, it is shown as shown in figures 1 and 3, including
Step：
S1：Human body target is imaged, and human body target image is pre-processed and corrected；
S2：According to the human body target image after pretreatment and correction, by human body target image and human body target image background
Split；
S3：According to the human body target image after segmentation, determine target area and obtain the three-dimensional data of the target area；
S4：According to the three-dimensional data of the target area and target area, determine that air-conditioning sweeps wind region；
S5：Wind region is swept according to air-conditioning, wind angle is swept by calculating acquisition air-conditioning.
Wherein human body target is imaged by thermal camera, the quantity of the thermal camera is for 2 or multiple.
Stereoscopic vision basic fundamental, what is utilized in of the invention is binocular stereo vision basic fundamental, in order to improve video camera
Computational accuracy, can be imaged using multiple video cameras.Binocular stereo vision basic fundamental, it is double by simulating the eyes of people
Item stereo vision video camera is after demarcation, can be to external object in two shootings after getting the inside and outside parameter of video camera
The position of imaging in machine, by computation vision difference, using the inside and outside parameter and Conversion Matrix of Coordinate of video camera, calculate
The three-dimensional position of target object, at present technique of binocular stereoscopic vision be widely used in automatic driving, computer aided manufacturing
The association area such as assistant's art, reverse-engineering, interaction entertainment, measurement.
The imaging of thermal camera is imaged by detecting infrared source, why using infrared binocular tri-dimensional
Feel system and unconventional optics Binocular Stereo Vision System, it is because the temperature of human body is constant at 37 DEG C or so, therefore in institute
Into in image, target person can form obvious profile with ambient background, and smooth UNICOM region is internally formed in portrait, so as to
The segmentation difficulty of people is greatly reduced, improves the precision of segmentation.And special characteristic point mark need not be carried out to human body.
Image preprocessing includes image denoising, enhancing, and image is carried out using the distortion parameter of camera lens the phase such as to correct
Close operation.
The correction of binocular stereo image, it is the correction parameter according to camera calibration, by the relevant matches in two images
Position correction facilitates follow-up Stereo matching, calculates the parallax of corresponding points on same baseline.
The basic schematic diagram of wherein Stereo matching is as shown in Figure 3.
Human body target image after pretreatment and correction is entered with human body target background by gray value or characteristic point
Row is split, and human body target image and human body target image background are divided into non-overlapping copies, has the region of respective feature, from
And human body target image can be subjected to target area division.
The determination of target area includes the determination of single goal target area and the determination in multiple target region：
The determination in single goal region：Single goal region includes single human body target-single area and more human body targets-single
Two kinds of region situation：
A. single human body target-single area：One-man's body target i.e. in image, the single human body segmentation region is mesh
Mark region；
B. more human body target-single areas：The region is it is also contemplated that two kinds of situations：
The first situation:Blocked and caused by human body, i.e., three-dimensional human body target is mapped in the image of two dimension, forms weight
Folded region, in such cases, the result of two human body Target Segmentations is a connected region, and the region is target area.
Second of situation：Do not block, the result of segmentation is the region of multiple connections, but distance is non-between connected region
Chang Jin, it is therefore desirable to merge region.In such a case, it is possible to by calculating the centre-to-centre spacing between connected region two-by-two
From, if distance be less than default a certain threshold value, two regions can be merged, combined region is target area.
The determination in multiple target region
Multiple target region is that the result of human body target segmentation is the region of multiple connections, while the centre-to-centre spacing of each connected region
From more than default a certain threshold value, then multiple cut zone are target area.
Target area marginal point is matched, and calculated, obtains the three-dimensional data of target area.
Wherein the quantity of target area determines to sweep the quantity in wind region, and the three-dimensional data for calculating the target area of acquisition is
That sweeps wind region sweeps wind volume；Wind volume of sweeping according to wind region is swept utilizes three-dimensional coordinate, and accurate adjustment air-conditioning sweeps wind angle.
The present embodiment, using the imaging of infrared binocular camera, segmentation, matching, calculate and determine sweeping wind region and sweeping for air-conditioning
The angle in wind region, sweep wind region so as to reach intelligence, dynamic, need not artificially preset air-conditioning and sweep wind angle, improve
Consumer's Experience.
Embodiment two
A kind of method of intelligent air condition stereoscopic vision positioning is present embodiments provided, as shown in Figures 2 to 5, including step：
Thermal camera is demarcated；
Human body target is imaged, and human body target image is pre-processed and corrected；
Calculate the average background figure of human body target image background；
Split by the gray scale difference value of human body target image and the average background figure；
Determine target area；
The marginal point of target area is extracted；
The target area marginal point that different thermal cameras extract is matched and the three-dimensional of target area is calculated
Data；
The posture of the human body target is identified, according to the posture of the human body target and the three-dimensional of the human body target posture
Air-conditioning, which is preset, corresponding to data selection sweeps wind region.
Determined to sweep the quantity in wind region according to the quantity of target area；
The circumscribed rectangular body of the target area is calculated according to the three-dimensional data of each target area；
Determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area；
Determine air-conditioning sweeps wind angle.
The wherein purpose of thermal camera demarcation, the inside and outside parameter of thermal camera is mainly obtained, for follow-up figure
As correction, the correction of image pair, three-dimensional mapping matrix etc. is obtained, its major parameter includes：The focal length of video camera, camera center are sat
Cursor position, (present invention acquiescence illustrates 2 video cameras to two video cameras, in order to improve positioning precision, can increase the number of video camera
Amount) distance between center, the elevation angle of video camera, the distortion parameter matrix, the transformed matrix of each reference frame etc. of camera lens.
At present, the calibration technique of video camera is highly developed, and also efficiency is also very high (as classical opens just for stated accuracy
Friendly chessboard method).It is infrared to be carried out by detecting infrared source because what is utilized in the present invention is infrared Binocular Stereo Vision System
Imaging, therefore in calibration process, it is impossible to using conventional table top plate, it is necessary to consider that temperature difference forms suitable calibration image,
Such as it is contemplated that with hollow out chessboard be placed in the stable thermal source of stable and uniform (such as human body, human body temperature are scheduled on 37 degrees centigrades very much,
The background of chessboard imaging can be served as) before, so as to reduce the difficulty and error of detection chessboard angle point, improve the essence of demarcation
Degree.
Wherein camera calibration is disposably completed in installation process, it is not necessary to is demarcated every time.
After demarcation, infrared binocular camera is imaged to human body target, and human body target image is pre-processed and corrected,
With embodiment one.
Human body target image specifically includes step with the segmentation of human body target image background：
Calculate the average background figure of human body target image background；
Split by the gray scale difference value of human body target image and the average background figure.
The human body temperature detected is constant at 37 DEG C or so, therefore human body target image and human body target in infrared image
Image background separates substantially, and inside human body target image-region, texture is smooth, can generally form the inner area of closing
Domain, avoid in optical imagery and separate difficulty caused by complex background interference, generally by the binary segmentation such as Da-Jin algorithm method just
Preferable segmentation result can be obtained.Meanwhile people is the target of activity, background is static object, therefore can be by using red
The front and rear multiple image of outer binocular camera input calculates average background figure, by current human target's image and average background
The difference of figure splits human body target image and human body target image background, further the precision of increase segmentation.
By the human body target image after segmentation, target area is determined by connecting to calculate, such as embodiment one；
The marginal point of target area is extracted, the target area marginal point progress that different thermal cameras are extracted
Match somebody with somebody and calculate the three-dimensional data of target area, it is specific as follows：
The general principle of binocular stereo vision is to simulate the eyes of people, allows the target object of same three-dimensional world in two eyes
Vision offset in eyeball, i.e. parallax, by the processing of brain, inverse mapping is into three-dimensional coordinate, so as to allow human brain to form the depth of three-dimensional
Degree perceives.Same object is exactly imaged by Stereo matching in two video cameras, calculates the vision deviation of same position, and formation regards
Poor matrix.
Stereo matching in the present invention only needs to match target area marginal point, due to being the matching of marginal point,
And it is less in the absence of blocking or blocking, therefore the precision matched is higher, due to being the matching of sparse matrix, therefore matching efficiency
Can be very high.
It is assumed that a certain target area is represented with rhombus, it is assumed that wherein solid line, dotted line rhombus are respectively left and right
Imaging in video camera, wherein corresponding a certain characteristic point is mutually should be A, A ', it is d that coordinate (x, y), (x ', y), which then match parallax,
=| x '-x |, then the parallax matrix group obtained turns into (x, y, d), using this group of parallax matrix with, before after camera calibration by
The confederate matrix Q (4x4 matrix) that camera interior and exterior parameter and transformation matrix of coordinates are formed, you can reflect parallax matrix inversion
Three dimensions is mapped to, so as to get the three-dimensional data of characteristic point.
The posture of the human body target is identified, according to the posture of the human body target and the three-dimensional of the human body target posture
Air-conditioning, which is preset, corresponding to data selection sweeps wind region.
Specifically, such as the people that sleeps of a people to lie low and side, the wind region area of sweeping of the people to lie low is its plane face
Product, the people that side is slept only cannot sweep wind region area from his area of plane come consider it, only consider because sweeping wind
The area of plane can cause its side can not blow to air-conditioner wind.
So the scheme in the present embodiment may determine that the sleeping position of people, according to sleeping position, carry out different sweeping wind strategy.
Assuming that the quantity of above-mentioned target area is n, then can determine that air-conditioning sweeps wind region as n, utilizes above-mentioned target
The three-dimensional coordinate data of provincial characteristics point, you can the n circumscribed rectangular bodies (containing cube) for sweeping wind region are calculated, it is the n long
Cube is that n positioned sweep wind region.
Air-conditioning is swept into wind function mark off n and sweep wind functional areas, map n Ge Saofeng areas one by one, so as to reach targeting, dynamic
State, intelligently sweep wind function.
As shown in figure 5, when certain circumscribed rectangular body for sweeping wind region is ABCD-A1B1C1D1When, it may be determined that cuboid
The three-dimensional coordinate point each pinpointed, according to the three-dimensional coordinate of air-conditioning position, you can calculate between any two points at air-conditioning
Three-dimensional angle, wind angle is swept so as to accurately adjust air-conditioning.
When the air-conditioning sweep wind region for it is multiple when, the multiple air-conditioning is swept into wind region merging technique into always sweeping wind region；
Sweep when wind region is always swept described in wind, when sweeping to multiple air-conditionings and sweeping wind region intermediate blank region, adjust this and sweep wind
Speed is that default blank sweeps wind velocity.
For example, determining have two to sweep wind region, a kind of scheme is to be integrated into one always to sweep wind region, carries out sweeping wind；
Further scheme is, when sweeping wind, it sweeps the Origin And Destination of wind always to sweep wind region, and when sweeping wind, wind is swept when sweeping to two
During the white space of the centre in region, the speed of wind angle is swept in adjustment.So that the efficiency and Consumer's Experience of intelligent air condition are entered
One step is lifted.
The present embodiment, there is provided a kind of method of intelligent air condition stereoscopic vision positioning, demarcation from infrared binocular camera,
Split by heat radiation images, increase the precision of segmentation；Only target area marginal point is matched so that matching precision
Height, matching efficiency is high, and intelligently can enter Mobile state adjustment according to the three-dimensional data of human body target posture and human body target posture
Sweep wind strategy；And air-conditioning swept into wind function mark off n and sweep wind functional areas, n air-conditioning Sao Feng area is mapped one by one, and can be according to sky
Adjust the white space swept between the human body target in wind region and human body target region to carry out sweeping wind adjustment, so as to reach targeting,
Dynamically, wind function is intelligently swept.
Embodiment three
A kind of intelligent air condition stereoscopic vision alignment system is present embodiments provided, as shown in figure 5, including：
Image-forming module：For being imaged to human body target；
Image preprocessing and correction module, for human body target image to be pre-processed and corrected；
Target Segmentation module, for human body target image and human body target image background to be split；
Target area determining module, for determining target area and obtaining the three-dimensional data of the target area；
Wind area determination module is swept, for determining that air-conditioning sweeps wind region；
Wind angle adjustment module is swept, wind angle is swept for calculating acquisition air-conditioning.
Wherein, image-forming module, including 2 or multiple thermal cameras.
Wherein after air-conditioning unlatching, the image-forming module of infrared binocular camera, it is imaged by detecting infrared source, and
By into picture be sent to image preprocessing and correction module, to image carry out noise suppressed, enhancing, utilize the distortion parameter of camera lens
Image is carried out the associative operation such as to correct；Then according to the correction parameter of camera calibration, two width that two video cameras are formed
Relevant matches position correction in image is on same baseline.Stereo matching is carried out to it.
After matching, by Target Segmentation module, the average background figure for the front and rear multiple image that calculating video camera inputs,
Human body target image is split by the difference of human body target image and average background figure.
Target area determining module, according to the human body target image of Target Segmentation module segmentation, target area is determined, wherein
The determination of target area includes the determination in single goal region and the determination in multiple target region., will be infrared after determining target area
Binocular camera into two target areas marginal point matched and by coordinates matrix calculate obtain target area three
Dimension data.
Wind area determination module is swept, the target area quantity determined according to target area determining module and target area
Three-dimensional data, it is determined that sweeping the quantity in wind region and that sweeps wind region sweeps wind volume.
Sweep wind angle adjustment module, according to sweep wind area determination module determination sweep wind volume, calculate air-conditioning and sweep wind
Angle.
The present embodiment, by image-forming module, image preprocessing and correction module, Target Segmentation module, target area
Determining module, wind area determination module is swept, sweep wind angle adjustment module, realized air conditioner intelligent, dynamic and do not need artificial
It is default to sweep wind pattern and sweep the function of wind angle.
Example IV
A kind of intelligent air condition stereoscopic vision alignment system is present embodiments provided, as shown in fig. 7, embodiment three is compared, this
Embodiment is further improved with lower module：
Further, image preprocessing and correction module include：
Image pre-processing module, for carrying out noise suppressed or enhancing and to human body target image to human body target image
Corrected and sent the image corrected to image correction module；
Image correction module, for carrying out human body target image parameter correction according to default uncalibrated image.
Further, target area determining module includes：
Target area determining module, sent for determining target area, and by the target area information determined to three-dimensional
Data acquisition module；
Three-dimensional data acquisition module, for determining the three-dimensional data of target area by calculating.
Identification module, for identifying the posture of the human body target；
Selecting module, for the selection pair of the three-dimensional data of the posture according to the human body target and the human body target posture
The default air-conditioning answered sweeps wind region.
The identification module, human body target posture is identified, can specifically identify the sitting posture or sleeping position of human body target,
For example the sleeping position of human body target is lies low or side is slept,
The wind region area of sweeping of the people to lie low is its area of plane, and the people that side is slept only cannot come from his area of plane
Its wind sweeping area is considered, because sweeping wind has only considered that the area of plane can cause its side can not blow to air-conditioner wind, therefore root
Wind is swept according to air-conditioning is preset corresponding to the three-dimensional data selection of the human body target under the posture and the posture of different human body targets
Region.
Further, sweeping wind area determination module includes：
Quantity determining module, for being determined to sweep the quantity in wind region according to the quantity of target area；
Area determination module, for calculating the external of the target area according to the three-dimensional data of each target area
Cuboid, and determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area.
Further, in addition to, merging module, for when the air-conditioning sweep wind region for it is multiple when, will be the multiple
Air-conditioning, which is swept wind region merging technique and formed, always sweeps wind region；
Wind velocity module is swept in adjustment, for sweeping wind region according to the air-conditioning always swept in wind region and multiple air-conditionings sweep wind
White space between region carries out sweeping wind velocity adjustment.
Wind region is swept by merging air-conditioning, the wind of sweeping for carrying out difference to always sweeping wind region and sweeping wind velocity, the intelligence of raising
Energy air-conditioning using and experiencing.
In the present embodiment, by increasing target area determining module, three-dimensional data acquisition module, quantity determining module, area
Domain determining module cause infrared binocular stereo vision alignment system it is determined that target area and sweep wind region and sweep wind angle effect
Rate is more increased, and determines that result is more accurate so that the intelligent air condition stereoscopic vision alignment system can effectively, intelligence, dynamic
The scope of activities of people indoors is monitored, targeting adjustment air-conditioning sweeps wind region and air-conditioning sweeps wind angle.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (12)
- A kind of 1. method of intelligent air condition stereoscopic vision positioning, it is characterised in that including step：S1：Human body target is imaged, and human body target image is pre-processed and corrected；S2：According to the human body target image after pretreatment and correction, human body target image and human body target image background are carried out Segmentation；S3：According to the human body target image after segmentation, determine target area and obtain the three-dimensional data of the target area；S4：According to the three-dimensional data of the target area and target area, determine that air-conditioning sweeps wind region；S5：Wind region is swept according to air-conditioning, wind angle is swept by calculating acquisition air-conditioning.
- 2. the method for a kind of intelligent air condition stereoscopic vision positioning according to claim 1, it is characterised in that taken the photograph by infrared Camera is imaged to human body target, and the quantity of the thermal camera is for 2 or multiple, wherein, by human body target image and people Body destination image background, which carries out segmentation, includes step：Calculate the average background figure of human body target image background；Split by the gray scale difference value of human body target image and the average background figure.
- 3. the method for a kind of intelligent air condition stereoscopic vision positioning according to claim 2, it is characterised in that obtain the mesh The three-dimensional data in mark region includes step：The marginal point of target area is extracted；The target area marginal point that different thermal cameras extract is matched and the three-dimensional data of target area is calculated.
- A kind of 4. method of intelligent air condition stereoscopic vision positioning according to claim 3, it is characterised in thatThe posture of the human body target is identified, according to the posture of the human body target and the three-dimensional data of the human body target posture Air-conditioning is preset corresponding to selection and sweeps wind region.
- 5. the method for a kind of intelligent air condition stereoscopic vision positioning according to claim 4, it is characterised in that determine that air-conditioning is swept Wind region specifically includes step：Determined to sweep the quantity in wind region according to the quantity of target area；The circumscribed rectangular body of the target area is calculated according to the three-dimensional data of each target area；Determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area.
- A kind of 6. method of intelligent air condition stereoscopic vision positioning according to claim 5, it is characterised in thatWhen the air-conditioning sweep wind region for it is multiple when, the multiple air-conditioning is swept into wind region merging technique into always sweeping wind region；Sweep when wind region is always swept described in wind, when sweeping to multiple air-conditionings and sweeping wind region intermediate blank region, adjust this and sweep wind velocity Wind velocity is swept for default blank.
- A kind of 7. intelligent air condition stereoscopic vision alignment system, it is characterised in that including：Image-forming module：For being imaged to human body target；Image preprocessing and correction module, for human body target image to be pre-processed and corrected；Target Segmentation module, for human body target image and human body target image background to be split；Characteristic area determining module, for determining target area and obtaining the three-dimensional data of the target area；Wind area determination module is swept, for determining that air-conditioning sweeps wind region；Wind angle adjustment module is swept, wind angle is swept for calculating acquisition air-conditioning.
- A kind of 8. intelligent air condition stereoscopic vision alignment system according to claim 7, it is characterised in that image preprocessing and Correction module includes：Image pre-processing module, for carrying out noise suppressed or enhancing to human body target image and being carried out to human body target image Correction；Image correction module, for carrying out human body target image parameter correction according to default uncalibrated image.
- 9. a kind of intelligent air condition stereoscopic vision alignment system according to claim 7, it is characterised in that characteristic area determines Module includes：Target area determining module, for determining target area；Three-dimensional data acquisition module, for obtaining the three-dimensional data of target area by calculating.
- A kind of 10. method of intelligent air condition stereoscopic vision positioning according to claim 9, it is characterised in that including：Identification module, for identifying the posture of the human body target；Selecting module, for corresponding to the selection of the three-dimensional data of the posture according to the human body target and the human body target posture Default air-conditioning sweeps wind region.
- 11. a kind of intelligent air condition stereoscopic vision alignment system according to claim 10, it is characterised in that it is true to sweep wind region Cover half block includes：Quantity determining module, for being determined to sweep the quantity in wind region according to the quantity of target area；Area determination module, for calculating the circumscribed rectangular of the target area according to the three-dimensional data of each target area Body, and determine that air-conditioning sweeps wind region according to the circumscribed rectangular body of each target area.
- 12. a kind of intelligent air condition stereoscopic vision alignment system according to claim 11, it is characterised in that also include：Merging module, for when it being multiple that the air-conditioning, which sweeps wind region, the multiple air-conditioning being swept into wind region merging technique and formed always Sweep wind region；Wind velocity module is swept in adjustment, for sweeping wind region according to the air-conditioning always swept in wind region and multiple air-conditionings sweep wind region Between white space sweep wind velocity adjustment.
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