CN107895138B - Method and device for detecting space obstacle and computer readable storage medium - Google Patents
Method and device for detecting space obstacle and computer readable storage medium Download PDFInfo
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- CN107895138B CN107895138B CN201710958038.3A CN201710958038A CN107895138B CN 107895138 B CN107895138 B CN 107895138B CN 201710958038 A CN201710958038 A CN 201710958038A CN 107895138 B CN107895138 B CN 107895138B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
Abstract
The invention discloses a space obstacle detection method, which comprises the following steps: the method comprises the following steps of placing a graphic code in a preset position area in space, and setting a camera device for identifying the graphic code, wherein the method comprises the following steps: starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified; if the graphic code cannot be identified, judging that the preset position area is an abnormal area; counting the distribution condition of each abnormal area in the space; and when the distribution condition of each abnormal area meets a preset obstacle existence judgment condition, judging that an obstacle exists between the camera device and the graphic code. The invention also discloses a space obstacle detection device and a computer readable storage medium. The invention realizes the detection of the space barrier, has low requirements on algorithm and hardware configuration, is convenient for the arrangement of detection equipment, and has the characteristics of reliability, accuracy, rapidness and convenient response.
Description
Technical Field
The present invention relates to the field of space obstacle detection, and in particular, to a method and an apparatus for detecting a space obstacle, and a computer-readable storage medium.
Background
The existing space obstacle detection method is mainly based on an image visual identification technology and a laser sensor detection technology; the image visual identification technology has higher requirements on algorithms and hardware configuration; the laser sensor detection technology also needs to be provided with laser emitting and detecting equipment, so that the cost is high, and meanwhile, the equipment is inconvenient to deploy, and is particularly not suitable for places with people.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method and a device for detecting a space obstacle and a computer readable storage medium, and aims to solve the technical problems that the existing method for detecting the space obstacle has high requirements on algorithm and hardware configuration and detection equipment is inconvenient to deploy.
In order to achieve the above object, the present invention provides a method for detecting a spatial obstacle, which places a graphic code in a preset position area in a space and sets a camera device for recognizing the graphic code, wherein the method for detecting a spatial obstacle comprises the following steps:
step S10, starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified;
step S20, if the graphic code can not be identified, determining that the preset position area is an abnormal area;
step S30, counting the distribution condition of each abnormal area in the space;
and step S40, when the distribution of each abnormal region meets a preset obstacle existence determination condition, determining that an obstacle exists between the image pickup device and the graphic code.
Preferably, after the step of determining that an obstacle exists between the image capturing device and the graphic code, the method further includes:
step S50, determining the space position of the obstacle according to the counted distribution situation of each abnormal area in the space;
step S60, according to a preset detection period, repeating the operations of the steps S10-S40 of the preset detection times, so as to update and count the distribution situation of each abnormal area in the space;
step S70, comparing the new and old distribution conditions of the abnormal regions in the space, obtaining the distribution change conditions of the abnormal regions in the space, and determining the position change conditions of the obstacle in the space.
Preferably, after the step of determining the position change condition of the obstacle in the space, the method further includes:
step S80, judging whether the position change condition of the obstacle meets the preset obstacle alarm condition;
and step S90, if yes, sending an obstacle alarm signal to the target management terminal.
Preferably, after the step of determining that an obstacle exists between the image capturing device and the graphic code, the method further includes:
step S100, sending an obstacle prompting signal to a target management terminal;
step S110, sending a linkage execution control instruction to a preset linkage execution device to control the preset linkage execution device to execute a corresponding control action.
Preferably, the target management end comprises an embedded internet of things device and/or a cloud service platform and/or a mobile equipment end.
Preferably, the graphic code is embedded with the corresponding location information of the preset location area.
In addition, to achieve the above object, the present invention also provides a space obstacle detecting device including: an image pickup apparatus, a memory, a processor, and a spatial obstacle detection program stored on the memory and executable on the processor, wherein:
the camera device is used for acquiring a digital image of the graphic code and identifying the graphic code;
the space obstacle detection program implements the steps of the space obstacle detection method as described above when executed by the processor.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a spatial obstacle detection program which, when executed by a processor, implements the steps of the spatial obstacle detection method as described above.
According to the method, the device and the computer-readable storage medium for detecting the spatial barrier provided by the embodiment of the invention, when the image pickup device cannot identify the graphic code correspondingly placed in any preset position area in the space, the preset position area is judged to be an abnormal area, and when the distribution condition of each abnormal area meets the judgment condition of existence of the preset spatial barrier, the obstacle exists between the image pickup device and the graphic code. Therefore, the detection of the space barrier is realized under the conditions of low requirements on algorithm and hardware configuration and convenient deployment of detection equipment, and the space barrier detection method has the characteristics of reliability, accuracy, rapidness and convenience in response.
Drawings
Fig. 1 is a schematic structural view of a space obstacle detection device according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a data embedding method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a data embedding method according to the present invention;
FIG. 4 is a diagram illustrating a detailed procedure of a second embodiment of a data embedding method according to the present invention;
fig. 5 is a flowchart illustrating a data embedding method according to a third embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: the method for detecting the obstacle in the space comprises the following steps of placing a graphic code in a preset position area in the space, and setting a camera device for identifying the graphic code, wherein the method comprises the following steps: starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified; if the graphic code cannot be identified, judging that the preset position area is an abnormal area; counting the distribution condition of each abnormal area in the space; and when the distribution condition of each abnormal area meets a preset obstacle existence judgment condition, judging that an obstacle exists between the camera device and the graphic code.
Because the existing space obstacle detection method has high requirements on algorithm and hardware configuration and detection equipment is inconvenient to deploy, the invention provides a solution, so that the space obstacle detection method has low requirements on algorithm and hardware configuration and the detection equipment is convenient to deploy.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a space obstacle detection device according to an embodiment of the present invention.
The device of the embodiment of the invention can be a PC, and can also be a mobile terminal device with a display function, such as a smart phone, a tablet computer, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Alternatively, the terminal may further include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. Of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a spatial obstacle detection program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the spatial obstacle detection program stored in the memory 1005, and perform the following operations:
step S10, starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified;
step S20, if the graphic code can not be identified, determining that the preset position area is an abnormal area;
step S30, counting the distribution condition of each abnormal area in the space;
and step S40, when the distribution of each abnormal region meets a preset obstacle existence determination condition, determining that an obstacle exists between the image pickup device and the graphic code.
Further, the processor 1001 may call the spatial obstacle detection program stored in the memory 1005, and also perform the following operations:
step S50, determining the space position of the obstacle according to the counted distribution situation of each abnormal area in the space;
step S60, according to a preset detection period, repeating the operations of the steps S10-S40 of the preset detection times, so as to update and count the distribution situation of each abnormal area in the space;
step S70, comparing the new and old distribution conditions of the abnormal regions in the space, obtaining the distribution change conditions of the abnormal regions in the space, and determining the position change conditions of the obstacle in the space.
Further, the processor 1001 may call the spatial obstacle detection program stored in the memory 1005, and also perform the following operations:
step S80, judging whether the position change condition of the obstacle meets the preset obstacle alarm condition;
and step S90, if yes, sending an obstacle alarm signal to the target management terminal.
The target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end.
Further, the processor 1001 may call the spatial obstacle detection program stored in the memory 1005, and also perform the following operations:
step S100, sending an obstacle alarm prompt signal to a target management terminal;
step S110, sending a linkage execution control instruction to a preset linkage execution device to control the preset linkage execution device to execute a corresponding control action.
The target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end.
Further, the processor 1001 may call the spatial obstacle detection program stored in the memory 1005, and also perform the following operations:
and embedding the corresponding position information of the preset position area in the graphic code.
Referring to fig. 2, a first embodiment of the present invention provides a spatial obstacle detection method including:
step S10, starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified;
step S20, if the graphic code can not be identified, determining that the preset position area is an abnormal area;
step S30, counting the distribution condition of each abnormal area in the space;
and step S40, when the distribution of each abnormal region meets a preset obstacle existence determination condition, determining that an obstacle exists between the image pickup device and the graphic code.
In specific implementation, a graphic code needs to be placed in a preset position area in space, and a camera device for recognizing the graphic code is arranged; wherein the space can comprise a closed space and a non-closed space, such as a production workshop and an underground parking lot; the predetermined location in the space for placing the graphic code may be a wall, a floor, or other areas where the graphic code can be placed, which is not limited herein. The placed graphic code refers to recorded data and information graphics and symbols which are distributed on a plane according to a certain rule by using a certain specific geometric figure, and specifically can be a one-dimensional code, a two-dimensional code and a color code, and the two-dimensional code is preferred in the embodiment of the invention. The image pickup apparatus may include not only a general image pickup device such as a video camera but also other pattern recognition cameras having a pattern code recognition function, a sensor module or an apparatus. Further, the corresponding position information of the preset position area is embedded in the graphic code. For example, a two-dimensional code is placed in a parking space area of an underground parking lot, and a position information code of a parking space position and a serial number, such as a 10 th parking space in a north area, is embedded in the two-dimensional code in advance; or a two-dimensional code is placed on a passageway of the parking lot, and the position information code in the two-dimensional code can be '2 nd passageway 5 th position'. For example, a camera is used as a sensor to identify the graphic codes, wherein one camera or other image detection devices can identify one or more graphic codes, and the camera can set the number and the space installation position according to actual needs. Under the condition that no obstacle is shielded normally, the detection device can normally detect the graphic code in the preset position area, and the detection period can be set according to actual needs, for example, the detection is performed once every 200 milliseconds. When a certain preset position area appears on the obstacle, the detection device cannot detect the corresponding graphic code due to the shielding effect of the obstacle, and therefore the preset position area can be judged to be an abnormal area. In this case, the distribution of each preset position area determined as the abnormal area, including the distribution position, number, and distribution change of the abnormal area, may be counted to determine whether or not an obstacle exists in the space, the shape and volume of the obstacle, and the movement of the obstacle. The judgment algorithm and conditions may be obtained from a relevant database, experimental measurement data, and a result of manual calculation, and are not limited herein.
For example, in an underground parking lot, a plurality of graphic codes can be placed on a wall or a lane, and whether vehicle blockage occurs in the parking lot is judged according to the graphic codes; in the parking lot entrance and exit lane and the extension section thereof, a plurality of graphic codes can be arranged on the lane, and whether vehicles exist or the driving direction of the vehicles is judged according to the graphic codes; and if the plurality of graphic codes are shielded in a certain time period or according to a certain sequence, the blockage of the inlet and the outlet can be judged.
Aiming at a fire fighting channel and an important evacuation channel, a plurality of graphic codes can be arranged on a wall or the channel, and whether the graphic codes are occupied or not is judged according to the graphic codes; or judging whether the fire fighting channel is blocked according to the blocked logical relation among the plurality of graphic codes so as to find the situation that the fire fighting channel is blocked and occupied by the barrier in time, and process and eliminate potential safety hazards in time.
In the embodiment, when the image pickup device cannot identify the graphic code correspondingly placed in any preset position area in the space, the preset position area is judged to be an abnormal area, and when the distribution condition of each abnormal area accords with the judgment condition of existence of the obstacle in the preset space, the obstacle between the image pickup device and the graphic code is judged to exist, so that whether the obstacle exists in the space can be detected conveniently and quickly, and the field management and the object identification are facilitated.
Further, referring to fig. 3, a second embodiment of the present invention provides a method for detecting a spatial obstacle, based on the above embodiment shown in fig. 2, after the step of determining that an obstacle exists between the image capturing device and the graphic code, the method further includes:
step S50, determining the space position of the obstacle according to the counted distribution situation of each abnormal area in the space;
step S60, according to a preset detection period, repeating the operations of the steps S10-S40 of the preset detection times, so as to update and count the distribution situation of each abnormal area in the space;
step S70, comparing the new and old distribution conditions of the abnormal regions in the space, obtaining the distribution change conditions of the abnormal regions in the space, and determining the position change conditions of the obstacle in the space.
After the obstacle is judged to exist in the space, the specific position information of the obstacle can be further determined according to the counted distribution situation of each abnormal area in the space. Vehicle information, including a license plate number, for a particular vehicle may be determined, for example, by identification techniques; then, the method for detecting the space obstacle determines the specific position of the automobile in the parking lot.
Further, the distribution situation of each abnormal area in the space is updated and counted by repeatedly executing the operations of the steps S10-S40 for the preset detection times, the distribution change situation of each abnormal area in the space is obtained by comparing the new distribution situation and the old distribution situation of each abnormal area, and the position change situation of the obstacle in the space is finally determined. Wherein, the preset detection period may be 200 milliseconds, or other set detection period time; and the preset detection times can be set according to the actual needs of the user. For obstacle detection, when there is a change in the position of an obstacle, for example, a vehicle moves, an obstacle is moved by a person. At this time, the distribution change situation of the preset position determined as the abnormal area may be acquired and counted within a certain time, and whether the position of the obstacle changes or not and the position change situation may be determined, so as to provide the administrator with the determination basis and the reference information for the subsequent management operation.
Further, as shown in fig. 4, after the step S70, the method further includes:
step S80, judging whether the position change condition of the obstacle meets the preset obstacle alarm condition;
and step S90, if yes, sending an obstacle alarm signal to the target management terminal.
For the obstacle with the determined position, when a user needs to further manage or monitor the obstacle, whether the position change condition of the obstacle meets the preset obstacle alarm condition or not can be judged. Wherein the preset obstacle alarm condition may include: the location change area, the moving direction, the moving speed, etc. of the obstacle. For example, for a sorting site where goods are moved based on an automated guided vehicle, it can be determined whether a rack is correctly transported to a specified position by identifying a goods rack and a position change of the rack. When the conveying distance of the material rack is too short or too long, an alarm signal can be triggered correspondingly. At the moment, an alarm signal is sent to the target management terminal so as to send information that the material rack is not conveyed correctly. The target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end.
In this embodiment, after the step of determining that an obstacle exists in the space, according to the distribution change condition of each abnormal area, the position change condition of the obstacle in the space is determined, and when the space position change condition of the obstacle meets the alarm condition, an alarm signal is sent, so that a more detailed and specific method for determining the position change condition of the obstacle and performing subsequent management and control is provided.
Further, referring to fig. 5, a third embodiment of the present invention provides a method for detecting a spatial obstacle, based on the above embodiment shown in fig. 2, after the step of determining that an obstacle exists between the image capturing device and the graphic code, the method further includes:
step S110, sending a linkage execution control instruction to a preset linkage execution device to control the preset linkage execution device to execute a corresponding control action.
The target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end. After judging that the space has the barrier, sending a linkage execution control instruction to a preset linkage execution device so as to link a third-party system to work; wherein the preset linkage executing device can include but is not limited to: a scene acousto-optic alarm device and a screen display device; and according to the linkage execution control instruction, the linkage execution device executes corresponding control operation, such as performing site acousto-optic or voice alarm. It should be noted that the sending end of the linkage execution control command may be a field camera or a target management end. For example, when an underground parking lot detects that an underground passage has a vehicle jam, the detection device sends a vehicle jam prompt signal to an embedded internet of things device or a cloud service platform of a property management unit of the parking lot, so as to provide condition report information of the vehicle jam for the management unit, and the management unit can correspondingly send a worker to arrive at the site in time for evacuation. In addition, the vehicle jam prompt signal can be transmitted to the video parking space detection system to serve as a system interference signal, the video parking space detection system is linked to perform corresponding interference processing, or the detection result of the license plate at the jam position is kept unchanged, so that false identification is avoided.
In this embodiment, after it is determined that an obstacle exists in the space, a space obstacle prompt signal is sent to the target management terminal, so that more refined management and decision making are performed, and management efficiency is improved.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a spatial obstacle detection program is stored, and when executed by a processor, the spatial obstacle detection program implements the following operations:
starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified;
if the graphic code cannot be identified, judging that the preset position area is an abnormal area;
counting the distribution condition of each abnormal area in the space;
and when the distribution condition of each abnormal area meets a preset obstacle existence judgment condition, judging that an obstacle exists between the camera device and the graphic code.
Further, the space obstacle detection program when executed by the processor further realizes the following operations:
determining the space position of the obstacle according to the counted distribution condition of each abnormal area in the space;
according to a preset detection period, repeating the operations of the steps S10-S40 of the preset detection times so as to update and count the distribution condition of each abnormal area in the space;
and comparing the new distribution condition and the old distribution condition of each abnormal area in the space to obtain the distribution change condition of each abnormal area in the space, and determining the position change condition of the barrier in the space.
Further, the space obstacle detection program when executed by the processor further realizes the following operations:
after the step of determining the position change condition of the obstacle in the space, judging whether the position change condition of the obstacle meets a preset obstacle alarm condition;
if yes, sending an obstacle alarm signal to the target management terminal;
the target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end.
Further, the space obstacle detection program when executed by the processor further realizes the following operations:
after the step of judging that the space has the obstacle, sending an obstacle alarm prompt signal to a target management end;
and sending linkage execution control instructions to a preset linkage execution device to control the preset linkage execution device to execute corresponding control actions.
The target management end comprises an embedded Internet of things device and/or a cloud service platform and/or a mobile equipment end.
Further, the space obstacle detection program when executed by the processor further realizes the following operations:
and embedding the corresponding position information of the preset position area in the graphic code.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A method for detecting a space obstacle is characterized in that a graphic code is placed in a preset position area in a space, and a camera device for identifying the graphic code is arranged, and the method for detecting the space obstacle comprises the following steps:
step S10, starting a camera device for detection, and confirming whether a graphic code correspondingly placed in any preset position area in the space is identified;
step S20, if the graphic code can not be identified, determining that the preset position area is an abnormal area;
step S30, counting the distribution condition of each abnormal area in the space;
and step S40, when the distribution of each abnormal region meets a preset obstacle existence determination condition, determining that an obstacle exists between the image pickup device and the graphic code.
2. The method for detecting a spatial obstacle according to claim 1, further comprising, after the step of determining that an obstacle exists between the image pickup device and the graphic code:
step S50, determining the space position of the obstacle according to the counted distribution situation of each abnormal area in the space;
step S60, according to a preset detection period, repeating the operations of the steps S10-S40 of the preset detection times, so as to update and count the distribution situation of each abnormal area in the space;
step S70, comparing the new and old distribution conditions of the abnormal regions in the space, obtaining the distribution change conditions of the abnormal regions in the space, and determining the position change conditions of the obstacle in the space.
3. The method of detecting a spatial obstruction of claim 2 wherein said step of determining a change in position of said obstruction within said space is followed by the step of:
step S80, judging whether the position change condition of the obstacle meets the preset obstacle alarm condition;
and step S90, if yes, sending an obstacle alarm signal to the target management terminal.
4. The method for detecting a spatial obstacle according to claim 1, further comprising, after the step of determining that an obstacle exists between the image pickup device and the graphic code:
step S100, sending an obstacle prompting signal to a target management terminal;
step S110, sending a linkage execution control instruction to a preset linkage execution device to control the preset linkage execution device to execute a corresponding control action.
5. The method according to any one of claims 3 or 4, wherein the target management terminal comprises an embedded IOT device and/or a cloud service platform and/or a mobile device terminal.
6. The method according to claim 1, wherein position information of the corresponding preset position area is embedded in the graphic code.
7. A space obstacle detection apparatus, characterized by comprising: an image pickup apparatus, a memory, a processor, and a spatial obstacle detection program stored on the memory and executable on the processor, wherein:
the camera device is used for acquiring a digital image of the graphic code and identifying the graphic code;
the space obstacle detection program when executed by the processor implements the steps of the space obstacle detection method according to any one of claims 1 to 6.
8. A computer-readable storage medium, characterized in that a spatial obstacle detection program is stored thereon, which when executed by a processor implements the steps of the spatial obstacle detection method according to any one of claims 1 to 6.
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| CN109919906B (en) * | 2019-01-23 | 2021-06-22 | 杭州电子科技大学 | Safety detection method and system based on image processing |
| CN110046569B (en) * | 2019-04-12 | 2022-04-12 | 北京百度网讯科技有限公司 | Unmanned driving data processing method and device and electronic equipment |
| CN111382726B (en) * | 2020-04-01 | 2023-09-01 | 浙江大华技术股份有限公司 | Engineering operation detection method and related device |
| CN111738127B (en) * | 2020-06-17 | 2023-08-25 | 安徽淘云科技股份有限公司 | Entity book in-place detection method and device, electronic equipment and storage medium |
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