CN108279419A - Fire field environment display methods, device, helmet and readable storage medium storing program for executing - Google Patents
Fire field environment display methods, device, helmet and readable storage medium storing program for executing Download PDFInfo
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- CN108279419A CN108279419A CN201810050656.2A CN201810050656A CN108279419A CN 108279419 A CN108279419 A CN 108279419A CN 201810050656 A CN201810050656 A CN 201810050656A CN 108279419 A CN108279419 A CN 108279419A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
Abstract
The embodiment of the present disclosure discloses fire field environment display methods, device, helmet and readable storage medium storing program for executing.The method is run on helmet, including：The environmental information of fire field environment where obtaining the user of wearing helmet；The classification of entity in the fire field environment is identified according to environmental information；Default processing is carried out to the entity of stating being shown on the permeability display unit of helmet according to the classification of entity；It is default processing include to the image for the entity being shown on permeability display unit carry out enhancing show, change display and shielding show at least one of.It being capable of user pays close attention in automatic identification fire field environment entity class by the disclosure, and show entity of interest and related entities in a manner of more obvious, and weaken the display of interference entity, user such as fireman is enable quickly and accurately to observe important entity in fire field environment, contribute to user such as fireman to execute rescue task, and the personal safety of user can be further ensured.
Description
Technical field
This disclosure relates to intelligent identification technology field, and in particular to a kind of fire field environment display methods, device, helmet
And computer readable storage medium.
Background technology
With augmented reality fast development and enterprise research and development promote, augmented reality in medicine, military affairs, disappear
The every field such as anti-, amusement and daily life highlight apparent advantage and value, the disaster relief system based on augmented reality
System also continues to bring out.
Invention content
A kind of fire field environment display methods of embodiment of the present disclosure offer, device, helmet and computer-readable storage medium
Matter.
In a first aspect, providing a kind of fire field environment display methods in the embodiment of the present disclosure, the method is in helmet
Upper operation, including：
The environmental information of fire field environment where obtaining the user for dressing the helmet；
The classification of entity in the fire field environment is identified according to the environmental information；
According to the classification of the entity to the entity that is shown on the permeability display unit of the helmet into
The default processing of row；The default processing includes that the image of the entity to being shown on the permeability display unit increases
At least one of strong display, modification display and shielding display.
Optionally, laser radar module and thermal imaging module are provided on the helmet；Wherein, it obtains described in wearing
The user of helmet is presently in the environmental information of environment, including：
Range information in fire field environment where detecting the user by the laser radar module, and establish the use
The three-dimensional scene models of fire field environment where family；
Heating power distributed intelligence in fire field environment where detecting the user by the thermal imaging module, and by the heat
Power distributed intelligence is added in the three-dimensional scene models, and fire field environment where obtaining the user includes heating power distributed intelligence
3-D view.
Optionally, vital signs detection module and/or imaging sensor are additionally provided on the helmet；Wherein, it obtains
It takes the user for dressing the helmet to be presently in the environmental information of environment, further includes：
Life body characteristics in fire field environment where detecting the user by the vital signs detection module；And/or
Image information in fire field environment where detecting the user by described image sensor.
Optionally, the classification of entity in the fire field environment is identified according to the environmental information, including：
The shape contour of entity is identified according to the range information, and the reality is identified according to the shape contour of the entity
The classification of body；Alternatively,
The shape contour of entity is identified according to the range information that the laser radar module detects, and in conjunction with described
The classification of entity described in heating power distributed intelligence, described image information and/or the life entity feature recognition.
Optionally, the classification of entity in the fire field environment is identified according to the environmental information, including：
By one or more of the range information, heating power distributed intelligence, image information and life body characteristics as defeated
Enter, the classification of the entity is identified according to advance trained entity recognition model.
Optionally, according to the classification of the entity to described in being shown on the permeability display unit of the helmet
Entity carries out default processing, including：
If the entity belongs to the first pre-set categories, the permeability display unit of the helmet is penetrated in the entity
When being shown, reinforce the display intensity of the entity；And/or
If the entity belongs to the second pre-set categories, list is shown through the permeability of the helmet in the entity
When member is shown, the available light of the entity reflection is shielded；And/or
If the entity belongs to third pre-set categories, list is shown through the permeability of the helmet in the entity
When member is shown, the display content of the entity is changed.
Optionally, the classification that entity in the fire field environment is identified according to the environmental information further includes：
Determine the attention force information for the user for dressing the helmet；
The first instance of user's concern is determined according to the attention force information of the user and the environmental information；
Identify the classification of the first instance.
Optionally, determine that the user is currently paid attention to according to the attention of the user and the environmental information
After one entity, further include：
It determines and the relevant second instance of the first instance；
Identify the classification of the second instance.
Optionally it is determined that the attention force information of the user of the helmet is dressed, including：
The attention of the user is determined according to the physiological characteristic of the eyeball characteristics of image of the user and the user
Information.
Optionally, it is identified in the fire field environment after the classification of entity according to the environmental information, further includes：
By analyzing the classification for paying attention to force information and the first instance of concern of the user, determine that the user is current
The task of execution.
Optionally, the classification of the entity executes task according to the entity and the user in the fire field environment
Relationship divides.
Second aspect, the embodiment of the present disclosure provide a kind of fire field environment display device, and described device is on helmet
Operation, including：
First acquisition module is configured as obtaining the 3-D view that the user for dressing the helmet is presently in environment
And in the 3-D view entity parameter；
Identification module is configured as identifying the classification of entity in the 3-D view according to the parameter；
Processing module is configured as showing the permeability for being shown in the helmet according to the classification of the entity single
The entity in member carries out default processing；The default processing includes to described in being shown on the permeability display unit
The image of entity carries out enhancing and shows, changes display and shield one or more in display.
Optionally, laser radar module and thermal imaging module are provided on the helmet；Wherein, it described first obtains
Module, including：
Setting up submodule, be configured as in fire field environment where detecting the user by the laser radar module away from
From information, and establish the three-dimensional scene models of user place fire field environment；
First acquisition submodule is configured as in fire field environment where detecting the user by the thermal imaging module
Heating power distributed intelligence, and the heating power distributed intelligence is added in the three-dimensional scene models, obtain fire where the user
The 3-D view for including heating power distributed intelligence of field environment.
Optionally, vital signs detection module and/or imaging sensor are additionally provided on the helmet；Wherein, institute
The first acquisition module is stated, further includes：
First detection sub-module is configured as scene of a fire ring where detecting the user by the vital signs detection module
Life body characteristics in border；And/or
Second detection sub-module is configured as in fire field environment where detecting the user by described image sensor
Image information.
Optionally, first identification module, including：
First identification submodule is configured as identifying the shape contour of entity according to the range information, and according to described
The shape contour of entity identifies the classification of the entity；Alternatively,
Second identification submodule is configured as being identified according to the range information that the laser radar module detects real
The shape contour of body, and it is real in conjunction with described in the heating power distributed intelligence, described image information and/or the life entity feature recognition
The classification of body.
Optionally, first identification module, including：
Third identifies submodule, is configured as the range information, heating power distributed intelligence, image information and life entity is special
One or more of sign identifies the classification of the entity according to advance trained entity recognition model as input.
Optionally, the processing module, including：
First display sub-module, if being configured as the entity belongs to the first pre-set categories, described in entity transmission
When the permeability display unit of helmet is shown, reinforce the display intensity of the entity；And/or
Second display sub-module penetrates institute if be configured as the entity and belong to the second pre-set categories in the entity
When stating the permeability display unit of helmet and being shown, the available light of the entity reflection is shielded；And/or
Third display sub-module penetrates institute if be configured as the entity and belong to third pre-set categories in the entity
When stating the permeability display unit of helmet and being shown, the display content of the entity is changed.
Optionally, the identification module further includes：
First determination sub-module is configured to determine that the attention force information for the user for dressing the helmet；
Second determination sub-module is configured as determining institute according to the attention force information and the environmental information of the user
State the first instance of user's concern；
4th identification submodule, is configured as identifying the classification of the first instance.
Optionally, after second determination sub-module, further include：
Third determination sub-module is configured to determine that and the relevant second instance of the first instance；
5th identification submodule, is configured as identifying the classification of the second instance.
Optionally, first determination sub-module, including：
Third determination sub-module is configured as special according to the eyeball characteristics of image of the user and the physiology of the user
Sign determines the attention force information of the user.
Optionally, after the identification module, further include：
Determining module is configured as the class for paying attention to force information and the first instance of concern by analyzing the user
Not, the currently performed task of the user is determined.
Optionally, the classification of the entity executes task according to the entity and the user in the fire field environment
Relationship divides.
The function can also execute corresponding software realization by hardware realization by hardware.The hardware or
Software includes one or more modules corresponding with above-mentioned function.
In a possible design, the structure of fire field environment display device includes memory and processor, described to deposit
Reservoir supports fire field environment display device to execute fire field environment display methods in above-mentioned first aspect for storing one or more
Computer instruction, the processor is configurable for executing the computer instruction stored in the memory.The scene of a fire
Environment display device can also include communication interface, for fire field environment display device and other equipment or communication.
The third aspect, the embodiment of the present disclosure provide a kind of helmet, including permeability display unit, memory and place
Manage device；Wherein, the memory is for storing one or more computer instruction, wherein one or more computer refers to
It enables and being executed by the processor to realize the method and step described in first aspect.
Fourth aspect, the embodiment of the present disclosure provide a kind of computer readable storage medium, aobvious for storing fire field environment
Computer instruction used in showing device, it includes by executing in above-mentioned first aspect based on involved by fire field environment display methods
Calculation machine instructs.
The technical solution that the embodiment of the present disclosure provides can include the following benefits：
The embodiment of the present disclosure by obtaining the environmental information in fire field environment automatically, and according in environmental information environment-identification
Entity class, and then by entity class by show enhancing, shielding show or modification display in a manner of include in helmet
On permeability display unit.By the embodiment of the present disclosure can user pays close attention in automatic identification fire field environment entity class, and
Entity of interest and related entities are shown in a manner of more obvious, and weaken the display of interference entity so that user's such as fire-fighting
Member can quickly and accurately observe important entity in fire field environment, and user such as fireman is contributed to execute rescue task, and
The personal safety of user can be further ensured.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
In conjunction with attached drawing, by the detailed description of following non-limiting embodiment, the other feature of the disclosure, purpose and excellent
Point will be apparent.In the accompanying drawings：
Fig. 1 shows the flow chart of the fire field environment display methods according to one embodiment of the disclosure；
Fig. 2 shows the flow charts of the step S101 of embodiment according to Fig. 1；
Fig. 3 shows the structure diagram of the fire field environment display device according to one embodiment of the disclosure；
Fig. 4 is adapted for the knot of the helmet for realizing the fire field environment display methods according to one embodiment of the disclosure
Structure schematic diagram.
Specific implementation mode
Hereinafter, the illustrative embodiments of the disclosure will be described in detail with reference to the attached drawings, so that those skilled in the art can
Easily realize them.In addition, for the sake of clarity, the portion unrelated with description illustrative embodiments is omitted in the accompanying drawings
Point.
In the disclosure, it should be appreciated that the term of " comprising " or " having " etc. is intended to refer to disclosed in this specification
Feature, number, step, behavior, the presence of component, part or combinations thereof, and be not intended to exclude other one or more features,
Number, step, behavior, component, part or combinations thereof there is a possibility that or be added.
It also should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure
It can be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Current existing enhancing technology is mainly the following manifestation mode：One is utilize physiological signal and other information
It show that the present cognitive load of user is horizontal, the relevant element of task and enhancing is believed according to user's real-time cognitive load level
Breath is adaptively adjusted, although the cognitive load of user and enhancement information can be made to be in the level of a dynamic equilibrium,
It is that cannot cannot intuitively show the object of user's concern to interfering the object of user's sight to be removed；Another kind is to be directed to
In instrument operation process, by video camera real-time tracing user's head attitudes vibration, and according to manipulating object threedimensional model, to making
Industry instrument different visual angles pose carries out stereoscopic display, although user can be helped to observe real time job scene from different perspectives,
The classification that automatic identification and each object cannot be carried out to the specific object that user pays close attention to is handled.
Therefore, the present disclosure proposes a kind of adaptive enhancing displaying scheme based on helmet, it is automatic to obtain scene of a fire ring
Environmental information in border, and according to the entity class in environmental information environment-identification, and then by entity class with augmented reality
Mode is shown on the permeability display unit of helmet, is understood in time for the user in fire field environment and is intuitively checked fire
Entity information in the environment of field, contributes to user such as fireman etc. to execute rescue task, and can be further ensured that the person of user
Safety.
Fig. 1 shows the flow chart of the fire field environment display methods according to one embodiment of the disclosure.As shown in Figure 1, described
Fire field environment display methods includes the following steps S101-S103：
In step S101, the environmental information of fire field environment where the user for dressing the helmet is obtained；
In step s 102, the classification of entity in the fire field environment is identified according to the environmental information；
In step s 103, according to the classification of the entity to being shown on the permeability display unit of the helmet
The entity carry out default processing；The default processing includes the entity to being shown on the permeability display unit
Image carry out enhancing show, change display and shielding display at least one of.
In the present embodiment, fire field environment display methods may operate on helmet, and helmet can be worn
It is worn over the smart machine of human body head, the components such as processor, memory and display device can be arranged in inside.Display device can be with
It is permeability display unit, after helmet is worn on human body head, permeability display unit can be placed exactly in eyes
Visible position so that in display data on permeability unit, be not necessarily to the position etc. of manual movable head-wearing equipment, can watch
Data onto permeability display unit；Simultaneously because permeability display unit enables to environmental objects nature reflected light normal
Pass through, therefore user can check ambient enviroment and things by permeability display unit, not interfere with the sight of wearer.Thoroughly
The property crossed display unit can also allow for external fiber to pass through, and match person's eye so that the image of display and background light source to be sent into simultaneously
It is interior, realize modification and enhancing to background image.
In the present embodiment, user such as fireman dress after helmet enters scene of a fire scene, and helmet acquires use in real time
Environmental information in fire field environment where family, the collected environmental information of institute can be used for reconstructing scene of a fire site environment model, know
Burning things which may cause a fire disaster point, entity in other fire field environment etc., determine risk factor of fire field environment etc..
It, can be according to the scene of a fire of environmental information structure after the environmental information in collecting fire field environment in the present embodiment
Live threedimensional model determines the information such as shape contour, the temperature of indoor entity, can be based on physical form profile and temperature later
The classification of this subsidiary conditions identification entity is spent, the classification of entity may include life entity such as people, animal etc., article etc..Entity
Classification can based on user such as fireman execute rescue task when influence to the task of rescuing divide, for example, life
What the difference of body and article can influence the task of rescuing rescues mode and priority etc., therefore can be divided into inhomogeneity, dangerous
Article and not dangerous article also have different influences to rescue mode, priority etc. of the task of rescuing, therefore can also be divided into
It is different classes of etc..
It, can be by the classification of entity to the permeability on helmet after identifying the classification of entity in the present embodiment
Entity on display unit, which is shown, carries out default processing, as the display of augmented reality pre-processes.Default processing may include to reality
The enhancing of body image shows, changes at least one of display and shielding display.That is, permeability display unit is in the display scene of a fire
It is handled by the graphics calculations mode of preset adaptive augmented reality when entity in environment, control permeability display is single
Member will it is default treated that result projects in user's eye, form the virtual image and the combination of real image and reach estimated display effect,
Even if it is empty after default processing to obtain the predetermined entity in the fire field environment that user is observed by permeability display unit
The combination of picture and real image.For example, the solid object surface inside the fire field environment that user is observed by permeability display unit has
Color (real entities surface is no this color) compatible with temperature etc..
In one embodiment, enhancing display can be seen user by permeability display unit by way of superposition
The display intensity of some or certain entities in the fire field environment observed is reinforced so that user can possess the object higher
Perception.Shielding display can be by way of masking, in the fire field environment that user is observed by permeability display unit
The available light of some or certain entities weaken so that user can possess the object lower perception, or even can not meat
Shielded entity is arrived soon.Modification display can be observed user by permeability display unit by way of modification
To fire field environment in some or certain entities display content modify after so that user observe this or this
The image content of a little entities is different from the image content of real entities, and is not merely to be shielded or weakened display or enhance aobvious
Show.That is, modification display can be the display in addition to shielding display and enhancing display, such as it is superimposed on solid imaging
Display changes display content in somewhere on solid imaging, deletes last point of content of solid imaging, and it is aobvious that entity periphery increases a part
Show content etc..
In an optional realization method of the present embodiment, as shown in Fig. 2, being provided with laser radar on the helmet
Module and thermal imaging module；The step S101, that is, the user for obtaining the wearing helmet are presently in the environment of environment
The step of information, further comprises the steps S201-S202：
In step s 201, the distance in fire field environment where detecting the user by the laser radar module is believed
Breath, and establish the three-dimensional scene models of user place fire field environment；
In step S202, the heating power in fire field environment where detecting the user by the thermal imaging module is distributed letter
Breath, and the heating power distributed intelligence is added in the three-dimensional scene models, the packet of fire field environment where obtaining the user
Include the 3-D view of heating power distributed intelligence.
In the optional realization method, laser radar module and thermal imaging module can be integrated on helmet, laser
Radar module real time laser scans scene of a fire scene, obtains the range information of each entity in fire field environment.It is sent out by laser radar
The signal penetrated, signal returns in laser radar module after encountering barrier, can be according to the time length and letter of return signal
Number power and its information such as corresponding azimuth and the elevation angle determine the distance, orientation, height of each object in the scene of the scene of a fire, very
To parameters such as shapes.Thermal imaging module detects the heat radiation of each body surface in the scene of the scene of a fire, generates coloured picture
Indicate the heating power distributed intelligence of each object in scene.Obtaining the radar information and thermal imaging that laser radar module detects
After the heating power distributed intelligence that module detects, the three-dimensional scene models of fire field environment are established according to radar information, it later again will be hot
The heating power distributed intelligence that image-forming module detects is added in three-dimensional scene models, builds the graphics with heating power distributed intelligence
Picture, with heating power distributed intelligence 3-D view in, each solid object surface is shown with representing the different colours of different temperatures, use
When family such as fireman checks fire field environment by permeability display unit, each entity table for seeing through permeability display unit
Face is superimposed with the different colours for representing different temperatures so that user it is apparent intuitively check it is each in the scene of the scene of a fire
A entity.Such as when intelligent helmet scans the square table to burn to one in the room, the model of square table will be established in threedimensional model,
Including desktop and table leg, according to thermal imaging module by the temperature display of desk hot spots on each surface of table model.Tool
Body, can be in the heating power distribution map that the coordinate in the three-dimensional scene models for establishing laser radar is generated with thermal imaging module
Coordinate be aligned so that heating power distribution map can accurately be matched to the different zones of three-dimensional scene models.
In an optional realization method of the present embodiment, vital signs detection module is additionally provided on the helmet
And/or imaging sensor；The step S101, that is, the user for obtaining the wearing helmet are presently in the environment letter of environment
The step of breath, further comprises following steps：
Life body characteristics in fire field environment where detecting the user by the vital signs detection module；And/or
Image information in fire field environment where detecting the user by described image sensor.
It, can be by being set on helmet in order to detect trapped person in fire field environment in the optional realization method
Vital signs detection module is set, Site Detection waits for rescue personnel in the scene of a fire.Vital signs detection module can be infrared heat detection
Module, can also be other detection human body physiological characteristics detection module, such as be used for detect human heartbeat, the detection of pulse is set
It is standby.If having trapped person in fire field environment where the first user, vital signs detection module can detect in environment
Vital signs.And then it can judge to wait for the location information etc. of rescue personnel according to the vital signs detected.Further, it is also possible to
Imaging sensor is set on helmet, further to obtain the image information in fire field environment, with laser radar module
The range information detected combines the 3-D view formed in fire field environment.
In an optional realization method of the present embodiment, the step S102 identifies institute according to the environmental information
The step of stating the classification of entity in fire field environment, further comprises following steps：
The shape contour of entity is identified according to the range information, and the reality is identified according to the shape contour of the entity
The classification of body；Alternatively,
The shape contour of entity is identified according to the range information that the laser radar module detects, and in conjunction with described
The classification of entity described in heating power distributed intelligence, described image information and/or the life entity feature recognition.
In the optional realization method, can based in the fire field environment that laser radar module detects each entity away from
From information, physical form profile is obtained by reconstructing physical model, the classification of the shape contour identification entity based on entity.
The entity that the temperature of solid object surface in heating power distributed intelligence, imaging sensor can also be combined to obtain on the basis of shape contour
Image and/or vital signs etc. identify the classification of entity.
Optionally, in view of the complexity of fire-fighting scene, single-sensor may be unable to get enough information and complete classification
Task.Such as illumination condition and smog interference may make imaging sensor that can not work, but laser radar remains able to obtain
Enough to range information.Therefore, the embodiment of the present disclosure is by being arranged multiple sensors such as laser radar module, thermal imaging mould
Block, vital signs detection module and/or imaging sensor etc., and the aggregation of data of these multiple sensors is got up to analyze
Identification, to improve the accuracy of entity class identification.For example, disaggregated model can be trained in advance, by the sensor data
It is input to the disaggregated model, obtains the Accurate classification of different entities in fire field environment.Such as disaggregated model can pass through laser thunder
The point cloud chart obtained up to module carries out contour fitting and completes the identification of a wall.Life detection module can detect vital sign
Signal simultaneously merges the position etc. for obtaining the life entity with the range information that laser radar module detects.
In an optional realization method of the present embodiment, the step S102 identifies institute according to the environmental information
The step of stating the classification of entity in fire field environment, further comprises following steps：
By one or more of the range information, heating power distributed intelligence, image information and life body characteristics as defeated
Enter, the classification of the entity is identified according to advance trained entity recognition model.
In the optional realization method, detected by the various information for obtaining multiple sensors, such as laser radar module
To range information, the image information that detects of the heating power distributed intelligence that detects of thermal imaging module, imaging sensor and life
One or more of the life body characteristics that life feature detection module detects are input to advance trained entity recognition model
In, the entity and classification in fire field environment are exported by entity recognition model.By the embodiment, can be calculated by machine learning
The entity recognition model that method obtains carries out Classification and Identification to environmental information, obtains the entity in fire field environment and entity class
Deng.
In an optional realization method of the present embodiment, the step S102, i.e., according to the classification of the entity to aobvious
Show the step of the entity on the permeability display unit of the helmet carries out default processing, further comprise with
Lower step：
If the entity belongs to the first pre-set categories, the permeability display unit of the helmet is penetrated in the entity
When being shown, reinforce the display intensity of the entity；And/or
If the entity belongs to the second pre-set categories, list is shown through the permeability of the helmet in the entity
When member is shown, the available light of the entity reflection is shielded；And/or
If the entity belongs to third pre-set categories, list is shown through the permeability of the helmet in the entity
When member is shown, the display content of the entity is changed.
In the optional realization method, it is determined that after the classification of entity, can be looked by permeability display unit in user
When seeing entity, different default processing carries out entity according to the difference of entity class so that the solid imaging that user observes
It is imaged with real entities different.
Default processing mode may include at least one of：
In the entity of the first pre-set categories in identifying fire field environment, the nature that is reflected by reinforcing such entity
Light so that when user checks such entity by permeability display unit, the image of such entity is more obvious clear in the visual field.
For example, the display brightness of rescue personnel or object can be waited for by enhancing so that user such as fireman is more prone to see.
In the entity of the second pre-set categories in identifying fire field environment, the nature that is reflected by shielding such entity
Light so that when user checks such entity by permeability display unit, can not perceive or only have very weak perception.Example
Such as, potential life entity is observed for the ease of user such as fireman, figure can be carried out to solid images such as flame, dense smoke, barriers
As removal or reduction.
In the entity of the third pre-set categories in identifying fire field environment, shown in permeability by changing such entity
Picture material on unit, such as it is superimposed a virtual image, label or color etc. in solid object surface so that user's such as fireman's energy
Enough further appreciate that other potential informations of such entity, such as degree of danger, classification.
In an optional realization method of the present embodiment, the step S102 identifies institute according to the environmental information
After the step of stating the classification of entity in fire field environment, further comprise following steps：
Determine the attention force information for the user for dressing the helmet；
The first instance of user's concern is determined according to the attention force information of the user and the environmental information；
Identify the classification of the first instance.
In above-mentioned optional realization method, the class for the first instance that user is paying close attention to is identified according to the attention force information of user
Not.Notice that force information is related to the entity that user is paying close attention to, some position of user focused in fire field environment
When, entity in this position may be the target that user is carrying out task, therefore can identify the scene of a fire in this way
Whether entity in environment is target class entity that user is carrying out task.
It is true according to the attention of the user and the environmental information in an optional realization method of the present embodiment
After the first instance that the fixed user is currently paid attention to, further include：
It determines and the relevant second instance of the first instance；
Identify the classification of the second instance.
In the optional realization method, when noticing that force information identifies the entity of user's concern by user, it can also identify
The relevant second instance of entity is paid close attention to user, for example, fireman observes for convenience, it can also be by identifying that fireman is closed
The non-interesting entity around entity is noted, and these entities are carried out with the pretreatment of shielding display, is eliminated dry in the fireman visual field
Disturb factor, such as smog, flame, blocked channel.
In an optional realization method of the present embodiment, the attention letter for the user for dressing the helmet is determined
Breath, including：
The attention of the user is determined according to the physiological characteristic of the eyeball characteristics of image of the user and the user
Information.
In the optional realization method, notice that force information can be by user eyeball characteristics of image, the physiological characteristic of user
Etc. information determine, such as pass through determination user's sight, eyeball angles, physiological characteristic；The physiological characteristic such as heartbeat including user
Speed, pulse velocity, brain electric information, sound characteristic etc. are used to characterize the feature of user's current psychology expectation and task focus.
For example, fireman pays close attention to one when rescue entity or when the burning things which may cause a fire disaster point put out in fire field environment, not only eyeball angles, sight
Etc. fixing physically, heart rates and pulse velocity etc. can may also be accelerated, this can be different from user and stare at certain entity
Stupefied or planless the case where checking a certain entity.
In an optional realization method of the present embodiment, the step S102 identifies institute according to the environmental information
After the step of stating the classification of entity in fire field environment, further include：
By analyzing the classification for paying attention to force information and the first instance of concern of the user, determine that the user is current
The task of execution.
In the optional realization method, carrying out analytic learning by the attention force information to user, (analytic learning therein can
To use the methods of image procossing, fuzzy diagnosis, big data analysis, machine learning), user when identifying user's entity of interest
Specific intended.Namely pass through the potential purpose of user after the concern Activity recognition behavior.Identifying that user is of interest
After entity information, in conjunction with the 3-D view of fire field environment, obtains user and pay close attention to specific location and temperature of the entity in scene
Then information etc. pays close attention to the relationship between entity according to all entity informations in 3-D view and user and carries out Classification and Identification；
For example, it may be trapped person that user, which pays close attention to entity, but may be directly affected with the relevant scene of trapped person, thermal information
Local scene Recognition is formed, and will identification because joint classification processing can be carried out to related entities to the rescue of the trapped person
As a result it is shown by permeability display unit.For example, the potential danger product on trapped person periphery come also by display enhancing
Remind processing of the fire fighter to dangerous material；The smog and temperature on trapped person periphery remind fire-fighting people also by display enhancing
Member as early as possible withdraws trapped person.Multiple study analysis accumulation can also be carried out by paying close attention to entity to user, prejudge the use
Specific tasks performed by family execute the physical relationship of mission bit stream and entity in scene according to user, to the entity in scene
Information is classified.Such as：In fire scenario, the automatic identification by paying close attention to user entity is analyzed, and by repeatedly right
The cumulative analysis of attention obtains the be important to notice that trapped person of user, therefore judges that the user executes in a fire and rescue
Task is helped, all entities in scene can also be divided in conjunction with trapped person's biological characteristic automatically according to the task of execution
Class and enhancing display, such as trapped person is enhanced and is shown；In another scene, letter may recognize that active user
Task be that search and puts out ignition point at ignition point, then display can be carried out to high-temperature region to be enhanced and then assists fire fighter fast
Speed finds ignition point.
The classification of entity described in an optional realization method of the present embodiment exists according to the entity and the user
The relationship that task is executed in the fire field environment divides.
In the optional realization method, the classification of entity can by user such as fireman in fire field environment performed task
Relationship divided, such as with the relevant entity of rescue task, with the incoherent entity of rescue task, with rescue task not phase
The entity of pass can also be divided into and the entity of rescue task indirect correlation and completely unrelated entity.Such as certain a kind of entity
It is fire-fighting disturbing factor, such as smog, flame, blocked channel etc.；Certain a kind of entity is fire-fighting and rescue target, such as
Personnel, animal etc.；Certain a kind of entity is latent dangerous factor etc., such as combustibles, hazardous chemical etc..
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Fig. 3 shows that the structure diagram of the fire field environment display device according to one embodiment of the disclosure, the device can lead to
Cross being implemented in combination with as some or all of of electronic equipment of software, hardware or both.As shown in figure 3, the scene of a fire ring
Border display device includes the first acquisition module 301, identification module 302 and processing module 303：
First acquisition module 301 is configured as obtaining the three-dimensional that the user for dressing the helmet is presently in environment
The parameter of entity in image and the 3-D view；
Identification module 302 is configured as identifying the classification of entity in the 3-D view according to the parameter；
Processing module 303 is configured as aobvious to the permeability for being shown in the helmet according to the classification of the entity
Show that the entity on unit carries out default processing；The default processing includes to being shown on the permeability display unit
The image of the entity carries out enhancing and shows, changes display and shield one or more in display.
In an optional realization method of the present embodiment, be provided on the helmet laser radar module and heat at
As module；Wherein, first acquisition module, including：
Setting up submodule, be configured as in fire field environment where detecting the user by the laser radar module away from
From information, and establish the three-dimensional scene models of user place fire field environment；
First acquisition submodule is configured as in fire field environment where detecting the user by the thermal imaging module
Heating power distributed intelligence, and the heating power distributed intelligence is added in the three-dimensional scene models, obtain fire where the user
The 3-D view for including heating power distributed intelligence of field environment.
In an optional realization method of the present embodiment, vital signs detection module is additionally provided on the helmet
And/or imaging sensor；Wherein, first acquisition module further includes：
First detection sub-module is configured as scene of a fire ring where detecting the user by the vital signs detection module
Life body characteristics in border；And/or
Second detection sub-module is configured as in fire field environment where detecting the user by described image sensor
Image information.
In an optional realization method of the present embodiment, first identification module, including：
First identification submodule is configured as identifying the shape contour of entity according to the range information, and according to described
The shape contour of entity identifies the classification of the entity；Alternatively,
Second identification submodule is configured as being identified according to the range information that the laser radar module detects real
The shape contour of body, and it is real in conjunction with described in the heating power distributed intelligence, described image information and/or the life entity feature recognition
The classification of body.
In an optional realization method of the present embodiment, first identification module, including：
Third identifies submodule, is configured as the range information, heating power distributed intelligence, image information and life entity is special
One or more of sign identifies the classification of the entity according to advance trained entity recognition model as input.
In an optional realization method of the present embodiment, the processing module, including：
First display sub-module, if being configured as the entity belongs to the first pre-set categories, described in entity transmission
When the permeability display unit of helmet is shown, reinforce the display intensity of the entity；And/or
Second display sub-module penetrates institute if be configured as the entity and belong to the second pre-set categories in the entity
When stating the permeability display unit of helmet and being shown, the available light of the entity reflection is shielded；And/or
Third display sub-module penetrates institute if be configured as the entity and belong to third pre-set categories in the entity
When stating the permeability display unit of helmet and being shown, the display content of the entity is changed.
In an optional realization method of the present embodiment, the identification module further includes：
First determination sub-module is configured to determine that the attention force information for the user for dressing the helmet；
Second determination sub-module is configured as determining institute according to the attention force information and the environmental information of the user
State the first instance of user's concern；
4th identification submodule, is configured as identifying the classification of the first instance.
In an optional realization method of the present embodiment, after second determination sub-module, further include：
Third determination sub-module is configured to determine that and the relevant second instance of the first instance；
5th identification submodule, is configured as identifying the classification of the second instance.
In an optional realization method of the present embodiment, first determination sub-module, including：
Third determination sub-module is configured as special according to the eyeball characteristics of image of the user and the physiology of the user
Sign determines the attention force information of the user.
In an optional realization method of the present embodiment, after the identification module, further include：
Determining module is configured as the class for paying attention to force information and the first instance of concern by analyzing the user
Not, the currently performed task of the user is determined.
In an optional realization method of the present embodiment, the classification of the entity exists according to the entity and the user
The relationship that task is executed in the fire field environment divides.
The fire field environment display methods pair that above-mentioned fire field environment display device is described with embodiment illustrated in fig. 1 and relevant portion
Should be consistent, detail can be found in the description of embodiment illustrated in fig. 1 and the fire field environment display methods of relevant portion description, herein
It repeats no more.
Fig. 4 is adapted for the structure of the helmet for realizing the fire field environment display methods according to disclosure embodiment
Schematic diagram.
As shown in figure 4, helmet 400 includes central processing unit (CPU) 401, it can be according to being stored in read-only deposit
Program in reservoir (ROM) 402 is held from the program that storage section 408 is loaded into random access storage device (RAM) 403
Various processing in the above-mentioned embodiment shown in FIG. 1 of row.In RAM403, be also stored with helmet 400 operate it is required
Various programs and data.CPU401, ROM402 and RAM403 are connected with each other by bus 404.Input/output (I/O) interface
405 are also connected to bus 404.
It is connected to I/O interfaces 405 with lower component：Importation 406 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 407 of spool (CRT), liquid crystal display (LCD), permeability display unit etc. and loud speaker etc.；Including hard disk
Deng storage section 408；And the communications portion 409 of the network interface card including LAN card, modem etc..Communication
Part 409 executes communication process via the network of such as internet.Driver 410 is also according to needing to be connected to I/O interfaces 405.
Detachable media 411, such as disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on driver 410 as needed
On, in order to be mounted into storage section 408 as needed from the computer program read thereon.
Particularly, according to embodiment of the present disclosure, it is soft to may be implemented as computer above with reference to Fig. 1 methods described
Part program.For example, embodiment of the present disclosure includes a kind of computer program product comprising be tangibly embodied in and its readable
Computer program on medium, the computer program include the program code of the fire field environment display methods for executing Fig. 1.
In such an embodiment, which can be downloaded and installed by communications portion 409 from network, and/or
It is mounted from detachable media 411.
Flow chart in attached drawing and block diagram, it is illustrated that according to the system, method and computer of the various embodiments of the disclosure
The architecture, function and operation in the cards of program product.In this regard, each box in course diagram or block diagram can be with
A part for a module, section or code is represented, a part for the module, section or code includes one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit or module involved in disclosure embodiment can be realized by way of software, also may be used
It is realized in a manner of by hardware.Described unit or module can also be arranged in the processor, these units or module
Title do not constitute the restriction to the unit or module itself under certain conditions.
As on the other hand, the disclosure additionally provides a kind of computer readable storage medium, the computer-readable storage medium
Matter can be computer readable storage medium included in device described in the above embodiment；Can also be individualism,
Without the computer readable storage medium in supplying equipment.There are one computer-readable recording medium storages or more than one journey
Sequence, described program is used for executing by one or more than one processor is described in disclosed method.
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed in the disclosure
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (24)
1. a kind of fire field environment display methods, which is characterized in that the method is run on helmet, including：
The environmental information of fire field environment where obtaining the user for dressing the helmet；
The classification of entity in the fire field environment is identified according to the environmental information；
The entity being shown on the permeability display unit of the helmet is carried out according to the classification of the entity pre-
If processing；The default processing includes that carry out enhancing aobvious for the image of the entity to being shown on the permeability display unit
Show, change at least one of display and shielding display.
2. display methods according to claim 1, which is characterized in that be provided with laser radar module on the helmet
With thermal imaging module；Wherein, the environmental information of fire field environment where obtaining the user for dressing the helmet, including：
Range information in fire field environment where detecting the user by the laser radar module, and establish the user institute
In the three-dimensional scene models of fire field environment；
Heating power distributed intelligence in fire field environment where detecting the user by the thermal imaging module, and the heating power is divided
In cloth information superposition to the three-dimensional scene models, include heating power distributed intelligence three of fire field environment where obtaining the user
Tie up image.
3. display methods according to claim 2, which is characterized in that be additionally provided with vital signs inspection on the helmet
Survey module and/or imaging sensor；Wherein, the user for obtaining the wearing helmet is presently in the environmental information of environment,
Further include：
Life body characteristics in fire field environment where detecting the user by the vital signs detection module；And/or
Image information in fire field environment where detecting the user by described image sensor.
4. display methods according to claim 2 or 3, which is characterized in that identify the scene of a fire according to the environmental information
The classification of entity in environment, including：
The shape contour of entity is identified according to the range information, and the entity is identified according to the shape contour of the entity
Classification；Alternatively,
According to state range information identify entity shape contour, and in conjunction with the heating power distributed intelligence, described image information and/or
The classification of entity described in the life entity feature recognition.
5. according to the display methods described in any one of claim 3-4, which is characterized in that identify institute according to the environmental information
The classification of entity in fire field environment is stated, including：
By one or more of the range information, heating power distributed intelligence, image information and life body characteristics as input, root
The classification of the entity is identified according to advance trained entity recognition model.
6. display methods according to claim 1, which is characterized in that according to the classification of the entity to being shown in the head
It wears the entity on the permeability display unit of equipment and carries out default processing, including：
If the entity belongs to the first pre-set categories, carried out through the permeability display unit of the helmet in the entity
When display, reinforce the display intensity of the entity；And/or
If the entity belongs to the second pre-set categories, the entity through the helmet permeability display unit into
When row display, the available light of the entity reflection is shielded；And/or
If the entity belongs to third pre-set categories, the entity through the helmet permeability display unit into
When row display, the display content of the entity is changed.
7. display methods according to claim 1, which is characterized in that identify the fire field environment according to the environmental information
The classification of middle entity further includes：
Determine the attention force information for the user for dressing the helmet；
The first instance of user's concern is determined according to the attention force information of the user and the environmental information；
Identify the classification of the first instance.
8. display methods according to claim 7, which is characterized in that according to the attention force information of the user and described
After environmental information determines the first instance of user's concern, further include：
It determines and the relevant second instance of the first instance；
Identify the classification of the second instance.
9. display methods according to claim 7, which is characterized in that determine the attention for the user for dressing the helmet
Force information, including：
The attention force information of the user is determined according to the physiological characteristic of the eyeball characteristics of image of the user and the user.
10. display methods according to claim 7, which is characterized in that identify the scene of a fire ring according to the environmental information
In border after the classification of entity, further include：
By analyzing the classification for paying attention to force information and the first instance of concern of the user, determine that the user currently executes
Task.
11. display methods according to claim 1, which is characterized in that the classification of the entity is according to the entity and institute
State the relationship division that user executes task in the fire field environment.
12. a kind of fire field environment display device, which is characterized in that described device is run on helmet, including：
First acquisition module, be configured as obtaining the user for dressing the helmet be presently in environment 3-D view and
The parameter of entity in the 3-D view；
Identification module is configured as identifying the classification of entity in the 3-D view according to the parameter；
Processing module is configured as the classification according to the entity to being shown on the permeability display unit of the helmet
The entity carry out default processing；The default processing includes the entity to being shown on the permeability display unit
Image carry out enhancing show, change display and shielding display in it is one or more.
13. display device according to claim 12, which is characterized in that be provided with laser radar mould on the helmet
Block and thermal imaging module；Wherein, first acquisition module, including：
Setting up submodule, the distance letter being configured as in fire field environment where detecting the user by the laser radar module
Breath, and establish the three-dimensional scene models of user place fire field environment；
First acquisition submodule, the heating power being configured as in fire field environment where detecting the user by the thermal imaging module
Distributed intelligence, and the heating power distributed intelligence is added in the three-dimensional scene models, scene of a fire ring where obtaining the user
The 3-D view for including heating power distributed intelligence in border.
14. display device according to claim 13, which is characterized in that be additionally provided with vital signs on the helmet
Detection module and/or imaging sensor；Wherein, first acquisition module further includes：
First detection sub-module is configured as in fire field environment where detecting the user by the vital signs detection module
Life body characteristics；And/or
Second detection sub-module, the image being configured as in fire field environment where detecting the user by described image sensor
Information.
15. the display device according to claim 13 or 14, which is characterized in that first identification module, including：
First identification submodule is configured as identifying the shape contour of entity according to the range information, and according to the entity
Shape contour identify the classification of the entity；Alternatively,
Second identification submodule is configured as identifying the shape contour of entity according to the range information, and in conjunction with the heating power
The classification of entity described in distributed intelligence, described image information and/or the life entity feature recognition.
16. the display device according to claims 14 or 15, which is characterized in that first identification module, including：
Third identifies submodule, and being configured as will be in the range information, heating power distributed intelligence, image information and life body characteristics
It is one or more as input, the classification of the entity is identified according to advance trained entity recognition model.
17. display device according to claim 12, which is characterized in that the processing module, including：
First display sub-module is worn if being configured as the entity belongs to the first pre-set categories described in entity transmission
When the permeability display unit of equipment is shown, reinforce the display intensity of the entity；And/or
Second display sub-module penetrates the head if be configured as the entity and belong to the second pre-set categories in the entity
When wearing the permeability display unit of equipment and being shown, the available light of the entity reflection is shielded；And/or
Third display sub-module penetrates the head if be configured as the entity and belong to third pre-set categories in the entity
When wearing the permeability display unit of equipment and being shown, the display content of the entity is changed.
18. display device according to claim 12, which is characterized in that the identification module further includes：
First determination sub-module is configured to determine that the attention force information for the user for dressing the helmet；
Second determination sub-module is configured as determining the use according to the attention force information and the environmental information of the user
The first instance of family concern；
4th identification submodule, is configured as identifying the classification of the first instance.
19. display device according to claim 18, which is characterized in that after second determination sub-module, further include：
Third determination sub-module is configured to determine that and the relevant second instance of the first instance；
5th identification submodule, is configured as identifying the classification of the second instance.
20. display device according to claim 18, which is characterized in that first determination sub-module, including：
Third determination sub-module is configured as true according to the eyeball characteristics of image of the user and the physiological characteristic of the user
The attention force information of the fixed user.
21. display device according to claim 18, which is characterized in that after the identification module, further include：
Determining module is configured as the classification for paying attention to force information and the first instance of concern by analyzing the user, really
The fixed currently performed task of user.
22. display device according to claim 12, which is characterized in that the classification of the entity is according to the entity and institute
State the relationship division that user executes task in the fire field environment.
23. a kind of helmet, which is characterized in that including permeability display unit, memory and processor；Wherein,
The memory is for storing one or more computer instruction, wherein one or more computer instruction is by institute
Processor is stated to execute to realize claim 1-11 any one of them method and steps.
24. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction quilt
Claim 1-11 any one of them method and steps are realized when processor executes.
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| CN201810050656.2A CN108279419A (en) | 2018-01-18 | 2018-01-18 | Fire field environment display methods, device, helmet and readable storage medium storing program for executing |
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| CN201810050656.2A CN108279419A (en) | 2018-01-18 | 2018-01-18 | Fire field environment display methods, device, helmet and readable storage medium storing program for executing |
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