CN110371174A - Multi-purpose wheelbarrow control system - Google Patents
Multi-purpose wheelbarrow control system Download PDFInfo
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- CN110371174A CN110371174A CN201910271283.6A CN201910271283A CN110371174A CN 110371174 A CN110371174 A CN 110371174A CN 201910271283 A CN201910271283 A CN 201910271283A CN 110371174 A CN110371174 A CN 110371174A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
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Abstract
The present invention relates to a kind of multi-purpose wheelbarrow control systems, it include: adult detection device, for executing human target's search to equalization processing image based on standard adult's shape, when searching human target, issue the first control command, it is also used to when not searching human target, issues the second control command；Railing driving equipment, when receiving the first control command, the railing of child stroller surrounding is put down to release protection movement for when receiving the second control command, the railing of child stroller surrounding to be holded up to realize that protection is acted.Multi-purpose wheelbarrow Control System Design of the invention is compact, securely and reliably.Due to being made whether the detection there are human target to child stroller surrounding environment, realize that protection acts automatically to hold up the railing of child stroller surrounding when not there is no human target, to improve the automatization level of child stroller.
Description
Technical field
The present invention relates to automation control area more particularly to a kind of multi-purpose wheelbarrow control systems.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family
Front yard etc..It not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology
Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge
The ability in the world and reforming world.
Automation be the research and development for specializing in intelligent automatic control, digitlization, Networked controller and sensor, production,
The high-tech company of sale, numerous functional modules, perfect embedded solution can farthest meet numerous
The individual demand of user.Large sized complete sets of equipment in automated system, also known as automation equipment.Refer to machine or device in nothing
The process that people is operated or controlled automatically by regulated procedure or instruction in the case where intervening.Therefore, automation is industry, agriculture
Industry, national defence and the essential condition of the modernization of science technology and distinctive marks.
Summary of the invention
The present invention at least has the important inventive point in following a few places:
(1) detection there are human target is made whether to child stroller surrounding environment, with when not there is no human target,
Automatically the railing of child stroller surrounding is holded up to realize that protection acts, to improve the automatization level of child stroller；
(2) it on the basis of color range adjustment is handled, is ranked up based on each gray value to pixel each in image
The maximum serial number of sequencing queue obtained determines the respective redundant degree of image；
(3) customized sharpening equipment is introduced, selects different sharpening mechanism to hold image for the redundancy based on image
The adaptive Edge contrast of row, to save image operation resource while the effect that ensure that image sharpening.
According to an aspect of the present invention, a kind of multi-purpose wheelbarrow control system is provided, the system comprises: adult's detection
Equipment is connect with histogram equalization equipment, for executing human target to equalization processing image based on standard adult's shape
Search, to issue the first control command when searching human target；Adult's detection device is also used to do not searching into
When people's target, the second control command is issued；Railing driving equipment is connect with adult detection device, for receiving the second control
When system order, the railing of child stroller surrounding is holded up to realize that protection acts；The railing driving equipment is also used to receiving
When to the first control command, the railing of child stroller surrounding is put down to release protection movement；Data capture device is arranged in children
On youngster's cart, for carrying out image data capture towards child stroller surrounding scene, to obtain and export corresponding cart four
All images；Parameter adjustment device is connect with the data capture device, for receiving the cart circumferential images, is pushed away to described
Vehicle circumferential images execute color range adjustment, to obtain and export scene adjustment image；Customized sharpening equipment, respectively with the parameter
Adjustment equipment is connected with redundancy identification equipment, for opening when the redundancy of the scene adjustment image received transfinites
The dynamic image sharpening based on Prewitt operator to the scene adjustment image received is handled, corresponding customized sharp to obtain
Change image.
Multi-purpose wheelbarrow Control System Design of the invention is compact, securely and reliably.Due to child stroller surrounding environment into
Row whether there is the detection of human target, with when not there is no human target, automatically by the railing of child stroller surrounding hold up with
Protection movement is realized, to improve the automatization level of child stroller.
Detailed description of the invention
Embodiment of the present invention is described below with reference to attached drawing, in which:
Fig. 1 is the structure of the child stroller according to applied by the multi-purpose wheelbarrow control system shown in embodiment of the present invention
Schematic diagram.
Specific embodiment
The embodiment of multi-purpose wheelbarrow control system of the invention is described in detail below with reference to accompanying drawings.
Child stroller is child's " vehicles ", and someone is needed to assist to push or haul the car that can just walk.Child
Cart is generally made of sunshade, seat cushion, sleeping basket and anti-haze cover, and service life is generally 3 to five years.To consider when choosing
The function at age and now child stroller to baby, which has been upgraded to, can sleep, have a meal, playing and play.
Child stroller is the favorite stroll vehicles of baby, requirement when even more mother goes shopping with baby.
However according to the growth of baby, usage, child stroller is segmented into many types again, such as: twins' child stroller, Gao Jing
See perambulator, sunshade child stroller, pocket vehicle etc..It is mainly standard according to loading capacity, general test standard is nine to ten
Five kilograms.General child stroller about can be used 3 to five years.
In the prior art, child stroller is widely used, and is taken commonly used in 1 to 3 years old children, under normal circumstances, child
There is adult to accompany and attend to around cart, however, if adult apart from child stroller farther out, such as with other people chat or purchase commodity
When, the child in child stroller is easy to fall from vehicle in the case where no one nurses.
In order to overcome above-mentioned deficiency, the present invention has built a kind of multi-purpose wheelbarrow control system, can effectively solve the problem that corresponding
The technical issues of.
Fig. 1 is the structure of the child stroller according to applied by the multi-purpose wheelbarrow control system shown in embodiment of the present invention
Schematic diagram.
The multi-purpose wheelbarrow control system shown according to an embodiment of the present invention includes:
Adult detection device is connect with histogram equalization equipment, for being based on standard adult's shape to equalization processing
Image executes human target's search, to issue the first control command when searching human target；
Adult's detection device is also used to when not searching human target, issues the second control command；
Railing driving equipment is connect with adult detection device, for when receiving the second control command, by child stroller
The railing of surrounding is holded up to realize that protection acts；
The railing driving equipment is also used to when receiving the first control command, and the railing of child stroller surrounding is put down
To release protection movement；
Data capture device is arranged on child stroller, for carrying out image data towards child stroller surrounding scene
Capture, to obtain and export corresponding cart circumferential images；
Parameter adjustment device is connect with the data capture device, for receiving the cart circumferential images, is pushed away to described
Vehicle circumferential images execute color range adjustment, to obtain and export scene adjustment image；
Customized sharpening equipment connect with the parameter adjustment device and redundancy identification equipment respectively, is used for
When the redundancy of the scene adjustment image received transfinites, start calculating based on Prewitt to the scene adjustment image received
The image sharpening processing of son, to obtain corresponding customized sharpening image；
The customized equipment that sharpens is also used to the starting pair when the redundancy of the scene adjustment image received does not transfinite
The image sharpening processing that vertical direction sharpens after the first horizontal direction of the scene adjustment image received sharpens, it is corresponding to obtain
Customized sharpening image；
Histogram equalization equipment is connect, for the customized sharpening figure received with the customized sharpening equipment
As executing histogram equalization processing, to obtain and export corresponding equalization processing image；
Channel value sequencing equipment is connect with the parameter adjustment device, for receiving the scene adjustment image, to described
Each gray value of each pixel is ranked up in scene adjustment image, to obtain the maximum serial number of sequencing queue；
Redundancy identifies equipment, connect with the channel value sequencing equipment, for receiving the maximum serial number, determining and institute
State the redundancy for the scene adjustment image that maximum serial number is inversely proportional；
Wherein, in the channel value sequencing equipment, to each gray scale of each pixel in the scene adjustment image
It includes: that the pixel of same grayscale value occupies the serial number of the same queue that value, which is ranked up,；
Wherein, the customized equipment that sharpens is used for when the redundancy of the scene adjustment image received does not transfinite, in
The disconnected image sharpening based on Prewitt operator to the scene adjustment image received is handled；
Wherein, the customized equipment that sharpens is used to interrupt when the redundancy of the scene adjustment image received transfinites
The image sharpening processing that vertical direction sharpens after sharpening to the first horizontal direction of the scene adjustment image received.
Then, continue that the specific structure of multi-purpose wheelbarrow control system of the invention is further detailed.
In the multi-purpose wheelbarrow control system:
The customized sharpening equipment is one of programmable logic device or Field Programmable Gate Array Devices；
Wherein, the channel value sequencing equipment identifies that equipment is connect with the redundancy by serial communication interface.
Can also include: in the multi-purpose wheelbarrow control system
Distort processing equipment, connect with the data capture device, for receiving the cart circumferential images, based on described
The signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio grade of cart circumferential images it is far and near by the cart circumferential images average mark
It is cut into each piecemeal of corresponding block size, to each piecemeal, the corresponding different power of pixel value variance selection based on the piecemeal
The distortion processing processing of degree is merged each adjustment piecemeal of acquisition with obtaining adjustment piecemeal to obtain adjustment and merge image；?
In the distortion processing equipment, the signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio remoter grade of the cart circumferential images, will
The relevant block that the cart circumferential images are averagely divided into is bigger, and in the distortion processing equipment, to each piecemeal,
The pixel value variance of the piecemeal is bigger, and the dynamics of the distortion processing of selection is smaller.
In the multi-purpose wheelbarrow control system:
The distortion processing equipment is also connect with the parameter adjustment device, replaces institute for the adjustment to be merged image
It states cart circumferential images and is sent to the parameter adjustment device.
Can also include: in the multi-purpose wheelbarrow control system
Signal-to-noise ratio lifting means is used in the distortion processing equipment for connecting with the distortion processing equipment to institute
Before stating the execution distortion processing of cart circumferential images, when the signal-to-noise ratio grade of the cart circumferential images is less than the pre-determined lower limit
When signal-to-noise ratio grade, signal-to-noise ratio is executed to the cart circumferential images and promotes operation, by pushing away after execution signal-to-noise ratio promotion operation
Vehicle circumferential images replacement cart circumferential images are input to the distortion processing equipment, when the signal-to-noise ratio etc. of the cart circumferential images
When grade is more than or equal to the pre-determined lower limit signal-to-noise ratio grade, signal-to-noise ratio is not executed to the cart circumferential images and promotes operation；
SGRAM stores equipment, connect with the distortion processing equipment, for described pre-determined lower limit signal-to-noise ratio etc. to be stored in advance
Grade.
The multi-purpose wheelbarrow control method shown according to an embodiment of the present invention includes:
It using adult detection device, is connect with histogram equalization equipment, for being based on standard adult's shape to equalization
It handles image and executes human target's search, to issue the first control command when searching human target；
Adult's detection device is also used to when not searching human target, issues the second control command；
It using railing driving equipment, is connect with adult detection device, for when receiving the second control command, by child
The railing of cart surrounding is holded up to realize that protection acts；
The railing driving equipment is also used to when receiving the first control command, and the railing of child stroller surrounding is put down
To release protection movement；
Using data capture device, it is arranged on child stroller, for carrying out image towards child stroller surrounding scene
Data capture, to obtain and export corresponding cart circumferential images；
It using parameter adjustment device, is connect with the data capture device, for receiving the cart circumferential images, to institute
It states cart circumferential images and executes color range adjustment, to obtain and export scene adjustment image；
Using customized sharpening equipment, it connect, uses with the parameter adjustment device and redundancy identification equipment respectively
In receive scene adjustment image redundancy transfinite when, start to receive scene adjustment image based on
The image sharpening of Prewitt operator is handled, to obtain corresponding customized sharpening image；
The customized equipment that sharpens is also used to the starting pair when the redundancy of the scene adjustment image received does not transfinite
The image sharpening processing that vertical direction sharpens after the first horizontal direction of the scene adjustment image received sharpens, it is corresponding to obtain
Customized sharpening image；
Using histogram equalization equipment, it is connect with the customized sharpening equipment, for customized sharp to what is received
Change image and execute histogram equalization processing, to obtain and export corresponding equalization processing image；
Using channel value sequencing equipment, it is connect with the parameter adjustment device, it is right for receiving the scene adjustment image
Each gray value of each pixel is ranked up in the scene adjustment image, to obtain the maximum serial number of sequencing queue；
Equipment is identified using redundancy, is connect with the channel value sequencing equipment, for receiving the maximum serial number, is determined
The redundancy for the scene adjustment image being inversely proportional with the maximum serial number；
Wherein, in the channel value sequencing equipment, to each gray scale of each pixel in the scene adjustment image
It includes: that the pixel of same grayscale value occupies the serial number of the same queue that value, which is ranked up,；
Wherein, the customized equipment that sharpens is used for when the redundancy of the scene adjustment image received does not transfinite, in
The disconnected image sharpening based on Prewitt operator to the scene adjustment image received is handled；
Wherein, the customized equipment that sharpens is used to interrupt when the redundancy of the scene adjustment image received transfinites
The image sharpening processing that vertical direction sharpens after sharpening to the first horizontal direction of the scene adjustment image received.
Then, continue that the specific steps of multi-purpose wheelbarrow control method of the invention are further detailed.
In the multi-purpose wheelbarrow control method:
The customized sharpening equipment is one of programmable logic device or Field Programmable Gate Array Devices；
Wherein, the channel value sequencing equipment identifies that equipment is connect with the redundancy by serial communication interface.
The multi-purpose wheelbarrow control method can also include:
Using distortion processing equipment, it connect with the data capture device, for receiving the cart circumferential images, is based on
The distance of the signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio grade of the cart circumferential images puts down the cart circumferential images
It is divided into each piecemeal of corresponding block size, to each piecemeal, the pixel value variance selection based on the piecemeal is corresponding not
Distortion processing processing with dynamics is merged each adjustment piecemeal of acquisition with obtaining adjustment piecemeal to obtain adjustment merging figure
Picture；In the distortion processing equipment, the signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio grade of the cart circumferential images is got over
Far, the relevant block cart circumferential images being averagely divided into is bigger, and in the distortion processing equipment, to each
The pixel value variance of piecemeal, the piecemeal is bigger, and the dynamics of the distortion processing of selection is smaller.
In the multi-purpose wheelbarrow control method:
The distortion processing equipment is also connect with the parameter adjustment device, replaces institute for the adjustment to be merged image
It states cart circumferential images and is sent to the parameter adjustment device.
The multi-purpose wheelbarrow control method can also include:
Using signal-to-noise ratio lifting means, for being connect with the distortion processing equipment, in the distortion processing equipment
Before executing distortion processing to the cart circumferential images, when the signal-to-noise ratio grade of the cart circumferential images is less than described preset
When lower SNR grade, signal-to-noise ratio is executed to the cart circumferential images and promotes operation, after signal-to-noise ratio promotion operation will be executed
Cart circumferential images replacement cart circumferential images be input to the distortion processing equipment, when the noise of the cart circumferential images
When being more than or equal to the pre-determined lower limit signal-to-noise ratio grade than grade, signal-to-noise ratio is not executed to the cart circumferential images and promotes behaviour
Make；
Equipment is stored using SGRAM, is connect with the distortion processing equipment, for the pre-determined lower limit noise to be stored in advance
Compare grade.
In addition, SGRAM is the abbreviation of Synchronous Graphics DRAM, mean that synchronous figure RAM is that kind aims at
The video memory of video card design, is a kind of stronger video memory of figure literacy, is improved by SDRAM.It improves over inefficient
The lower disadvantage of energy video memory transmission rate, to show that the raising of card performance creates condition.SGRAM is not to read one by one when reading and writing data
It takes, but is that unit improves the effect of graphics controller to reduce the number that memory is integrally read and write with " block " (Block)
Rate.But its design and manufacture cost is higher, is more to be applied to video card more high-end at that time.Current such video memory is also substantially
It is not used by manufacturer, replaced DDR video memory.SDRAM, i.e. Synchronous DRAM (synchronous DRAM), once
A kind of type of memory most widely used on PC computer, even if today SDRAM still also market occupy a seat it
Ground.Since being " synchronous DRAM ", that operating rate that just represent it is and system bus speed sync.
Sdram memory is divided into the different sizes such as PC66, PC100, PC133 again, and the subsequent number of specification just represents memory maximum
Institute's energy malfunctioning systems bus speed, such as PC100, that just illustrates that this memory can be in the computer that system bus is 100MHz
Middle synchronous working.It is that is, synchronous with system clock with system bus speed sync, unnecessary waiting week is avoided in this way
Phase reduces time data memory.Synchronization also makes storage control know used in which clock pulses phase by request of data, because
This data can just start to transmit in the pulse rising stage.SDRAM uses 3.3 volts of operating voltages, the DIMM interface of 168Pin, and bandwidth is
64.SDRAM is not only applied on memory, also relatively conventional on video memory.SDRAM can work asynchronously with CPU, N-free diet method week
Phase reduces data transfer delay.
It is last it is noted that each function device in each embodiment of the present invention can integrate and set in a processing
In standby, it is also possible to each equipment and physically exists alone, it can also be with two or more integration of equipments within one device.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function equipment
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. a kind of multi-purpose wheelbarrow control system, which is characterized in that the system comprises:
Adult detection device is connect with histogram equalization equipment, for being based on standard adult's shape to equalization processing image
Human target's search is executed, to issue the first control command when searching human target；
Adult's detection device is also used to when not searching human target, issues the second control command；
Railing driving equipment is connect with adult detection device, for when receiving the second control command, by child stroller surrounding
Railing hold up with realize protection act；
The railing driving equipment is also used to when receiving the first control command, and the railing of child stroller surrounding is put down to solve
Except protection acts；
Data capture device is arranged on child stroller, for carrying out image data capture towards child stroller surrounding scene,
To obtain and export corresponding cart circumferential images；
Parameter adjustment device is connect with the data capture device, for receiving the cart circumferential images, to the cart four
All images execute color range adjustment, to obtain and export scene adjustment image；
Customized sharpening equipment is connect, for receiving respectively with the parameter adjustment device and redundancy identification equipment
To the redundancy of scene adjustment image transfinite when, start to the scene adjustment image received based on Prewitt operator
Image sharpening processing, to obtain corresponding customized sharpening image；
The customized equipment that sharpens is also used to start when the redundancy of the scene adjustment image received does not transfinite to reception
The image sharpening processing that vertical direction sharpens after the first horizontal direction of the scene adjustment image arrived sharpens, is made by oneself accordingly with obtaining
Adopted sharpening image；
Histogram equalization equipment is connect, for holding to the customized sharpening image received with the customized sharpening equipment
Column hisgram equalization processing, to obtain and export corresponding equalization processing image；
Channel value sequencing equipment is connect with the parameter adjustment device, for receiving the scene adjustment image, to the scene
Each gray value of each pixel is ranked up in adjustment image, to obtain the maximum serial number of sequencing queue；
Redundancy identifies equipment, connect with the channel value sequencing equipment, for receiving the maximum serial number, it is determining and it is described most
The redundancy for the scene adjustment image that big serial number is inversely proportional；
Wherein, in the channel value sequencing equipment, to it is described scene adjustment image in each pixel each gray value into
Row sequence includes: that the pixel of same grayscale value occupies the serial number of the same queue；
Wherein, the customized equipment that sharpens is used for the interruption pair when the redundancy of the scene adjustment image received does not transfinite
The image sharpening processing based on Prewitt operator of the scene adjustment image received；
Wherein, the customized equipment that sharpens is used to interrupt docking when the redundancy of the scene adjustment image received transfinites
The image sharpening processing that vertical direction sharpens after the first horizontal direction of the scene adjustment image received sharpens.
2. multi-purpose wheelbarrow control system as described in claim 1, it is characterised in that:
The customized sharpening equipment is one of programmable logic device or Field Programmable Gate Array Devices；
Wherein, the channel value sequencing equipment identifies that equipment is connect with the redundancy by serial communication interface.
3. multi-purpose wheelbarrow control system as claimed in claim 2, which is characterized in that the system also includes:
Distort processing equipment, connect with the data capture device, for receiving the cart circumferential images, is based on the cart
The cart circumferential images are averagely divided by the distance of the signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio grade of circumferential images
Each piecemeal of corresponding block size, to each piecemeal, the pixel value variance based on the piecemeal selects corresponding different dynamics
Distortion processing processing is merged each adjustment piecemeal of acquisition with obtaining adjustment piecemeal to obtain adjustment and merge image；Described
In the processing equipment that distorts, the signal-to-noise ratio Rank distance pre-determined lower limit signal-to-noise ratio remoter grade of the cart circumferential images, will be described
The relevant block that cart circumferential images are averagely divided into is bigger, and in the distortion processing equipment, to each piecemeal, this point
The pixel value variance of block is bigger, and the dynamics of the distortion processing of selection is smaller.
4. multi-purpose wheelbarrow control system as claimed in claim 3, it is characterised in that:
The distortion processing equipment is also connect with the parameter adjustment device, is pushed away described in image replacement for merging the adjustment
Vehicle circumferential images are sent to the parameter adjustment device.
5. multi-purpose wheelbarrow control system as claimed in claim 4, which is characterized in that the system also includes:
Signal-to-noise ratio lifting means, for being connect with the distortion processing equipment, for being pushed away in the distortion processing equipment to described
Before vehicle circumferential images execute distortion processing, when the signal-to-noise ratio grade of the cart circumferential images is less than the pre-determined lower limit noise
When than grade, signal-to-noise ratio is executed to the cart circumferential images and promotes operation, the cart four after signal-to-noise ratio promotes operation will be executed
All image replacement cart circumferential images are input to the distortion processing equipment, when the signal-to-noise ratio grade of the cart circumferential images is big
When being equal to the pre-determined lower limit signal-to-noise ratio grade, signal-to-noise ratio is not executed to the cart circumferential images and promotes operation；
SGRAM stores equipment, connect with the distortion processing equipment, for the pre-determined lower limit signal-to-noise ratio grade to be stored in advance.
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| CN201910271283.6A CN110371174A (en) | 2019-04-04 | 2019-04-04 | Multi-purpose wheelbarrow control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111798658A (en) * | 2019-11-08 | 2020-10-20 | 方勤 | Traffic lane passing efficiency detection platform |
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