CN111487633A - Laser safety control device and method - Google Patents
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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Abstract
The invention discloses a laser safety control device, which comprises a depth camera, a distance sensor and a processor, wherein the depth camera is used for acquiring a depth image of a target object; the depth camera comprises a laser light source and a color camera module, and the color camera module is used for acquiring a color image of a target; the distance sensor is used for detecting the far and near states of the target; the processor is used for controlling the depth camera and the distance sensor, detecting whether a face exists in the color image and judging the distance between the face and the depth camera, wherein when no face exists in the color image or the face exists in the color image and the face is close, the distance sensor is controlled to detect the distance state of a target, and if the state of the target is close, the laser light source is controlled. The invention adopts the color camera module to collect the color image, judges the distance of the target by combining the color image and the distance sensor, avoids the situation that the distance sensor is interfered by strong reflecting materials to misjudge the distance state of the target, improves the accuracy of the distance judgment of the target and ensures the laser safety.
Description
Technical Field
The invention relates to the technical field of optics and electronics, in particular to a laser safety control device and a laser safety control method.
Background
Along with the continuous development and the progress of 3D structure light and face identification technique, more and more 3D structure light cameras are applied to the payment equipment of brushing the face, and 3D structure light face identification not only the accuracy is high to application scene wide range, it can realize complexion detection, three-dimensional detection, has high face identification security.
The 3D structured light scheme generally includes an infrared laser transmitter and a receiver, where the infrared laser transmitter transmits a near-infrared light specific pattern (e.g., laser speckle) to strike on an object, the near-infrared light specific pattern is reflected by the object, and the deformed patterned beam is received by the receiver (e.g., an infrared image sensor), and depth information of the object is obtained through calculation processing. In order to prevent the laser from harming the human body, the emitter needs to be specially designed to ensure the safety of the laser. Especially in a face recognition device, a human body needs to be close to the device, so laser safety becomes especially important.
In order to improve the laser safety of the structured light camera, a distance Sensor (P-Sensor) is commonly added to sense the approaching or departing of an object, the laser light is turned off when the approaching of the object is sensed, and the laser light is turned on when the departing of the object is sensed. The distance sensor sends a specific light source, receives an optical signal reflected by an object and judges the distance of the object according to the intensity of the reflected optical signal; however, for objects made of different materials, the reflection intensity is different, and for objects made of strong reflection materials, the reflected optical signal is strong, so that the accuracy of the distance sensor is easily affected, and the phenomenon of distance misjudgment is serious. Using face identification application scenario as an example, in the actual scenario, when the human body is wearing fluorescent color material clothes, even if the human body stands far away from the position of the maximum injury distance of the laser, due to the strong reflection intensity of the fluorescent color material clothes, the distance value detected by the distance sensor can be smaller than the maximum injury distance value of the laser, and therefore, even if the human body is in the safe distance range, the laser protection can still be triggered.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
The present invention is directed to a laser safety control device and method to solve at least one of the above-mentioned problems.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
a laser safety control device comprises a depth camera, a distance sensor and a processor which is respectively connected with the depth camera and the distance sensor; wherein the content of the first and second substances,
the depth camera comprises a laser light source and a color camera module, wherein the laser light source is used for emitting light beams, and the color camera module is used for acquiring color images of targets;
the distance sensor is used for detecting the far and near states of the target;
the processor is used for controlling the depth camera and the distance sensor, detecting whether a human face exists in the color image and judging the distance between the human face and the depth camera; when no human face or a human face exists in the color image and the human face is close, the distance sensor is controlled to detect the near-far state of the target, and if the target is close, the laser light source is controlled.
In some embodiments, the color camera acquires a color image of the target and transmits the color image to the processor, and the processor receives the color image and analyzes the color image to detect whether a human face exists in the color image.
In some embodiments, the controlling the laser light source comprises turning off the laser light source or reducing the power of the laser light source.
In some embodiments, when the processor does not recognize a human face in the color image or recognizes a human face and the human face is close, the processor activates the distance sensor to detect a near-far state of the target, controls the laser light source if the target is close, and maintains normal operation of the laser light source if the target is far; or when the processor identifies that a human face is in the color image and the human face is far away, the normal work of the laser light source is kept.
In some embodiments, the processor determines the distance of the face by calculating a ratio of a face size in the color image, wherein the ratio of the face size in the color image and a distance value between the face and the depth camera are in a negative correlation relationship.
The other technical scheme of the embodiment of the invention is as follows:
a laser safety control method comprises the following steps:
s100, collecting a color image of a target by using a color camera module in a depth camera; wherein the depth camera further comprises a laser light source;
s110, detecting whether a face exists in the collected color image and judging the distance of the face;
and S120, controlling a distance sensor to detect the distance state of the target according to the detection result of the step S110 and the distance judgment of the human face, and controlling the laser light source according to the distance state of the target.
In some embodiments, in step S110, a threshold value of the distance between the face and the depth camera is set, and a ratio of the size of the face in the color image corresponding to the threshold value is recorded as a preset ratio; when the face proportion value is larger than the preset proportion value, the face is judged to be close, and when the face proportion value is smaller than or equal to the preset proportion value, the face is judged to be far.
In some embodiments, in step S110, a first color image is collected at a preset distance, and a face ratio value corresponding to the first color image is calculated and recorded as a first ratio value; and storing the first color image and the first ratio value, when the collected color image of which the target comprises a human face is included, calculating a second ratio value of the human face in the color image, finding a pre-stored first color image matched with the collected color image, reading the corresponding first ratio value, and comparing the second ratio value with the first ratio value to judge the distance of the human face.
In some embodiments, in step S120, the laser maximum damage distance value is set to d0Controlling the distance sensor to detect the distance value between the distance sensor and the target, and setting the distance value as d3(ii) a The detected distance value d3Maximum damage distance value d from laser0And (3) comparison: when d is3Is less than d0If so, judging the near-far state of the target to be near, and if d is the distance between the target and the target3Is greater than or equal to d0And judging the far and near state of the target to be far.
The embodiment of the invention adopts another technical scheme that:
a computer-readable storage medium storing a computer program which, when executed, performs at least the method of the preceding claims.
The technical scheme of the invention has the beneficial effects that:
the laser safety control device and the laser safety control method adopt the color camera module to acquire the color image of the target, judge the distance of the target by combining the color image and the distance sensor, avoid the situation that the distance sensor is interfered by strong reflecting substances to misjudge the distance state of the target, greatly improve the accuracy of the distance judgment of the target, ensure the laser safety and enhance the use efficiency of the depth camera.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser safety control device according to an embodiment of the present invention.
Fig. 2 is a flowchart illustration of a laser safety control method according to one embodiment of the invention.
Fig. 3 is a schematic structural illustration of a laser safety device according to another embodiment of the present invention.
Fig. 4 is a flowchart illustration of a laser safety control method according to another embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a laser safety control device according to still another embodiment of the present invention.
Fig. 6 is a flowchart illustration of a laser safety control method according to yet another embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, a laser safety control apparatus according to an embodiment of the present invention includes: the system comprises a depth camera, a distance sensor and a processor respectively connected with the depth camera and the distance sensor; the depth camera comprises a laser light source and a color camera module, wherein the laser light source is used for emitting light beams, and the color camera module is used for collecting color images of a target; the distance sensor is used for detecting the far and near states of the target; the processor is used for controlling the depth camera and the distance sensor, detecting whether a face exists in the color image and judging the distance between the face and the depth camera: when no human face exists in the color image or a human face exists in the color image and the human face is close, controlling the distance sensor to detect the far and near state of the target, and if the state of the target is close, controlling the laser light source; if the target state is far, the normal work of the laser light source is kept; and when the face is far away in the color image, the normal work of the laser light source is kept.
In one embodiment, the depth camera may be a structured light-based depth camera including a projection module, an imaging module, and a color camera module; the projection module is used for emitting laser beams to project a structured light image to a target and comprises a laser light source and a diffraction optical element; the imaging module is used for collecting a structured light image reflected back by the target; the color camera module is used for acquiring a color image of the target.
In one embodiment, the projection module may include a vertical cavity laser (VCSE L), a VCSE L array, a light emitting diode (L ED), and other laser sources, which may be visible light sources or invisible light sources, and optical elements such as a diffuser and a Diffractive Optical Element (DOE)Sources such as infrared light, ultraviolet light, and the like. In other embodiments, the depth camera may also be a time-of-flight (TOF) camera, which includes a laser projection unit and a depth image sensor; the laser projection unit is used for emitting laser to a target; the depth image sensor is used for receiving the laser reflected by the target. It can be understood that, when the depth camera is used to collect the depth image, since the depth camera includes the laser light source, when the distance between the target and the depth camera is less than the laser maximum damage distance value d0(the maximum distance over which the laser can cause damage to the target), the laser may cause damage to the target (e.g., a human body).
In one embodiment, the distance sensor includes an optical signal transmitting unit for transmitting a distance detection optical signal to a target, and an optical signal receiving unit; the optical signal receiving unit is used for receiving the distance detection optical signal reflected back by the target to detect the distance value of the target, and when the received distance detection optical signal is strong, the distance between the target and the distance sensor is judged to be close.
Specifically, the color camera collects a color image of the target and transmits the color image to the processor, the processor receives the color image and analyzes the color image, and whether a face exists in the color image is detected based on a face detection algorithm. When the processor does not recognize the human face in the color image, the processor activates the distance sensor to detect the near-far state of the target, and if the target is in the near state, the processor controls the laser light source; and if the state of the target is far, keeping the normal work of the laser light source. When the processor identifies a human face in the color image, the processor will further calculate the distance of the human face in the color image: when the human face is close, the processor activates the distance sensor to detect the far and near states of the target, if the state of the target is close, the laser light source is controlled, and if the state of the target is far, the normal work of the laser light source is kept; when the human face is far away, the normal work of the laser light source is kept, the far and near states of the target detected by the distance sensor can be ignored, and the distance sensor can also not be activated. In one embodiment, controlling the laser light source comprises turning off the laser light source or reducing the power of the laser light source, for example: when the laser light source works normally, the current is 1A, and when the laser light source possibly causes damage to human bodies, the current can be reduced to 500 mA. It is to be understood that the face detection algorithm may use a geometric feature analysis method, a eigenface analysis method, a local feature analysis method, an artificial neural network method, and the like in the prior art, and is not particularly limited in this embodiment.
In one embodiment, the processor performs the measurement and judgment of the distance of the face by calculating the ratio of the face size in the color image, and the ratio of the face size in the color image and the distance value between the face and the depth camera are in a negative correlation relationship, that is: the higher the face size accounts for in the color image, the closer the face is to the depth camera is judged. And setting a threshold value of the human face distance depth camera, wherein the threshold value corresponds to the size of the human face, and the size of the human face has a ratio in the color image and is recorded as a preset ratio. When the face is close, the distance between the face and the depth camera is smaller than a threshold value, and at the moment, the face ratio value is larger than a preset ratio value; when the face is far away, the distance between the face and the depth camera is larger than or equal to a threshold value, and at the moment, the face ratio is smaller than or equal to a preset ratio; namely: when the face proportion value is larger than the preset proportion value, the face is judged to be close, and when the face proportion value is smaller than or equal to the preset proportion value, the face is judged to be far. For example: suppose the maximum injury distance is d0Setting the threshold value as d1Corresponding to d1And then, the face occupation ratio is 80%, and the face occupation ratio is recorded as a preset occupation ratio. When the face ratio is greater than 80%, that is, the distance between the face and the depth camera is less than d1Judging that the face is close; when the face ratio is less than or equal to 80%, that is, the distance between the face and the depth camera is greater than or equal to d1And judging that the face is far. In one embodiment, d1Is greater than or equal to d0。
It can be understood that the sizes of the faces of different people are very different, that is, when two different people stand at the same distance, the ratio of the faces in the collected color images may be very different, and thus, the judgment of the distance between the faces may have a large error. Thus, in one embodiment, each may be preceded byThe person being at a preset distance (e.g. d)2) And collecting a first color image, calculating a face ratio value corresponding to the first color image as a reference value, recording the face ratio value as a first ratio value, and storing the first color image and the first ratio value. When a color image of a target including a face is acquired in an actual scene, after a second ratio of the face in the color image is calculated, a first color image which is stored in advance and matched with the acquired face needs to be found, the corresponding first ratio is read, the second ratio is compared with the first ratio, and if the second ratio is larger than the first ratio, namely the distance between the face and a depth camera is smaller than d2If the second ratio is smaller than or equal to the first ratio, the distance between the face and the depth camera is larger than or equal to d2And judging that the face is far. It is understood that the step of matching the color image with the first color image may be performed first, or the step of calculating the face ratio value in the color image may be performed first. In one embodiment, d2Is greater than or equal to d0. It should be understood that, although the result of determining the distance between the human faces is more accurate in the present embodiment, the steps are more complicated and the time consumption is longer compared to the above-mentioned solutions.
In one embodiment, the laser maximum damage distance value is set to d0D is a distance value between the target and the object detected by the distance sensor3(ii) a The detected distance value d3Maximum damage distance d from laser0And (3) comparison: when d is3Is less than d0If yes, the target state is judged to be close, when d3Is greater than or equal to d0If yes, the target state is judged to be far.
In some embodiments, the distance sensor is fixedly mounted with the depth camera, and the distance between the distance sensor and the depth camera is negligible, so that the distance of the target to the depth camera can be considered equal to the distance sensor.
It will be appreciated that the processor and the various modules of the depth camera, the distance sensor, may be connected to and control the depth camera via a circuit board (not shown), which may be a flexible circuit board FPC, a printed circuit board PCB, a flex-hard board, or the like, and a connector (not shown), which may include any form, such as a board-to-board (BTB) connector, a Zero Insertion Force (ZIF) connector, or the like. The processor may be a special purpose processor including, but not limited to, a CPU, a GPU, a Digital Signal Processor (DSP), a Physical Processing Unit (PPU), and an Image Signal Processor (ISP). The processor may also be a system on a chip (SoC) that combines multiple dedicated processors, such as an application processor, a baseband processor, and so forth. When the above-described laser safety control apparatus is used in some embodiments of a mobile device (e.g., a smartphone, a tablet, glasses, a watch, a virtual reality/augmented reality headset, a laptop computer, etc.), the same processor may be shared.
Referring to fig. 2, the present invention further provides a laser safety control method, including the following steps:
s100, collecting a color image of a target;
specifically, a color camera module in the depth camera is used for collecting a color image of a target; wherein the depth camera further comprises a laser light source. In some embodiments, the depth camera may be a structured light-based depth camera including a projection module, an imaging module, and a color camera module; the projection module is used for emitting laser beams to project a structured light image to a target and comprises a laser light source and a diffraction optical element; the imaging module is used for collecting a structured light image reflected by the target; the color camera module is used for acquiring a color image of the target.
S110, detecting whether a face exists in the collected color image and judging the distance of the face;
specifically, the color image acquired in step S100 is received and analyzed by the processor, and whether a human face exists in the color image is detected based on a human face detection algorithm. When the face is detected to exist in the color image, the distance of the face is judged by calculating the ratio of the size of the face in the color image, and the distance of the face is judged if the ratio of the size of the face in the color image is high. Otherwise, the face is judged to be far away from the depth camera.
In one embodiment, a threshold value of the face from the depth camera is set, and a ratio of the face size in the color image is recorded as a preset ratio (i.e., the ratio of the face size in the color image is set when the distance between the face and the depth camera is the threshold value). When the face is close, the distance between the face and the depth camera is smaller than a threshold value, and at the moment, the face ratio value is larger than a preset ratio value; when the face is far away, the distance between the face and the depth camera is larger than or equal to a threshold value, and at the moment, the face ratio is smaller than or equal to a preset ratio; namely: when the face proportion value is larger than the preset proportion value, the face is judged to be close, and when the face proportion value is smaller than or equal to the preset proportion value, the face is judged to be far. For example: suppose the maximum injury distance is d0Setting the threshold value as d1Corresponding to d1And then, the face occupation ratio is 80%, and the face occupation ratio is recorded as a preset occupation ratio. When the face ratio is greater than 80%, that is, the distance between the face and the depth camera is less than d1Judging that the face is close; when the face ratio is less than or equal to 80%, that is, the distance between the face and the depth camera is greater than or equal to d1And judging that the face is far.
In one embodiment, a first color image may be collected at a preset distance in advance, a face ratio corresponding to the first color image is calculated and recorded as a first ratio, the first color image and the first ratio are stored, when the collected target includes a color image of a face, a second ratio of the face in the color image is calculated and a first color image which is stored in advance and matched with the collected face color image is found, the corresponding first ratio is read, the second ratio is compared with the first ratio, if the second ratio is greater than the first ratio, the face is determined to be close, and if the second ratio is less than or equal to the first ratio, the face is determined to be far.
S120, controlling a distance sensor to detect the far and near states of the target according to the detection result of the step S110, and controlling a laser light source according to the far and near states of the target;
specifically, when no human face or a human face is detected in the color image and the human face is close, the distance sensor is controlled to detect the near-far state of the target, and if the target is close, the laser light source is controlled; and if the state of the target is far, the normal work of the laser light source is kept.
In one embodiment, the laser maximum damage distance value is set to d0D is a distance value between the target and the object detected by the distance sensor3(ii) a The detected distance value d3Maximum damage distance d from laser0And (3) comparison: when d is3Is less than d0If yes, the target state is judged to be close, when d3Greater than d0If yes, the target state is judged to be far.
According to the laser safety control device and the laser safety control method, the color camera module is adopted to collect the color image of the target, the distance of the target is judged through the combination of the color image and the distance sensor, the situation that the distance sensor misjudges the distance state of the target due to the interference of a strong light-reflecting substance is avoided, the accuracy of the distance judgment of the target is greatly improved, the laser safety is ensured, and the use efficiency of the depth camera is enhanced.
The above-described embodiments are applicable to determining the distance of a target when the target is in a static state, and further controlling the laser light source. The following will also describe a technical solution applicable to the dynamic state of the target, which is applicable to determining the distance of the target when the target is in the dynamic state, and further controlling the laser light source.
Referring to fig. 3, the present application further provides a laser safety device, including a depth camera, a distance sensor, and a processor; the depth camera comprises a laser light source and a color camera module, wherein the laser light source is used for emitting light beams, and the color camera module is used for collecting multi-frame color images of a target; the distance sensor is used for detecting the far and near states of the target; the processor is respectively connected with the depth camera and the distance sensor to control the depth camera and the distance sensor, judges the face change state of the target according to the multi-frame color image, and controls the laser light source or keeps the normal work of the laser light source according to the face change state and the far and near state of the target. Wherein, the face change state comprises from the existence to the nonexistence or from the nonexistence to the existence. In one embodiment, controlling the laser light source comprises turning off the laser light source or reducing the power of the laser light source.
In one embodiment, the depth camera may be a structured light-based depth camera including a projection module, an imaging module, and a color camera module; the projection module is used for emitting laser beams to project a structured light image to a target and comprises a laser light source and a diffraction optical element; the imaging module is used for collecting a structured light image reflected by the target; the color camera module is used for collecting multi-frame color images of the target.
In one embodiment, when the human face change state is from the existence state to the nonexistence state and the target state is near, the processor controls the laser light source; and when the human face change state is from the existence state to the nonexistence state and the target state is far, the processor keeps the normal work of the laser light source. When the human face change state is from absent to present and the target state is far, the processor keeps the normal work of the laser light source; when the face change state is from absent to present and the target state is near, the processor judges the distance of the face in the current frame color image, and if the face in the current frame color image is near, the processor controls the laser light source; and if the human face in the current color image is far, the processor keeps the normal work of the laser light source.
In one embodiment, the color camera continuously collects multi-frame color images of the target and transmits the multi-frame color images to the processor, and the processor receives the multi-frame color images and analyzes the multi-frame color images. Specifically, the processor detects whether a human face exists in the color image based on a human face detection algorithm, and further judges the human face change state in the multi-frame color image of the target, wherein the human face change state comprises the existence or non-existence. It can be understood that when an object is within the ideal shooting range of the color camera, a face always exists in the color image, and the face proportion in the color image is larger and larger as the object approaches, that is, the face proportion in the color image is gradually increased as the object approaches. When the object is too close to or too far away from the color camera, the face of the person cannot be detected in the color image, and therefore when the face change state is from nothing to nothing, the distance sensor needs to measure the near-far state of the object to determine which of the above situations (too far or too close) the object belongs to. Specifically, when the target is in a close state, it is determined that the target cannot recognize the human face because the target is too close to the color camera, and the processor controls the laser light source; when the state of the target is far, the target is judged to be too far away from the color camera, so that the human face cannot be recognized, and the processor keeps normal operation of the laser light source.
When the processor analyzes the multi-frame color images and judges that the face state is from absent to present, the processor further judges whether the target is in a safe range by combining the far and near states of the target measured by the distance sensor, and when the distance sensor measures that the target state is far, the processor keeps the normal work of the laser light source. When the distance sensor measures that the target state is close, the processor needs to further calculate the distance of the face in the current frame color image to judge whether the target is in the safe distance range, so as to avoid the misjudgment of the target distance state caused by the interference of the strong light-reflecting substance on the distance sensor; further, if the face of the user is close to the face of the user in the current color image, the processor controls the laser light source; and if the human face in the current color image is far, the processor keeps the normal work of the laser light source. It should be noted that detecting the distance of the face in the color image and detecting the distance of the target by using the distance sensor can also be performed by using the method described in the foregoing embodiment, and details are not repeated herein.
Referring to fig. 4, an embodiment of the present application further provides a laser safety control method, including the following steps:
s200, collecting multi-frame color images of a target;
specifically, a color camera module in a depth camera is used for collecting multi-frame color images of a target; wherein the depth camera further comprises a laser light source. In some embodiments, the depth camera may be a structured light-based depth camera including a projection module, an imaging module, and a color camera module; the projection module is used for emitting laser beams to project a structured light image to a target and comprises a laser light source and a diffraction optical element; the imaging module is used for collecting a structured light image reflected by the target; the color camera module is used for collecting multi-frame color images of the target.
S210, judging the face change state of the target according to the multi-frame color image collected in the step S200; the human face change state comprises from the existence to the nonexistence or from the nonexistence to the existence;
specifically, the processor detects whether a human face exists in the color image based on a human face detection algorithm, and further judges the human face change state in the multi-frame color image of the target, including from the existence to the nonexistence or from the nonexistence to the existence. It can be understood that when the target is within the ideal shooting range of the color camera, the face will always exist in the color image, and the face proportion in the color image will be larger and larger as the target approaches, that is, the face proportion in the color image gradually increases as the target approaches.
S220, detecting the distance state of the target through a distance sensor;
specifically, the distance sensor includes an optical signal transmitting unit for transmitting a distance detection optical signal to a target, and an optical signal receiving unit; the optical signal receiving unit is used for receiving the distance detection optical signal reflected back by the target to detect the distance value of the target, and when the received distance detection optical signal is strong, the distance between the target and the distance sensor is judged to be close, otherwise, the distance is far.
And S230, controlling the laser light source or keeping the laser light source to normally work according to the human face change state and the near-far state of the target.
Specifically, when the face change state is from the existence to the nonexistence and the target state is near, or when the face change state is from the nonexistence to the existence and the target state is near to the face in the current frame color image, the processor controls the laser light source; and when the human face change state is from the existence to the nonexistence and the target state is far, or when the human face change state is from the nonexistence to the existence and the target state and the human face in the current frame color image is far, the processor keeps the normal work of the laser light source. It should be noted that detecting the distance of the face in the color image and detecting the distance of the target by using the distance sensor can also be performed by using the method described in the foregoing embodiment, and details are not repeated herein.
In the above embodiment of the application, cite the multiframe color image that the target was gathered to the color camera module, judge the distance of target through the combination of color image and distance sensor, avoided distance sensor because of receiving the interference of strong reflection of light material to lead to the situation of judging the target distance state by mistake, promoted the accuracy of judging the target distance greatly, this has not only guaranteed laser safety, has still strengthened the availability factor of degree of depth camera.
The present application further provides a laser safety control device and method, which are suitable for determining the distance of a target when the target is in a dynamic state, and further controlling a laser light source, and the scheme will be described in detail below.
Referring to fig. 5, a laser safety control apparatus according to an embodiment of the present invention includes: a depth camera, a distance sensor, and a processor; the depth camera comprises a laser light source and a color camera module, wherein the laser light source is used for emitting light beams, and the color camera module is used for collecting color images of a target; the distance sensor is used for detecting a series of distance values of the target; the processor is respectively connected with the depth camera and the distance sensor, controls the depth camera and the distance sensor, and controls the laser light source to work according to the change trend of the series of distance values and the detection result of the human face in the color image.
Specifically, if the change trend of the series of distance values is that the distance values become larger gradually, the processor keeps the normal operation of the laser light source; if the change trend of the series of distance values is that the distance values become smaller gradually, the processor controls the depth camera to collect the color image of the target and detects whether a human face exists in the color image, and if no human face exists in the color image, the processor controls the laser light source; if the color image has a human face, further, the processor judges the distance of the human face in the color image, and if the human face in the color image is close, the processor controls the laser light source; if the human face in the color image is far, the processor keeps the normal work of the laser light source. In one embodiment, controlling the laser light source comprises turning off the laser light source or reducing the power of the laser light source.
It will be appreciated that a series of distance values are measured by the distance sensor, and as the distance values become larger, it is determined that the target is further away from the depth camera, and the processor will maintain the laser light source in normal operation. When the distance value is smaller and smaller, the target is judged to be closer to the depth camera, but whether the target is in the safe range or not is judged, the processor is further combined with the color image acquired by the depth camera to judge the distance state of the face, and the misjudgment of the target distance state caused by the fact that the distance sensor is interfered by a strong light-reflecting substance is avoided; further, if the face of the user is close to the face of the user in the current color image, the processor controls the laser light source; and if the human face in the current color image is far, the processor keeps the normal work of the laser light source. It should be noted that detecting the distance of the face in the color image can also be performed by using the above-mentioned method, and will not be described herein again.
The color camera module is introduced to collect the color image of the target, the distance sensor is utilized to detect a series of distance values of the target, the distance of the target is judged through the combination of the color image and the distance sensor, the situation that the distance sensor misjudges the distance state of the target due to the interference of a strong light-reflecting substance is avoided, the accuracy of the distance judgment of the target is greatly improved, the laser safety is ensured, and the use efficiency of the depth camera is enhanced.
Referring to fig. 6, as another embodiment of the present application, there is provided a laser safety control method including:
s300, detecting a series of distance values of a target through a distance sensor;
s310, collecting a color image of a target;
specifically, a color camera module in the depth camera is used for collecting a color image of a target; wherein, the depth camera also comprises a laser light source. In some embodiments, the depth camera may be a structured light-based depth camera including a projection module, an imaging module, and a color camera module; the projection module is used for emitting laser beams to project a structured light image to a target and comprises a laser light source and a diffraction optical element; the imaging module is used for collecting a structured light image reflected by the target; the color camera module is used for acquiring a color image of the target.
S320, controlling a laser light source according to the change trend of the series of distance values detected in the step S300 and the face detection result of the color image acquired in the step S310;
judging the variation trend of the series of distance values detected in the step S300, and performing face detection on the color image acquired in the step S310; when the change trend of the series of distance values is that the distance values become smaller gradually and no human face exists in the detected color image, the laser light source is started to be controlled; or, when the change trend of the series of distance values is that the distance values gradually become smaller and a human face exists in the detected color image, and the human face state in the color image is judged to be close, the laser light source is started to be controlled.
Specifically, if the change trend of the series of distance values is that the distance values become larger gradually, the processor keeps the normal operation of the laser light source; if the change trend of the series of distance values is that the distance values become smaller gradually, the processor controls the depth camera to collect the color image of the target and detects whether a human face exists in the color image, and if no human face exists in the color image, the processor controls the laser light source; if the color image has a human face, further, the processor judges the distance of the human face in the color image, and if the human face in the color image is close, the processor controls the laser light source; if the human face in the color image is far, the processor keeps the normal work of the laser light source.
The laser safety control method can be implemented by using the laser safety control device, and details are not repeated herein. It should be understood that the above-described methods can be implemented as electronic hardware, computer software, or combinations of both, and that such functions are performed in either hardware or software, depending on the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Embodiments of the present application also provide a computer-readable storage medium for storing a computer program, which when executed performs at least the method described above.
The Memory medium may be any type of volatile or non-volatile Memory device, or any combination thereof, wherein the non-volatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a ferroelectric Random Access Memory (RAM), a Flash Memory, a magnetic surface Memory, an optical Disc, or a Compact Disc Read Only Memory (CD-ROM), a Compact Disc Read-Only Memory (DRAM), a magnetic surface Memory (RAM), a magnetic disk Memory or a tape Memory, the volatile Memory may be a magnetic disk Memory or a magnetic tape Memory, the volatile Memory may be a Random Access Memory (DRAM), or any other Dynamic Random Access Memory (SDRAM) suitable for external Access, such as a Dynamic Random Access Memory (SDRAM), or a Dynamic Random Access Memory (SDRAM) suitable for use as a Dynamic Access bus Access Memory (SDRAM), or a Dynamic Random Access Memory (RAM), or a Dynamic Access Memory (SDRAM) suitable for external Access, a Dynamic Access bus Access Memory (SDRAM) suitable for use as an Access RAM, a Dynamic Access bus Access RAM, or a Dynamic Access RAM, a Dynamic Access RAM (SDRAM, a Dynamic Access RAM, a Dynamic Access bus Access RAM, a Dynamic Access RAM suitable for example, a Dynamic Access RAM suitable for use as an Access bus Access RAM, a Dynamic Access RAM, or a Dynamic Access RAM suitable for use as an Access bus Access RAM, a Dynamic Access RAM, and a Dynamic Access RAM suitable for example, a Dynamic Access RAM suitable for a Dynamic Access RAM, a Dynamic Access RAM suitable for a Random Access RAM, a Dynamic Access RAM, and a Dynamic Access RAM suitable for a Dynamic Access RAM (Flash Memory for a Dynamic Access RAM, and a Dynamic Access RAM suitable for a Dynamic Access RAM (Dynamic Access system for a Dynamic Access RAM.
It is to be understood that the foregoing is a more detailed description of the invention, and that specific embodiments are not to be considered as limiting the invention. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. One of ordinary skill in the art will readily appreciate that the above-disclosed, presently existing or later to be developed, processes, machines, manufacture, compositions of matter, means, methods, or steps, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
Claims (10)
1. The laser safety control device is characterized by comprising a depth camera, a distance sensor and a processor which is respectively connected with the depth camera and the distance sensor; wherein the content of the first and second substances,
the depth camera comprises a laser light source and a color camera module, wherein the laser light source is used for emitting light beams, and the color camera module is used for acquiring color images of targets;
the distance sensor is used for detecting the far and near states of the target;
the processor is used for controlling the depth camera and the distance sensor, detecting whether a human face exists in the color image and judging the distance between the human face and the depth camera; when no human face or a human face exists in the color image and the human face is close, the distance sensor is controlled to detect the near-far state of the target, and if the target is close, the laser light source is controlled.
2. The laser safety control device of claim 1, wherein: the color camera collects a color image of the target and transmits the color image to the processor, and the processor analyzes the color image after receiving the color image and detects whether a human face exists in the color image.
3. The laser safety control device of claim 1, wherein: the controlling of the laser light source comprises turning off the laser light source or reducing the power of the laser light source.
4. The laser safety control device of claim 2, wherein: when the processor does not recognize a human face or recognizes the human face and the human face is close in the color image, the processor activates the distance sensor to detect the far and near state of the target, if the state of the target is close, the processor controls the laser light source, and if the state of the target is far, the processor keeps the normal work of the laser light source; or when the processor identifies that a human face is in the color image and the human face is far away, the normal work of the laser light source is kept.
5. The laser safety control device of claim 1, wherein: the processor judges the distance of the face by calculating the ratio of the face size in the color image, wherein the ratio of the face size in the color image and the distance value between the face and the depth camera are in a negative correlation relationship.
6. A laser safety control method is characterized by comprising the following steps:
s100, collecting a color image of a target by using a color camera module in a depth camera; wherein the depth camera further comprises a laser light source;
s110, detecting whether a face exists in the collected color image and judging the distance of the face;
and S120, controlling a distance sensor to detect the distance state of the target according to the detection result of the step S110 and the distance judgment of the human face, and controlling the laser light source according to the distance state of the target.
7. The laser safety control method of claim 6, wherein: in step S110, a threshold value of the face from the depth camera is set, and a ratio of the face size in the color image, which corresponds to the threshold value, is recorded as a preset ratio; when the face proportion value is larger than the preset proportion value, the face is judged to be close, and when the face proportion value is smaller than or equal to the preset proportion value, the face is judged to be far.
8. The laser safety control method of claim 6, wherein: in step S110, a first color image is collected at a preset distance, and a face ratio value corresponding to the first color image is calculated and recorded as a first ratio value; and storing the first color image and the first ratio value, when the collected color image of which the target comprises a human face is included, calculating a second ratio value of the human face in the color image, finding a pre-stored first color image matched with the collected color image, reading the corresponding first ratio value, and comparing the second ratio value with the first ratio value to judge the distance of the human face.
9. The laser safety control method of claim 6, wherein: in step S120, the maximum damage distance value of the laser is set as d0Controlling the distance sensor to detect the distance value between the distance sensor and the target, and setting the distance value as d3(ii) a The detected distance value d3Maximum damage distance value d from laser0And (3) comparison: when d is3Is less than d0If so, judging the near-far state of the target to be near, and if d is the distance between the target and the target3Is greater than or equal to d0And judging the far and near state of the target to be far.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed, performs at least the method of any of the preceding claims 6-9.
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