CN112033543A - Blackbody alignment method and device, robot and computer readable storage medium - Google Patents
Blackbody alignment method and device, robot and computer readable storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 102
- 238000001931 thermography Methods 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 20
- 238000010276 construction Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
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- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004861 thermometry Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
- G01J5/0887—Integrating cavities mimicking black bodies, wherein the heat propagation between the black body and the measuring element does not occur within a solid; Use of bodies placed inside the fluid stream for measurement of the temperature of gases; Use of the reemission from a surface, e.g. reflective surface; Emissivity enhancement by multiple reflections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
- G01J5/485—Temperature profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Abstract
The application is applicable to the technical field of robots, and particularly relates to a black body alignment method, a black body alignment device, a robot and a storage medium. The method comprises the steps of controlling the robot to move to a preset temperature measuring point, and adjusting the current temperature measuring parameter of the robot according to the preset temperature measuring parameter corresponding to the preset temperature measuring point; acquiring a first image acquired by the robot, analyzing the first image and determining a first position of the black body in the first image; and when the first position is not in the preset area, adjusting the current temperature measurement parameter of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area. Can carry out preliminary adjustment to the current temperature measurement parameter of robot according to the preset temperature measurement parameter that preset temperature measurement point corresponds is automatic, then the robot after the preliminary adjustment of accessible carries out acquireing of first image to carry out accurate adjustment according to the current temperature measurement parameter of the first image pair robot that acquires, realize the automatic alignment of black body, improve alignment efficiency.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a blackbody alignment method and device, a robot and a computer readable storage medium.
Background
The infrared temperature measurement can be widely applied to various daily temperature measurement occasions due to the non-contact characteristic. The robot has the advantages of being slightly limited by temperature measurement occasions, power supply, deployment and the like, so that the infrared temperature measurement through the robot becomes an important trend. In order to improve the infrared temperature measurement accuracy, a black body is generally required to be arranged in the infrared detection field range, so that temperature measurement can be carried out according to the black body.
When the temperature is measured according to the black body, the black body alignment operation is performed in advance. Because the robot has the mobility, the robot often still can often move to other places and carry out tasks such as killing, people stream control apart from carrying out the temperature measurement of temperature measurement point for when carrying out infrared temperature measurement through the robot, need often carry out black body alignment operation. In the prior art, blackbody alignment is generally performed manually, and the alignment efficiency is low.
Disclosure of Invention
The embodiment of the application provides a blackbody alignment method, a blackbody alignment device, a robot and a computer-readable storage medium, and can solve the problems that when an existing robot carries out temperature measurement, the blackbody alignment needs to be carried out manually, and the blackbody alignment efficiency is low.
In a first aspect, an embodiment of the present application provides a blackbody alignment method, which is applied to a robot, and the blackbody alignment method may include:
controlling the robot to move to a preset temperature measuring point, and adjusting the current temperature measuring parameter of the robot according to a preset temperature measuring parameter corresponding to the preset temperature measuring point;
acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a black body in the first image;
and when the first position is not in a preset area, adjusting the current temperature measurement parameters of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area.
In one possible implementation manner of the first aspect, the first image is an infrared thermal image acquired by a thermal imaging camera in the robot;
the analyzing the first image and determining the first position of the black body in the first image may include:
acquiring a first temperature of each pixel point in the first image, and determining a target pixel point with the first temperature in a preset temperature range;
constructing a first target area according to the target pixel points, and acquiring the first area of the first target area;
and determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the black body in the first image.
In another possible implementation manner of the first aspect, the first image is a visible light image captured by a visible light camera in the robot.
It should be understood that after adjusting the first position of the black body in the first image to the preset region, the method may include:
acquiring a second image acquired by the robot, and determining a preset area of the second image according to a preset area of the first image, wherein the second image is an infrared thermal image acquired by a thermal imaging camera in the robot;
acquiring a second temperature of each pixel point in a preset area of the second image, and determining a target pixel point with the second temperature within a preset temperature range;
constructing a second target area according to the target pixel points, and acquiring the second area of the second target area;
and when the area of the second region is within a preset area range, acquiring coordinate information of a preset pixel point in the second target region, and sending the coordinate information to the thermal imaging camera.
Specifically, the preset temperature measurement parameter and the current temperature measurement parameter include an orientation angle of the robot and/or position information of a pan/tilt head in the robot.
For example, the controlling the robot to move to the preset temperature measuring point may include:
and acquiring the position information of the preset temperature measuring point, and controlling the robot to move to the preset temperature measuring point according to the position information.
In a second aspect, an embodiment of the present application provides a blackbody alignment apparatus, which is applied to a robot, and the blackbody alignment apparatus may include:
the first parameter adjusting module is used for controlling the robot to move to a preset temperature measuring point and adjusting the current temperature measuring parameter of the robot according to the preset temperature measuring parameter corresponding to the preset temperature measuring point;
the blackbody position determining module is used for acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a blackbody in the first image;
and the second parameter adjusting module is used for adjusting the current temperature measuring parameter of the robot according to the first position when the first position is not in a preset area until the first position of the black body in the first image is adjusted to the preset area.
In one possible implementation of the second aspect, the first image is an infrared thermal image acquired by a thermal imaging camera in the robot;
the blackbody position determination module may include:
the first temperature acquisition unit is used for acquiring a first temperature of each pixel point in the first image and determining a target pixel point of which the first temperature is within a preset temperature range;
the first region construction unit is used for constructing a first target region according to the target pixel points and acquiring the first region area of the first target region;
and the blackbody position determining unit is used for determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the blackbody in the first image.
In another possible implementation manner of the second aspect, the first image is a visible light image captured by a visible light camera in the robot.
The black body alignment device may further include:
the image acquisition module is used for acquiring a second image acquired by the robot and determining a preset area of the second image according to the preset area of the first image, wherein the second image is an infrared thermal image acquired by a thermal imaging camera in the robot;
the second temperature acquisition module is used for acquiring a second temperature of each pixel point in a preset area of the second image and determining a target pixel point of which the second temperature is within a preset temperature range;
the second region construction module is used for constructing a second target region according to the target pixel points and acquiring the second region area of the second target region;
and the coordinate information sending module is used for acquiring coordinate information of a preset pixel point in the second target area when the area of the second area is in a preset area range, and sending the coordinate information to the thermal imaging camera.
Specifically, the preset temperature measurement parameter and the current temperature measurement parameter include an orientation angle of the robot and/or position information of a pan/tilt head in the robot.
For example, the first parameter adjustment module may include:
and the movement control unit is used for acquiring the position information of the preset temperature measuring point and controlling the robot to move to the preset temperature measuring point according to the position information.
In a third aspect, an embodiment of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the black body alignment method of any one of the first aspects when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the blackbody alignment method of any one of the first aspect is implemented.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a robot, causes the robot to perform the blackbody alignment method of any one of the first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
in the embodiment of the application, the robot can be controlled to move to a preset temperature measuring point, and the current temperature measuring parameter of the robot is adjusted according to the preset temperature measuring parameter corresponding to the preset temperature measuring point; acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a black body in the first image; and when the first position is not in a preset area, adjusting the current temperature measurement parameters of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area. In this application embodiment promptly, the robot can carry out preliminary adjustment to the current temperature measurement parameter of robot according to the temperature measurement parameter of predetermineeing that the temperature point corresponds is corresponding predetermineeing, then can carry out the acquireing of first image through the robot after preliminary adjustment to can carry out the accurate adjustment according to the current temperature measurement parameter of the first image pair robot that acquires automatically, realize the automatic alignment of black body, thereby improve the alignment efficiency of black body, with the temperature measurement efficiency and the temperature measurement accuracy that improve the robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of another robot provided in an embodiment of the present application;
FIG. 3 is a schematic flow chart of a blackbody alignment method according to an embodiment of the present disclosure;
FIG. 4 is a first exemplary diagram of a default region provided in an embodiment of the present application;
FIG. 5 is a second exemplary diagram of a preset area provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a blackbody alignment apparatus provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The infrared temperature measurement can be widely applied to various daily temperature measurement occasions due to the non-contact characteristic. Current infrared thermometry generally uses thermal imaging cameras and visible light cameras to perform body thermometry. When no blackbody is provided, the error of infrared temperature measurement is generally about +/-0.5 degrees, and when a blackbody is provided (namely an external temperature measurement reference object in a specified temperature measurement area), the error of infrared temperature measurement can be controlled within +/-0.3 degrees. Therefore, in order to improve the accuracy of infrared temperature measurement, a black body is generally arranged in the infrared detection field range, so as to measure the temperature according to the black body.
The existing infrared temperature measurement is generally to fix the position, height and angle of a camera (including a thermal imaging camera and a visible light camera) in advance, install a black body at a specified distance (for example, 2 meters, 3 meters or 5 meters) and at a specified height from the camera, and then perform black body calibration on an infrared thermal image acquired by the thermal imaging camera. After the arrangement is completed, temperature can be directly measured according to the black body without aligning and calibrating the black body any more as long as the position, the height and the angle of the camera and the position, the height and the angle of the black body are not changed.
The robot has the advantages of being slightly limited by temperature measurement occasions, power supply, deployment and the like, so that the infrared temperature measurement through the robot becomes an important trend. However, for the robot, because the robot has a moving capability, the robot often moves to other places for tasks such as killing, people stream monitoring and the like besides performing temperature measurement of a fixed temperature measurement point. When the robot finishes other tasks and returns to the original position to measure the temperature, the position, the height and the angle of the robot are changed frequently, so that the blackbody is not aligned, and therefore the robot needs to perform the blackbody alignment operation frequently when performing infrared temperature measurement. In the prior art, blackbody alignment is generally carried out manually, alignment efficiency is low, and convenience of infrared temperature measurement through a robot is greatly reduced.
In order to solve the above problem, embodiments of the present application provide a blackbody alignment method, apparatus, robot, and computer-readable storage medium. In the black body alignment method, the current temperature measurement parameters of the robot can be automatically and preliminarily adjusted according to the preset temperature measurement parameters corresponding to the preset temperature measurement points, then the first image can be acquired through the preliminarily adjusted robot, and the current temperature measurement parameters of the robot can be automatically and accurately adjusted according to the acquired first image so as to realize the automatic alignment of the black body, so that the alignment efficiency of the black body is improved, and the temperature measurement efficiency and the temperature measurement accuracy of the robot are improved.
The blackbody alignment method provided by the embodiment of the application can be applied to a robot. Fig. 1 shows a schematic structural diagram of a robot provided in an embodiment of the present application. As shown in fig. 1, the robot 10 of this embodiment may include: at least one processor 11 (only one shown in fig. 1), a memory 12, and a computer program 13 stored in the memory 12 and executable on the at least one processor 11, the processor 11 implementing the steps in any of the various blackbody alignment method embodiments described below when executing the computer program 13.
The robot 10 may include, but is not limited to, a processor 11, a memory 12. Those skilled in the art will appreciate that fig. 1 is merely an example of a robot 10 and does not constitute a limitation of robot 10 and may include more or fewer components than shown, or some components may be combined, or different components, such as input output devices, network access devices, etc.
The processor 11 may be a Central Processing Unit (CPU), and the processor 11 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 12 may in some embodiments be an internal storage unit of the robot 10, such as a hard disk or a memory of the robot 10. In other embodiments, the memory 12 may also be an external storage device of the robot 10, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash card (flash card), or the like provided on the robot 10. Further, the memory 12 may also include both an internal memory unit and an external memory device of the robot 10. The memory 12 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 12 may also be used to temporarily store data that has been output or is to be output.
Fig. 2 shows a schematic structural diagram of a robot provided in another embodiment of the present application. As shown in fig. 2, the robot 10 of this embodiment may include: a calibration control module 20, a radar 21, a navigation module 22, a motion chassis 23, a visible light camera 24, a thermal imaging camera 25, a pan-tilt 26, a black body identification module 27, and an area temperature detection and black body frame setting module 28.
The visible light camera 24 may be provided with a monitoring unit 241, and the monitoring unit 241 is used for performing visual monitoring and face recognition and tracking. The thermal imaging camera 25 may be provided with a temperature measurement unit 251, and the temperature measurement unit 251 is used for acquiring temperature information of a measured object. The visible light camera 24 and the thermal imaging camera 25 are both arranged on the pan-tilt 26, and the viewing angles of the visible light camera 24 and the thermal imaging camera 25 are kept consistent.
The navigation module 22 and the radar 21 are used to navigate the robot 10 from its current position to a preset temperature measurement point. The motion chassis 23 is used to perform the movement of the robot 10.
The black body recognition module 27 is configured to perform black body recognition on the image captured by the visible light camera 24, and send position information of the black body in the image to the calibration control module 20, and the calibration control module 20 controls the angle, the orientation, and the like of the pan/tilt 26 and/or the robot 10 according to the position information of the black body in the image, so as to adjust the position of the black body in the image to a preset region.
The region temperature detection and blackbody frame setting module 28 is configured to perform blackbody identification and calibration and the like in the image acquired by the thermal imaging camera 25 according to the temperature information sent by the temperature measurement unit 251. When the region temperature detection and blackbody frame setting module 28 performs blackbody recognition in the image collected by the thermal imaging camera 25 according to the temperature information sent by the temperature measurement unit 251, it may send the position information of the recognized blackbody in the image to the calibration control module 20, and the calibration control module 20 controls the angle, the orientation, and the like of the pan/tilt 26 and/or the robot 10 according to the position information of the blackbody in the image.
In addition, although not shown, the robot 10 may further include a lifting bar on which the pan/tilt head 26 is disposed, and the height of the pan/tilt head 26, and thus the visible light camera 24 and the thermal imaging camera 25, may be adjusted by adjusting the height of the lifting bar.
Fig. 3 shows a schematic flowchart of a blackbody alignment method provided in an embodiment of the present application, where the blackbody alignment method may be applied to the robot described above. As shown in fig. 3, the black body alignment method may include:
s301, controlling the robot to move to a preset temperature measuring point, and adjusting the current temperature measuring parameter of the robot according to a preset temperature measuring parameter corresponding to the preset temperature measuring point;
the preset temperature measuring point can be a temperature measuring point which is deployed by a user in advance according to actual needs. The preset temperature measurement parameters and the current temperature measurement parameters may include orientation information of the robot and/or position information of the pan/tilt head. The position information of the pan/tilt head may include a height of the pan/tilt head (i.e., a height of a lifting rod in the robot), a heading angle (i.e., an angle of the pan/tilt head in the left/right direction), a pitch angle (i.e., an angle of the pan/tilt head in the up/down direction), and the like.
It should be noted that the preset temperature measurement parameters corresponding to the preset temperature measurement points can be obtained through the following steps: 1) controlling the robot to move to the preset temperature measuring point, placing a black body at a specified position (for example, 3 meters away from the robot) in front of the robot, wherein a radiation surface of the black body for measuring the temperature can face the robot, and adjusting the height (for example, adjusting to 1.7 meters away from the ground) and setting the temperature (for example, setting to 35 degrees) of the black body; 2) after the black body is set, the orientation angle of the robot, the height of the lifting rod, the pitch angle and the orientation angle of the pan-tilt can be further adjusted to ensure that the visible light camera and the thermal imaging camera are both right opposite to the black body, and the black body is positioned in a preset area (such as an upper left corner area or an upper right corner area) in the visible light image collected by the visible light camera and the infrared thermal image collected by the thermal imaging camera; 3) and recording the position information (x, y) and the orientation angle of the robot at the moment, recording the height of the lifting rod, the pitch angle and the orientation angle of the holder, and taking the orientation angle of the robot, the height of the lifting rod, the pitch angle and the orientation angle of the holder as preset temperature measurement parameters corresponding to the preset temperature measurement points. Meanwhile, the position information (x, y) corresponding to the preset temperature measurement point and the preset temperature measurement parameter can be stored in association with the preset temperature measurement point.
When temperature measurement needs to be carried out at the preset temperature measurement point, the position information (x, y) corresponding to the preset temperature measurement point, which is stored in advance, can be obtained, and the robot can be controlled to move to the preset temperature measurement point according to the position information. Specifically, a preset map may be obtained first, then an initial position of the robot in the map is determined by positioning, and the robot is controlled to move to the preset temperature measurement point according to the initial position and the position information corresponding to the preset temperature measurement point. The map may be stored in the robot in advance, or may be acquired by the robot from a preset terminal device. The specific positioning method may be any one of the positioning methods commonly used in the prior art, which is not specifically limited in the embodiment of the present application.
It should be understood that, after the robot navigates to the preset temperature measurement point, the robot may obtain the preset temperature measurement parameters corresponding to the preset temperature measurement point, that is, obtain the orientation angle, the height of the lifting rod, the orientation angle and the pitch angle of the pan/tilt head, and the like of the robot corresponding to the preset temperature measurement point, and adjust the orientation angle, the height of the lifting rod, the orientation angle and the pitch angle of the pan/tilt head, and the like of the robot according to the preset temperature measurement parameters corresponding to the preset temperature measurement point.
S302, acquiring a first image acquired by the robot, analyzing the first image, and determining a first position of a black body in the first image;
after the current temperature measurement parameter of the robot is adjusted according to the preset temperature measurement parameter corresponding to the preset temperature measurement point, the current temperature measurement parameter of the robot should be theoretically consistent with the preset temperature measurement parameter corresponding to the preset temperature measurement point, so that the black body is located in a preset area in the infrared thermal image collected by the thermal imaging camera. However, due to the possible deviation in the actual adjustment process, the difference exists between the current temperature measurement parameter of the robot and the preset temperature measurement parameter corresponding to the preset temperature measurement point, so that the black body is not actually located in the preset area in the infrared thermal image.
In the embodiment of the application, after the current temperature measurement parameter of the robot is adjusted according to the preset temperature measurement parameter corresponding to the preset temperature measurement point, the first image collected by the robot can be further acquired, black body identification can be performed according to the first image, so as to determine the first position of the black body in the first image, and thus whether the first position of the black body in the first image is in the preset region or not is judged, and when the black body is not in the preset region, the position of the black body in the first image is accurately adjusted according to the first position of the black body in the first image, so that black body alignment is realized.
In one example, the first image may be an infrared thermal image acquired by a thermal imaging camera in the robot. That is, in this example, the robot may determine the first position of the black body in the first image from the infrared thermal image captured by the thermal imaging camera.
Specifically, the robot may first obtain a first temperature of each pixel point in a first image (i.e., an infrared thermal image), and obtain a target pixel point of which the first temperature is within a preset temperature range; then, a first target area can be constructed according to the target pixel points, and the first area of the first target area is obtained; and finally, determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the black body in the first image. The first target region may include one or more constructed regions, and the shape of the constructed first target region may be similar to the shape of the radiation surface of the black body, for example, when the radiation surface of the black body has a rectangular shape, the constructed first target region may also have a rectangular shape. The following description will be made schematically by taking the example in which the shape of the radiation surface of the black body is rectangular.
It should be noted that the preset temperature range may be determined according to the black body temperature. For example, the preset temperature range may be a temperature range corresponding to a constant value that fluctuates up and down based on the blackbody temperature, and if the blackbody temperature is assumed to be 35 degrees, the preset temperature range may be 33 to 37 degrees. The preset area range may be determined according to an area of the blackbody facing the radiation surface of the camera, for example, the preset area range may be an area range corresponding to a certain value of up-down fluctuation based on the area of the radiation surface. The position corresponding to the first target region may be a pixel coordinate of each vertex in the first target region, for example, a pixel coordinate of four vertices of a rectangle.
In another example, the first image may be a visible light image captured by a visible light camera in the robot. That is, in this example, the robot may determine the first position of the black body in the first image by performing target detection on the visible light image captured by the visible light camera. The specific target detection method may be any one of target detection methods commonly used in the prior art, which is not specifically limited in this embodiment of the application.
S303, when the first position is not in a preset area, adjusting the current temperature measurement parameter of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area.
It should be understood that when the first position is not in the preset region, it indicates that the black body is not currently in the preset region, and the black body needs to be further aligned, and at this time, the current temperature measurement parameter of the robot may be adjusted according to the first position. In particular, the orientation angle of the robot and/or the orientation angle, pitch angle, etc. of the head may be adjusted according to the first position.
For example, as shown in fig. 4, when the preset region is the upper right corner region 401 in the first image and the first position of the black body in the first image is the upper middle position 402 of the first image, the orientation angle of the robot may be adjusted to the left, and/or the orientation angle of the pan/tilt head may be adjusted to the left, so as to adjust the first position of the black body in the first image to the right.
For example, as shown in fig. 5, when the preset region is the upper right corner region 501 in the first image and the first position of the black body in the first image is the middle right position 502 of the first image, the pitch angle of the pan/tilt head may be adjusted downward to adjust the first position of the black body in the first image upward.
After the current temperature measurement parameter of the robot is adjusted according to the first position of the black body in the first image, the process may further return to execute S302 and S303, that is, the first image acquired by the robot is obtained again, and it is determined whether the first position of the black body in the first image is located in the preset region, and when the first position of the black body in the first image is not located in the preset region, the current temperature measurement parameter of the robot is adjusted according to the first position of the black body in the first image until the first position of the black body in the first image is adjusted to the preset region.
When the first position of the black body in the first image is located in the preset area, which indicates that the black body alignment operation is completed, the thermal imaging camera in the robot can perform high-precision temperature measurement based on the black body in the preset area.
It should be appreciated that when the thermal imaging camera is based on a black body to perform temperature measurement, a specific area of the black body in the infrared thermal image captured by the thermal imaging camera needs to be calibrated first so that the thermal imaging camera can perform temperature measurement based on the specific area.
For example, when the first position of the black body in the first image is determined according to the infrared thermal image acquired by the thermal imaging camera, the black body calibration may be performed directly according to the first position, that is, the quadrilateral region corresponding to the first position may be directly calibrated to be the specific region of the black body in the infrared thermal image.
For example, when the first position of the black body in the first image is determined according to the visible light image collected by the visible light camera, the black body calibration may be performed according to the following steps:
1) acquiring a second image acquired by the robot, and determining a preset area of the second image according to the preset area of the first image, wherein the second image is an infrared thermal image acquired by a thermal imaging camera in the robot;
2) acquiring a second temperature of each pixel point in a preset area of a second image, and determining a target pixel point with the second temperature within a preset temperature range;
3) constructing a second target area according to the target pixel points, and acquiring the second area of the second target area;
4) and when the area of the second region is within the preset area range, acquiring coordinate information of a preset pixel point in the second target region, and sending the coordinate information to the thermal imaging camera.
It will be appreciated that the angles of the fields of view of the visible camera and the thermal imaging camera are the same, and therefore the preset area of the second image is the same as the preset area of the first image. For example, when the preset region of the first image is the upper left corner region of the first image, the preset region of the second image is also the upper left corner region of the second image. For example, when the preset region of the first image is the upper right corner region of the first image, the preset region of the second image is also the upper right corner region of the second image.
Subsequently, the robot may obtain a temperature lattice corresponding to the preset region in the second image, that is, obtain a second temperature of each pixel point in the preset region, then find a target pixel point with the second temperature within a preset temperature range, and determine a second target region formed by the target pixel point, when the area of the second region of the second target region is within the preset area range, may obtain coordinate information of the preset pixel points (for example, four vertices in the second target region) in the second target region, and may send the coordinate information to the thermal imaging camera, and the thermal imaging camera may determine a quadrilateral region corresponding to the coordinate information as a specific region of a black body in the infrared thermal image, so as to complete black body calibration. When the second area of the second target area is not within the preset area range, the step of acquiring the second image acquired by the robot and the subsequent steps can be returned to.
It should be understood that the predetermined temperature range is the same as the predetermined temperature range described above, and the predetermined area range is the same as the predetermined area range described above.
In the embodiment of the application, the robot can be controlled to move to a preset temperature measuring point, and the current temperature measuring parameter of the robot is adjusted according to the preset temperature measuring parameter corresponding to the preset temperature measuring point; acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a black body in the first image; and when the first position is not in a preset area, adjusting the current temperature measurement parameters of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area. In this application embodiment promptly, the robot can carry out preliminary adjustment to the current temperature measurement parameter of robot according to the temperature measurement parameter of predetermineeing that the temperature point corresponds is corresponding predetermineeing, then can carry out the acquireing of first image through the robot after preliminary adjustment to can carry out the accurate adjustment according to the current temperature measurement parameter of the first image pair robot that acquires automatically, realize the automatic alignment of black body, thereby improve the alignment efficiency of black body, with the temperature measurement efficiency and the temperature measurement accuracy that improve the robot.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of a blackbody alignment apparatus provided in an embodiment of the present application, corresponding to the blackbody alignment method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 6, an embodiment of the present application provides a blackbody alignment apparatus applied to a robot, which may include:
the first parameter adjusting module 601 is configured to control the robot to move to a preset temperature measuring point, and adjust a current temperature measuring parameter of the robot according to a preset temperature measuring parameter corresponding to the preset temperature measuring point;
a blackbody position determining module 602, configured to obtain a first image acquired by the robot, analyze the first image, and determine a first position of a blackbody in the first image;
a second parameter adjusting module 603, configured to, when the first position is not in a preset region, adjust the current temperature measurement parameter of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset region.
In one possible implementation, the first image is an infrared thermal image acquired by a thermal imaging camera in the robot;
the blackbody position determination module 602 may include:
the first temperature acquisition unit is used for acquiring a first temperature of each pixel point in the first image and determining a target pixel point of which the first temperature is within a preset temperature range;
the first region construction unit is used for constructing a first target region according to the target pixel points and acquiring the first region area of the first target region;
and the blackbody position determining unit is used for determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the blackbody in the first image.
In another possible implementation, the first image is a visible light image captured by a visible light camera in the robot.
The black body alignment device may further include:
the image acquisition module is used for acquiring a second image acquired by the robot and determining a preset area of the second image according to the preset area of the first image, wherein the second image is an infrared thermal image acquired by a thermal imaging camera in the robot;
the second temperature acquisition module is used for acquiring a second temperature of each pixel point in a preset area of the second image and determining a target pixel point of which the second temperature is within a preset temperature range;
the second region construction module is used for constructing a second target region according to the target pixel points and acquiring the second region area of the second target region;
and the coordinate information sending module is used for acquiring coordinate information of a preset pixel point in the second target area when the area of the second area is in a preset area range, and sending the coordinate information to the thermal imaging camera.
Specifically, the preset temperature measurement parameter and the current temperature measurement parameter include an orientation angle of the robot and/or position information of a pan/tilt head in the robot.
For example, the first parameter adjusting module 601 may include:
and the movement control unit is used for acquiring the position information of the preset temperature measuring point and controlling the robot to move to the preset temperature measuring point according to the position information.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments may be implemented.
The embodiments of the present application provide a computer program product, which when running on a robot, enables the robot to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include at least: any entity or device capable of carrying computer program code to a device/robot, recording medium, computer memory, read-only memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable storage media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A black body alignment method is applied to a robot, and comprises the following steps:
controlling the robot to move to a preset temperature measuring point, and adjusting the current temperature measuring parameter of the robot according to a preset temperature measuring parameter corresponding to the preset temperature measuring point;
acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a black body in the first image;
and when the first position is not in a preset area, adjusting the current temperature measurement parameters of the robot according to the first position until the first position of the black body in the first image is adjusted to the preset area.
2. The blackbody alignment method of claim 1, wherein the first image is an infrared thermal image captured by a thermal imaging camera in the robot;
the analyzing the first image and the determining the first position of the black body in the first image comprises:
acquiring a first temperature of each pixel point in the first image, and determining a target pixel point with the first temperature in a preset temperature range;
constructing a first target area according to the target pixel points, and acquiring the first area of the first target area;
and determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the black body in the first image.
3. The black body alignment method of claim 1, wherein the first image is a visible light image captured by a visible light camera in the robot.
4. The black body alignment method of claim 3, wherein after adjusting the first position of the black body in the first image to the preset region, comprising:
acquiring a second image acquired by the robot, and determining a preset area of the second image according to a preset area of the first image, wherein the second image is an infrared thermal image acquired by a thermal imaging camera in the robot;
acquiring a second temperature of each pixel point in a preset area of the second image, and determining a target pixel point with the second temperature within a preset temperature range;
constructing a second target area according to the target pixel points, and acquiring the second area of the second target area;
and when the area of the second region is within a preset area range, acquiring coordinate information of a preset pixel point in the second target region, and sending the coordinate information to the thermal imaging camera.
5. The blackbody alignment method according to any one of claims 1 to 4, wherein the preset thermometric parameters and the current thermometric parameters include orientation angles of the robot and/or position information of a pan-tilt in the robot.
6. A black body alignment method according to any one of claims 1 to 4, wherein said controlling the robot to move to a preset temperature measurement point comprises:
and acquiring the position information of the preset temperature measuring point, and controlling the robot to move to the preset temperature measuring point according to the position information.
7. A black body alignment device, applied to a robot, comprising:
the first parameter adjusting module is used for controlling the robot to move to a preset temperature measuring point and adjusting the current temperature measuring parameter of the robot according to the preset temperature measuring parameter corresponding to the preset temperature measuring point;
the blackbody position determining module is used for acquiring a first image acquired by the robot, analyzing the first image and determining a first position of a blackbody in the first image;
and the second parameter adjusting module is used for adjusting the current temperature measuring parameter of the robot according to the first position when the first position is not in a preset area until the first position of the black body in the first image is adjusted to the preset area.
8. The blackbody alignment apparatus of claim 7, wherein the first image is an infrared thermal image captured by a thermal imaging camera in the robot;
the blackbody position determination module includes:
the first temperature acquisition unit is used for acquiring a first temperature of each pixel point in the first image and determining a target pixel point of which the first temperature is within a preset temperature range;
the first region construction unit is used for constructing a first target region according to the target pixel points and acquiring the first region area of the first target region;
and the blackbody position determining unit is used for determining the position corresponding to the first target region with the first region area within the preset area range as the first position of the blackbody in the first image.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the blackbody alignment method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the blackbody alignment method of any one of claims 1 to 6.
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