CN113362406A - Light curtain image generation method and system and recognition system - Google Patents
Light curtain image generation method and system and recognition system Download PDFInfo
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- CN113362406A CN113362406A CN202110454483.2A CN202110454483A CN113362406A CN 113362406 A CN113362406 A CN 113362406A CN 202110454483 A CN202110454483 A CN 202110454483A CN 113362406 A CN113362406 A CN 113362406A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T11/00—2D [Two Dimensional] image generation
- G06T11/001—Texturing; Colouring; Generation of texture or colour
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Abstract
The invention discloses a light curtain image generation method, a light curtain image generation system and an identification system, wherein the light curtain image generation method comprises the following steps: acquiring shielding data of each light ray in the multi-light-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data; the step of obtaining the shielding data of each light ray in the multi-light-ray multi-angle light curtain comprises the steps of generating each frame image of each light ray, and combining the obtained frame images to form a complete time sequence image. The light curtain image generation method, the light curtain image generation system and the light curtain image identification system effectively consider the light shielding condition in multiple directions, and can improve the image accuracy of the light curtain image.
Description
Technical Field
The invention belongs to the technical field of elevator light curtains, relates to a light curtain system, and particularly relates to a light curtain image generation method, a light curtain image generation system and an identification system.
Background
The current light curtain equipment for measuring the image of the light curtain based on unidirectional scanning has lower image resolution obtained by the current light curtain due to the limited number of sensors.
In addition, at present, a multi-direction scanning mode is used for a touch screen and an elevator light curtain, but images in all directions form a certain angle with each other, so that the images acquired in all directions cannot be combined simply.
In view of the above, there is an urgent need to design a new light curtain image generation method to overcome at least some of the above-mentioned disadvantages of the existing light curtain image generation methods.
Disclosure of Invention
The invention provides a light curtain image generation method and system and an identification system, which can improve the image precision of obtaining a light curtain image.
In order to solve the technical problem, according to one aspect of the present invention, the following technical solutions are adopted:
a light curtain image generation method, comprising: acquiring shielding data of each light ray in the multi-light-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data;
the step of obtaining the shielding data of each light ray in the multi-light-ray multi-angle light curtain comprises the steps of generating each frame image of each light ray, and combining the obtained frame images to form a complete time sequence image;
the step of generating each frame image of each ray comprises the following steps:
drawing a working plane, and dividing the working plane into different units;
setting the color of each unit according to the data received by the light curtain receiver, setting the area which is not shielded to be white, and setting the area which is blind and shielded to be black;
deleting individual black cells wrapped by the white area;
combining adjacent black areas to form independent black blocks;
screening according to a set screening rule to obtain black blocks which accord with the rule, and obtaining corresponding frame images;
in the step of screening the black blocks, the black blocks are used as basic working units, and the screening rule of one black block is to completely delete the black block or completely reserve the black block; the screening rules include:
if one shielded light ray only passes through one black block, the black block is reserved;
the more black blocks a shielded light ray passes through, the lower the weight of the shielded light ray is;
the weighted value of each black block is the sum of the weighted values of the shielded light passing through the black block;
fourthly, each black block is reserved or deleted according to the weight value, and the weight value is larger than a set threshold value or the black block with the first name is reserved;
for the black blocks through which the shielded light passes, at least one black block is reserved;
the step of screening the black blocks comprises the following steps:
step A1, firstly, acquiring all black blocks to form a black block pool;
step A2, judging whether a black block pool has a shielded light ray passing through only one black block, if so, acquiring all the shielded light rays passing through only one black block, and acquiring a corresponding black block; reserving the black block and deleting the black block from the black block pool; go to step A4;
step A3, judging whether rule (v) is satisfied, that is, at least one black block is reserved for the black blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the black blocks in the black block pool, which specifically comprises the following steps: calculating the weight value of light, calculating the weight value of black color blocks, executing the fourth step, and judging whether the corresponding black color blocks need to be reserved according to the sequence of the weight values of the black color blocks from large to small; specifically, the black block with the largest weight value is sequentially selected from the remaining black blocks as a reserved black block; then go to step A3;
and step A5, finishing the screening, taking all the screened black blocks as reserved black blocks, and deleting other black blocks at the same time.
According to another aspect of the invention, the following technical scheme is adopted: a light curtain image generation method, comprising: and acquiring the shielding data of each light ray in the multi-light-ray multi-angle light curtain, and calculating the light curtain image according to the shielding data.
As an embodiment of the present invention, the step of obtaining the occlusion data of each ray in the multi-ray multi-angle light curtain includes generating each frame image of each ray, and combining the obtained frame images to form a complete time series image.
As an embodiment of the present invention, the step of generating each frame image of each light ray includes:
drawing a working plane, and dividing the working plane into different units;
setting the color of each unit according to the data received by the light curtain receiver, setting the area which is not shielded as a first color, and setting the area which is blind and shielded as a second color;
deleting individual second color cells wrapped by the first color zone;
combining the adjacent second color areas to form independent second color blocks;
and screening according to a set rule to obtain a second color block meeting the requirement, and obtaining a corresponding frame image.
As an embodiment of the present invention, in the step of screening the second color blocks, the second color blocks are used as basic working units, and the screening rule for a certain second color block is to completely delete a certain second color block, or completely reserve a certain second color block; the screening rules include:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a blocked light ray passes through, the lower the weight of the blocked light ray;
the weight value of each second color block is the sum of the weight values of the shielded light passing through the second color block;
each second color block is reserved or deleted according to the height of the weight value, and the second color blocks with the weight values ranked first or larger than a set threshold value are reserved;
at least one second color block is reserved in the second color blocks through which the shielded light passes.
The screening the second color block step comprises:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
According to another aspect of the invention, the following technical scheme is adopted: a light curtain image generation system, the light curtain image generation system comprising:
the light curtain light shielding data acquisition module is used for acquiring shielding data of each light ray in the multi-light-ray multi-angle light curtain;
and the light curtain image calculating module is used for calculating the light curtain image according to the shielding data acquired by the light curtain light shielding data acquiring module.
As an embodiment of the present invention, the light curtain light blocking data obtaining module includes:
the light frame image generating unit is used for generating each frame image of each light;
and the complete time sequence image forming unit is used for combining the frame images acquired by the light frame image generating unit to form a complete time sequence image.
As an embodiment of the present invention, the ray frame image generating unit includes:
the working plane drawing unit is used for drawing the working plane and dividing the working plane into different units;
the color setting unit is used for setting the color of each unit according to the data received by the light curtain receiver, the area which is not shielded is set as a first color, and the blind area and the shielded area are set as a second color;
a second color deletion unit to delete the individual second color units wrapped by the first color area;
the second color combining unit is used for combining the adjacent second color areas to form independent second color blocks;
and the screening unit is used for screening the second color blocks meeting the requirements according to the set rule to obtain the corresponding frame images.
As an embodiment of the present invention, the screening unit uses the second color block as a basic working unit, and the screening rule for a certain second color block is to completely delete a certain second color block, or completely reserve a certain second color block; the screening unit screening rule comprises:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a blocked light ray passes through, the lower the weight of the blocked light ray;
the weight value of each second color block is the sum of the weight values of the shielded light passing through the second color block;
each second color block is reserved or deleted according to the height of the weight value, and the second color blocks with the weight values ranked first or larger than a set threshold value are reserved;
at least one second color block is reserved in the second color blocks through which the shielded light passes.
The screening process of the screening unit comprises the following steps:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
According to another aspect of the invention, the following technical scheme is adopted: an identification system comprises the light curtain image generation system.
The invention has the beneficial effects that: the light curtain image generation method, the light curtain image generation system and the light curtain image identification system effectively consider the light shielding condition in multiple directions, and can improve the image accuracy of the light curtain image.
Drawings
Fig. 1 is a flowchart of a light curtain image generating method according to an embodiment of the present invention.
Fig. 2 is a flowchart of step S1 of the light curtain image generating method according to an embodiment of the invention.
Fig. 3 is a flowchart of step S11 of the light curtain image generating method according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a light curtain image generating system according to an embodiment of the invention.
Fig. 5 is a schematic diagram illustrating the components of the light frame image generating unit according to an embodiment of the invention.
Fig. 6 is a schematic diagram illustrating the components of the light frame image generating unit according to an embodiment of the invention.
Fig. 7 is a schematic diagram of an operation of a light curtain device according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of a light curtain image generated according to an embodiment of the invention.
FIG. 9 is a diagram illustrating light rays of a light curtain according to an embodiment of the invention.
FIG. 10 is a schematic diagram illustrating an unobstructed area being set to white according to an embodiment of the invention.
FIG. 11 is a diagram of a black block in an embodiment of the invention.
FIG. 12 is a diagram of all black blocks after being screened according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the invention, reference will now be made to the preferred embodiments of the invention by way of example, and it is to be understood that the description is intended to further illustrate features and advantages of the invention, and not to limit the scope of the claims.
The description in this section is for several exemplary embodiments only, and the present invention is not limited only to the scope of the embodiments described. It is within the scope of the present disclosure and protection that the same or similar prior art means and some features of the embodiments may be interchanged.
The steps in the embodiments in the specification are only expressed for convenience of description, and the implementation manner of the present application is not limited by the order of implementation of the steps. The term "connected" in the specification includes both direct connection and indirect connection.
The invention discloses a light curtain image generating method, and fig. 1 is a flow chart of the light curtain image generating method in an embodiment of the invention; referring to fig. 1, the method for generating a light curtain image includes:
step S1, obtaining occlusion data of each light ray in the multi-light-ray multi-angle light curtain;
step S2 calculates a light curtain image from the occlusion data acquired in step S1.
FIG. 7 is a schematic diagram of an embodiment of a light curtain apparatus; referring to fig. 7, in an embodiment of the present invention, the light curtain device includes a plurality of emitting lamps and a plurality of receiving lamps; the light curtain device can be a multi-angle light curtain, and light rays respectively emit from one side (emitting side) of the light curtain to the other side (receiving side) of the light curtain. The light curtain of the transmitting side is vertically downwards provided with transmitting lamps, the light curtain of the receiving side is vertically downwards provided with receiving lamps, light which can be transmitted by one transmitting lamp is sensed by a plurality of receiving lamps, the transmitting and receiving lamps are traversed within a unit time, a plurality of lines of data with the serial number of transmitting lamp number and receiving lamp number can be obtained, the actual value of the data is the reading number of the receiving lamp, and the ordered set of the data is a frame acquired within the unit time.
FIG. 2 is a flowchart illustrating a step S1 of a light curtain image generating method according to an embodiment of the present invention; referring to fig. 2, in an embodiment of the present invention, the step S1 includes:
step S11, generating each frame image of each ray;
the acquired frame images are combined to form a complete time-series image [ step S12 ].
FIG. 3 is a flowchart of the light curtain image generation method step S11 according to an embodiment of the present invention; referring to fig. 3, in an embodiment, the step S11 includes:
step S111, drawing a working plane, and dividing the working plane into different units;
step S112, setting the color of each cell according to the data received by the light curtain receiver, setting the non-shielded region as a first color (for example, white, or other colors), and setting the blind region and the shielded region as a second color (for example, black, or other colors); as shown in fig. 10.
Deleting the individual second color cells wrapped by the first color zone;
step S114, combining adjacent second color areas to form independent second color blocks;
and (S115) screening according to the set screening rule to obtain a second color block which accords with the rule, and obtaining a corresponding frame image. If a part of the second color blocks can be screened out, or a part of the second color blocks can be removed, and the corresponding frame image is obtained.
In an embodiment of the present invention, in step S115, the second color block is used as a basic working unit, and the screening rule for a certain second color block is to completely delete a certain second color block, or completely reserve a certain second color block (as shown in fig. 11 and 12); the screening rules include:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a shielded light ray passes through, the lower the weight of the shielded light ray is;
the weighted value of each second color block is the sum of the weighted values of the shielded light passing through the second color block;
fourthly, each second color block is reserved or deleted according to the weight value, and the second color blocks with the weight values ranked to be first or larger than a set threshold value are reserved;
for the second color blocks passed by the shielded light, at least one second color block is reserved.
In a usage scenario of the present invention, the step of filtering the second color block includes:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
The invention also discloses a light curtain image generating system, and fig. 4 is a schematic composition diagram of the light curtain image generating system in an embodiment of the invention; referring to fig. 4, the light curtain image generating system includes: the device comprises a light curtain light shielding data acquisition module 1 and a light curtain image calculation module 2. The light curtain light shielding data acquisition module 1 is used for acquiring shielding data of each light ray in the multi-light ray multi-angle light curtain; the light curtain image calculating module 2 is used for calculating a light curtain image according to the shielding data acquired by the light curtain light shielding data acquiring module.
FIG. 5 is a schematic diagram illustrating the components of a light frame image generating unit according to an embodiment of the present invention; referring to fig. 5, in an embodiment of the present invention, the light curtain light shielding data obtaining module 1 includes: a light frame image generating unit 11 and a full time series image forming unit 12. The light frame image generating unit 11 is used for generating each frame image of each light; the complete time-series image forming unit 12 is configured to combine the frame images acquired by the light frame image generating unit 11 to form a complete time-series image.
FIG. 8 is a schematic view of a light curtain image generated in an embodiment of the present invention; referring to fig. 8, in an embodiment of the present invention, a horizontal axis of a generated light curtain image is time (each pixel is a frame), a vertical axis is a number of < emitting light-receiving light > (which can be uniformly converted into a natural number), and a number of pixels on the vertical axis is a number of light rays; there are various ways of generating the serial number.
FIG. 6 is a schematic diagram illustrating the components of a light frame image generating unit according to an embodiment of the present invention; referring to fig. 6, in an embodiment, the light frame image generating unit 11 includes: a working plane drawing unit 111, a color setting unit 112, a second color deleting unit 113, a second color combining unit 114, and a filtering unit 115.
The working plane drawing unit 111 is used for drawing a working plane, and dividing the working plane into different units. The color setting unit 112 is used for setting the color of each unit according to the data received by the light curtain receiver, the non-shielded area is set as the first color, and the blind area and the shielded area are set as the second color. The second color deletion unit 113 is configured to delete the individual second color cells wrapped by the first color area. The second color combining unit 114 is used for combining the adjacent second color regions to form independent second color blocks. The screening unit 115 is configured to screen a second color block meeting the requirement according to a set rule to obtain a corresponding frame image.
In an embodiment of the present invention, the screening unit 115 uses a second color block as a basic working unit, and the screening rule for a certain second color block is to completely delete a certain second color block, or completely reserve a certain second color block; the screening rules of the screening unit 115 include:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a shielded light ray passes through, the lower the weight of the shielded light ray is;
the weighted value of each second color block is the sum of the weighted values of the shielded light passing through the second color block;
fourthly, each second color block is reserved or deleted according to the weight value, and the second color blocks with the weight values ranked to be first or larger than a set threshold value are reserved;
for the second color blocks passed by the shielded light, at least one second color block is reserved.
In one embodiment, the first color may be white and the second color may be black. Of course, the selection of the first color and the second color can be set according to needs; preferably, the first color and the second color have a certain color difference for subsequent identification.
In a usage scenario of the present invention, the screening process of the screening unit includes:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
The invention further discloses an identification system which comprises the light curtain image generation system. The identification system identifies objects or/and people (or other animals) passing through the light curtain (including a first light curtain unit and a second light curtain unit which are oppositely arranged, wherein the first light curtain unit is provided with at least one receiver or/and at least one emitter, and the second light curtain unit is provided with at least one receiver or/and at least one emitter) according to the light curtain image acquired by the light curtain image generation system. The identification mode can be through image comparison, is about to obtain the image and set up the image library to carry out the comparison.
In summary, the light curtain image generation method, the light curtain image generation system and the light curtain image recognition system provided by the invention effectively consider the light shielding situation in multiple directions, and can improve the image accuracy of obtaining the light curtain image.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware; for example, it may be implemented using Application Specific Integrated Circuits (ASICs), general purpose computers, or any other similar hardware devices. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. As such, the software programs (including associated data structures) of the present application can be stored in a computer-readable recording medium; such as RAM memory, magnetic or optical drives or diskettes, and the like. In addition, some steps or functions of the present application may be implemented using hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be reflected in the embodiments due to interference of various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (10)
1. A light curtain image generation method is characterized by comprising the following steps: acquiring shielding data of each light ray in the multi-light-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data;
the step of obtaining the shielding data of each light ray in the multi-light-ray multi-angle light curtain comprises the steps of generating each frame image of each light ray, and combining the obtained frame images to form a complete time sequence image;
the step of generating each frame image of each ray comprises the following steps:
drawing a working plane, and dividing the working plane into different units;
setting the color of each unit according to the data received by the light curtain receiver, setting the area which is not shielded to be white, and setting the area which is blind and shielded to be black;
deleting individual black cells wrapped by the white area;
combining adjacent black areas to form independent black blocks;
screening according to a set screening rule to obtain black blocks which accord with the rule, and obtaining corresponding frame images;
in the step of screening the black blocks, the black blocks are used as basic working units, and the screening rule of one black block is to completely delete the black block or completely reserve the black block; the screening rules include:
if one shielded light ray only passes through one black block, the black block is reserved;
the more black blocks a shielded light ray passes through, the lower the weight of the shielded light ray is;
the weighted value of each black block is the sum of the weighted values of the shielded light passing through the black block;
fourthly, each black block is reserved or deleted according to the weight value, and the weight value is larger than a set threshold value or the black block with the first name is reserved;
for the black blocks through which the shielded light passes, at least one black block is reserved;
the step of screening the black blocks comprises the following steps:
step A1, firstly, acquiring all black blocks to form a black block pool;
step A2, judging whether a black block pool has a shielded light ray passing through only one black block, if so, acquiring all the shielded light rays passing through only one black block, and acquiring a corresponding black block; reserving the black block and deleting the black block from the black block pool; go to step A4;
step A3, judging whether rule (v) is satisfied, that is, at least one black block is reserved for the black blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the black blocks in the black block pool, which specifically comprises the following steps: calculating the weight value of light, calculating the weight value of black color blocks, executing the fourth step, and judging whether the corresponding black color blocks need to be reserved according to the sequence of the weight values of the black color blocks from large to small; specifically, the black block with the largest weight value is sequentially selected from the remaining black blocks as a reserved black block; then go to step A3;
and step A5, finishing the screening, taking all the screened black blocks as reserved black blocks, and deleting other black blocks at the same time.
2. A light curtain image generation method is characterized by comprising the following steps: and acquiring the shielding data of each light ray in the multi-light-ray multi-angle light curtain, and calculating the light curtain image according to the shielding data.
3. The light curtain image generation method as claimed in claim 2, wherein:
the step of obtaining the shielding data of each light ray in the multi-light-ray multi-angle light curtain comprises the steps of generating each frame image of each light ray, and combining the obtained frame images to form a complete time sequence image.
4. The light curtain image generation method as claimed in claim 3, wherein:
the step of generating each frame image of each ray comprises the following steps:
drawing a working plane, and dividing the working plane into different units;
setting the color of each unit according to the data received by the light curtain receiver, setting the area which is not shielded as a first color, and setting the area which is blind and shielded as a second color;
deleting individual second color cells wrapped by the first color zone;
combining the adjacent second color areas to form independent second color blocks;
and screening according to a set rule to obtain a second color block meeting the requirement, and obtaining a corresponding frame image.
5. The light curtain image generation method as claimed in claim 4, wherein:
in the step of screening the second color blocks, the second color blocks are used as basic working units, and the screening rule of one second color block is to completely delete one second color block or completely reserve one second color block; the screening rules include:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a blocked light ray passes through, the lower the weight of the blocked light ray;
the weight value of each second color block is the sum of the weight values of the shielded light passing through the second color block;
each second color block is reserved or deleted according to the height of the weight value, and the second color block with the weight value larger than a set threshold value or the first color block with the weight ranking is reserved;
at least one second color block is reserved in the second color blocks through which the shielded light passes;
the screening the second color block step comprises:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
6. A light curtain image generation system, comprising:
the light curtain light shielding data acquisition module is used for acquiring shielding data of each light ray in the multi-light-ray multi-angle light curtain;
and the light curtain image calculating module is used for calculating the light curtain image according to the shielding data acquired by the light curtain light shielding data acquiring module.
7. The light curtain image generation system of claim 6, wherein:
the light curtain light shielding data acquisition module comprises:
the light frame image generating unit is used for generating each frame image of each light;
and the complete time sequence image forming unit is used for combining the frame images acquired by the light frame image generating unit to form a complete time sequence image.
8. The light curtain image generation system of claim 7, wherein:
the light frame image generating unit includes:
the working plane drawing unit is used for drawing the working plane and dividing the working plane into different units;
the color setting unit is used for setting the color of each unit according to the data received by the light curtain receiver, the area which is not shielded is set as a first color, and the blind area and the shielded area are set as a second color;
a second color deletion unit to delete the individual second color units wrapped by the first color area;
the second color combining unit is used for combining the adjacent second color areas to form independent second color blocks;
and the screening unit is used for screening the second color blocks meeting the requirements according to the set rule to obtain the corresponding frame images.
9. The light curtain image generation system of claim 8, wherein:
the screening unit takes the second color blocks as basic working units, and the screening rule of one second color block is to completely delete one second color block or completely reserve one second color block; the screening unit screening rule comprises:
if one shielded light ray only passes through one second color block, the second color block is reserved;
the more second color blocks a blocked light ray passes through, the lower the weight of the blocked light ray;
the weight value of each second color block is the sum of the weight values of the shielded light passing through the second color block;
each second color block is reserved or deleted according to the height of the weight value, and the second color blocks with the weight values ranked first or larger than a set threshold value are reserved;
at least one second color block is reserved in the second color blocks through which the shielded light passes.
The screening process of the screening unit comprises the following steps:
step A1, acquiring all second color blocks to form a second color block pool;
step A2, judging whether a second color block pool has a shielded light ray passing through only one second color block, if yes, acquiring all the shielded light rays passing through only one second color block, and acquiring a corresponding second color block; reserving the second color block and deleting the second color block from a second color block pool; go to step A4;
step A3, determining whether rule (v) is satisfied, that is, at least one second color block is reserved for the second color blocks through which the shielded light passes; if the rule is satisfied, go to step A5; if the rule is not satisfied, go to step A4;
step A4, screening the second color blocks in the second color block pool, which specifically comprises: calculating the weight value of light, calculating the weight value of second color blocks, executing the fourth step, and judging whether the corresponding second color blocks need to be reserved according to the sequence of the weight values of the second color blocks from large to small; specifically, the second color block with the largest weight value is sequentially selected from the rest second color blocks as the reserved second color block; then go to step A3;
and step A5, finishing the screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks at the same time.
10. An identification system, further characterized in that the identification system comprises the light curtain image generation system of any of claims 6 to 9.
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