CN113362406B - Light curtain image generation method and system and identification system - Google Patents
Light curtain image generation method and system and identification system Download PDFInfo
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- CN113362406B CN113362406B CN202110454483.2A CN202110454483A CN113362406B CN 113362406 B CN113362406 B CN 113362406B CN 202110454483 A CN202110454483 A CN 202110454483A CN 113362406 B CN113362406 B CN 113362406B
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Abstract
The invention discloses a light curtain image generation method and system and an identification system, wherein the light curtain image generation method comprises the following steps: acquiring shielding data of each ray in the multi-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 ray in the multi-ray multi-angle light curtain comprises the steps of generating each frame image of each ray, and combining the obtained frame images to form a complete time sequence image. The light curtain image generation method and system and the identification system provided by the invention effectively consider the light shielding conditions in multiple directions, and can improve the image accuracy of the acquired light curtain image.
Description
Technical Field
The invention belongs to the technical field of elevator light curtains, and relates to a light curtain system, in particular to a light curtain image generation method and system and an identification system.
Background
The current light curtain measuring device is based on a light curtain device with unidirectional scanning, and the existing light curtain is low in image resolution due to the limited number of sensors.
In addition, at present, a multi-directional scanning mode is started to be used for a touch screen and an elevator light curtain, but images acquired in all directions cannot be simply combined because the images in all directions are at a certain angle.
In view of this, there is an urgent need to design a new light curtain image generation manner so as to overcome at least some of the above-mentioned drawbacks of the existing light curtain image generation manner.
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 the acquired light curtain image.
In order to solve the technical problems, according to one aspect of the present invention, the following technical scheme is adopted:
a light curtain image generation method, the light curtain image generation method comprising: acquiring shielding data of each ray in the multi-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data;
the step of acquiring the shielding data of each ray in the multi-ray multi-angle light curtain comprises the steps of generating each frame image of each ray, and combining the acquired frame images to form a complete time sequence image;
the step of generating each frame image of each ray includes:
drawing a working plane, and dividing the working plane into different units;
setting the colors of all units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be white, and the blind area and the shielded area are set to be black;
deleting individual black cells wrapped by white areas;
combining adjacent black areas to form independent black blocks;
screening according to a set screening rule to obtain black blocks conforming to the rule, and obtaining a corresponding frame image;
in the step of screening black blocks, the black blocks are taken as basic working units, and the screening rule of a certain black block is to completely delete the black block or completely reserve the black block; the screening rules include:
(1) if a blocked ray passes through only one black block, the black block is preserved;
(2) the more black blocks a blocked ray passes, the lower the weight of the blocked ray;
(3) the weight value of each black block is the sum of the weight values of the shielded light rays passing through the black blocks;
(4) each black block is reserved or deleted according to the height of a weight value, and the weight value is larger than a set threshold value or the first black block with the weight rearrangement name is reserved;
(5) for black blocks through which the blocked light passes, at least one black block is reserved;
the black block screening step comprises the following steps:
a1, firstly, obtaining all black blocks to form a black block pool;
a2, judging whether the black block pool has the blocked light passing through only one black block, if so, acquiring all the blocked light passing through only one black block, and acquiring the corresponding black block; reserving the black block and deleting the black block from the black block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one black block is reserved in black blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the black blocks in the black block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the black blocks through the step (3), and then executing the step (4), and judging whether the corresponding black blocks need to be reserved or not according to the sequence from large to small of the weight values of the black blocks; specifically, sequentially selecting a black block with the largest weight value from the rest black blocks as a reserved black block; and then turning to the step A3;
and step A5, finishing screening, taking all black blocks screened out 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, the light curtain image generation method comprising: and acquiring shielding data of each ray in the multi-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data.
As one embodiment of the invention, the step of obtaining the shielding data of each ray in the multi-ray multi-angle light curtain comprises the steps of generating each frame image of each ray, and combining the obtained frame images to form a complete time sequence image.
As one embodiment of the present invention, the generating each frame image of each ray includes:
drawing a working plane, and dividing the working plane into different units;
setting the colors of all units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be a first color, and the blind area and the shielded area are set to be a second color;
deleting individual second color cells wrapped by the first color region;
merging 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 requirements, and obtaining a corresponding frame image.
In the step of screening the second color blocks, the second color blocks are taken as basic working units, and the screening rule of 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 of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
the weight value of each second color block is the sum of the weight values of the shielded light rays 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 first ranking weight value or the weight value larger than the set threshold value are reserved;
for the second color blocks through which the blocked light passes, at least one second color block is reserved.
The step of screening the second color block includes:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
According to a further 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 multi-angle light curtain;
and the light curtain image calculation module is used for calculating a light curtain image according to the shielding data acquired by the light curtain light shielding data acquisition module.
As one embodiment of the present invention, the light curtain light shielding data acquisition module includes:
the light ray frame image generating unit is used for generating each frame image of each light ray;
and the complete time sequence image forming unit is used for combining the frame images acquired by the light ray frame image generating unit to form a complete time sequence image.
As one embodiment of the present invention, the light frame image generating unit includes:
the working plane drawing unit is used for drawing a working plane and dividing the working plane into different units;
the color setting unit is used for setting the colors of the units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be a first color, and the blind area and the shielded area are set to be a second color;
a second color deleting unit configured to delete the individual second color units wrapped by the first color region;
the second color merging unit is used for merging adjacent second color areas to form independent second color blocks;
and the screening unit is used for screening and obtaining the second color block meeting the requirements according to the set rule to obtain the corresponding frame image.
As an implementation manner of the present invention, the screening unit uses the second color block as a basic working unit, and the screening rule of 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 screens the rule including:
if one of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
the weight value of each second color block is the sum of the weight values of the shielded light rays 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 first ranking weight value or the weight value larger than the set threshold value are reserved;
for the second color blocks through which the blocked light passes, at least one second color block is reserved.
The screening process of the screening unit comprises the following steps:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
According to a further aspect of the invention, the following technical scheme is adopted: an identification system comprising the light curtain image generation system described above.
The invention has the beneficial effects that: the light curtain image generation method and system and the identification system provided by the invention effectively consider the light shielding conditions in multiple directions, and can improve the image accuracy of the acquired light curtain image.
Drawings
FIG. 1 is a flowchart of a method for generating a light curtain image according to an embodiment of the invention.
Fig. 2 is a flowchart of a light curtain image generating method step S1 according to an embodiment of the invention.
Fig. 3 is a flowchart of a light curtain image generating method step S11 according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a light curtain image generation system according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a composition of a light frame image generating unit according to an embodiment of the invention.
Fig. 6 is a schematic diagram illustrating a composition of a light frame image generating unit according to an embodiment of the present invention.
FIG. 7 is a schematic diagram illustrating 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 in an embodiment of the present invention.
FIG. 9 is a schematic view of light rays of a light curtain according to an embodiment of the present invention.
FIG. 10 is a schematic diagram of setting the unobstructed area to be white in an embodiment of the invention.
FIG. 11 is a schematic diagram of a black block reserved in an embodiment of the invention.
Fig. 12 is a schematic diagram of all black blocks after screening 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 present invention, preferred embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are merely intended to illustrate further features and advantages of the invention, and are not limiting of the claims of the invention.
The description of this section is intended to be illustrative of only a few exemplary embodiments and the invention is not to be limited in scope by the description of the embodiments. It is also within the scope of the description and claims of the invention to interchange some of the technical features of the embodiments with other technical features of the same or similar prior art.
The description of the steps in the various embodiments in the specification is merely for convenience of description, and the implementation of the present application is not limited by the order in which the steps are implemented. "connected" in the specification includes both direct and indirect connections.
The invention discloses a light curtain image generation method, and FIG. 1 is a flow chart of the light curtain image generation method in an embodiment of the invention; referring to fig. 1, the light curtain image generating method includes:
step S1, shielding data of each ray in the multi-ray multi-angle light curtain are obtained;
step S2, calculating an optical curtain image according to the shielding data acquired in the step S1.
FIG. 7 is a schematic diagram illustrating an operation of a light curtain device according to an embodiment of the present invention; referring to fig. 7, in an embodiment of the present invention, a light curtain device includes a plurality of emitting lamps and a plurality of receiving lamps; the light curtain device may be a multi-angle light curtain, and light rays are respectively emitted 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 and downwards provided with transmitting lamps, the light curtain of the receiving side is vertically and downwards provided with receiving lamps, light emitted by one transmitting lamp is perceived by a plurality of receiving lamps, the transmitting and receiving lamps are traversed in unit time, a plurality of columns of data with the number of < transmitting lamp number, receiving lamp number > are obtained, actual values of the data are readings of the receiving lamps, and ordered collection of the data is a frame acquired in unit time.
FIG. 2 is a flowchart of a light curtain image generating method step S1 according to an embodiment of the present invention; referring to fig. 2, in an embodiment of the invention, the step S1 includes:
step S11, generating each frame image of each ray;
and (S12) merging the acquired frame images to form a complete time sequence image.
FIG. 3 is a flowchart of a light curtain image generating method step S11 according to an embodiment of the present invention; referring to fig. 3, in one embodiment, the step S11 includes:
step S111, drawing a working plane, and dividing the working plane into different units;
step S112, the color of each unit is set according to the data received by the light curtain receiver, the non-shielded area is set to be a first color (for example, white or other colors are possible), the blind area and the shielded area are set to be a second color (for example, black or other colors are possible); as shown in fig. 10.
Step S113, deleting individual second color units wrapped by the first color region;
step S114, merging adjacent second color areas to form independent second color blocks;
step S115, screening to obtain a second color block conforming to the rule according to the set screening rule, and obtaining a corresponding frame image. If the second color blocks are partly filtered out, or partly removed, the corresponding frame image is obtained.
In an embodiment of the present invention, in step S115, the second color block is taken as a basic working unit, and the filtering 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:
(1) if one of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
(2) the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
(3) the weight value of each second color block is the sum of the weight values of the shielded light rays passing through the second color block;
(4) each second color block is reserved or deleted according to the height of the weight value, and the second color blocks with the first ranking weight value or the weight value larger than the set threshold value are reserved;
(5) for the second color blocks through which the blocked light passes, at least one second color block is reserved.
In one usage scenario of the present invention, the step of screening the second color block includes:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
The invention also discloses a light curtain image generation system, and FIG. 4 is a schematic diagram of the composition of the light curtain image generation system in an embodiment of the invention; referring to fig. 4, the light curtain image generating system includes: the light curtain light shielding data acquisition module 1 and the 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 multi-angle light curtain; the light curtain image calculating module 2 is configured to calculate 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 composition 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 acquisition module 1 includes: the light frame image generating unit 11 and the complete time-series image forming unit 12. The light ray frame image generating unit 11 is configured to generate each frame image of each light ray; 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, the horizontal axis of the generated light curtain image is time (each pixel is a frame), the vertical axis is the number of < transmitting lamp-receiving lamp > (which can be collectively referred to as a natural number), and the number of pixels of the vertical axis is the number of light rays; there are various ways of generating sequence numbers.
FIG. 6 is a schematic diagram illustrating the composition of a light frame image generating unit according to an embodiment of the present invention; referring to fig. 6, in one embodiment, the light frame image generating unit 11 includes: a work plane drawing unit 111, a color setting unit 112, a second color deleting unit 113, a second color combining unit 114, and a screening unit 115.
The work plane drawing unit 111 is used to draw a work plane, dividing the work plane into different units. The color setting unit 112 is configured to set the color of each unit according to the data received by the light curtain receiver, the non-occluded area is set to a first color, and the blind area and the occluded area are set to a second color. The second color deleting unit 113 is configured to delete individual second color units wrapped by the first color region. The second color merging unit 114 is configured to merge adjacent second color regions to form independent second color blocks. The filtering unit 115 is configured to filter the second color block according to a set rule to obtain a corresponding frame image.
In an embodiment of the present invention, the filtering unit 115 uses the second color block as a basic working unit, and the filtering rule of 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:
(1) if one of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
(2) the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
(3) the weight value of each second color block is the sum of the weight values of the shielded light rays passing through the second color block;
(4) each second color block is reserved or deleted according to the height of the weight value, and the second color blocks with the first ranking weight value or the weight value larger than the set threshold value are reserved;
(5) for the second color blocks through which the blocked light passes, at least one second color block is reserved.
In an 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 the needs; preferably, the first color and the second color have a certain color difference so as to be identified later.
In one usage scenario of the present invention, the screening process of the screening unit includes:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
The invention further discloses an identification system which comprises the light curtain image generation system. The identification system identifies articles or/and persons (other animals can also be) passing through the light curtain (comprising 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 realized by image comparison, namely, the acquired image is compared with a set image library.
In summary, the light curtain image generation method, the light curtain image generation system and the identification system provided by the invention effectively consider the light shielding condition of multiple directions, and can improve the image accuracy of the acquired 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, an Application Specific Integrated Circuit (ASIC), a general purpose computer, or any other similar hardware device may be employed. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs of the present application (including related data structures) may 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 in hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The description and applications of the present 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 embodied in the embodiments due to interference of various factors, and description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternatives and equivalents of the various components of the embodiments are known to those of ordinary skill 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 assemblies, materials, and components, 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 (4)
1. A light curtain image generation method, characterized in that the light curtain image generation method comprises: acquiring shielding data of each ray in the multi-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data;
the step of acquiring the shielding data of each ray in the multi-ray multi-angle light curtain comprises the steps of generating each frame image of each ray, and combining the acquired frame images to form a complete time sequence image;
the step of generating each frame image of each ray includes:
drawing a working plane, and dividing the working plane into different units;
setting the colors of all units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be white, and the blind area and the shielded area are set to be black;
deleting individual black cells wrapped by white areas;
combining adjacent black areas to form independent black blocks;
screening according to a set screening rule to obtain black blocks conforming to the rule, and obtaining a corresponding frame image;
in the step of screening black blocks, the black blocks are taken as basic working units, and the screening rule of a certain black block is to completely delete the black block or completely reserve the black block; the screening rules include:
(1) if a blocked ray passes through only one black block, the black block is preserved;
(2) the more black blocks a blocked ray passes, the lower the weight of the blocked ray;
(3) the weight value of each black block is the sum of the weight values of the shielded light rays passing through the black blocks;
(4) each black block is reserved or deleted according to the height of a weight value, and the weight value is larger than a set threshold value or the first black block with the weight rearrangement name is reserved;
(5) for black blocks through which the blocked light passes, at least one black block is reserved;
the black block screening step comprises the following steps:
a1, firstly, obtaining all black blocks to form a black block pool;
a2, judging whether the black block pool has the blocked light passing through only one black block, if so, acquiring all the blocked light passing through only one black block, and acquiring the corresponding black block; reserving the black block and deleting the black block from the black block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one black block is reserved in black blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the black blocks in the black block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the black blocks through the step (3), and then executing the step (4), and judging whether the corresponding black blocks need to be reserved or not according to the sequence from large to small of the weight values of the black blocks; specifically, sequentially selecting a black block with the largest weight value from the rest black blocks as a reserved black block; and then turning to the step A3;
and step A5, finishing screening, taking all black blocks screened out as reserved black blocks, and deleting other black blocks at the same time.
2. A light curtain image generation method, characterized in that the light curtain image generation method comprises: acquiring shielding data of each ray in the multi-ray multi-angle light curtain, and calculating a light curtain image according to the shielding data;
the step of acquiring the shielding data of each ray in the multi-ray multi-angle light curtain comprises the steps of generating each frame image of each ray, and combining the acquired frame images to form a complete time sequence image;
the step of generating each frame image of each ray includes:
drawing a working plane, and dividing the working plane into different units;
setting the colors of all units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be a first color, and the blind area and the shielded area are set to be a second color;
deleting individual second color cells wrapped by the first color region;
merging adjacent second color areas to form independent second color blocks;
screening according to a set rule to obtain a second color block meeting the requirements, and obtaining a corresponding frame image;
in the step of screening the second color blocks, the second color blocks are taken as basic working units, and the screening rule of 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 of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
the weight value of each second color block is the sum of the weight values of the shielded light rays passing through the second color block;
each second color block is reserved or deleted according to the height of the weight value, and the weight value is larger than a set threshold value or the first second color block of the weight rank is reserved;
for the second color blocks through which the blocked light passes, at least one second color block is reserved;
the step of screening the second color block includes:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
3. 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 multi-angle light curtain;
the light curtain image calculation module is used for calculating a light curtain image according to the shielding data acquired by the light curtain light shielding data acquisition module;
the light curtain light shielding data acquisition module comprises:
the light ray frame image generating unit is used for generating each frame image of each light ray;
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;
the light ray frame image generating unit includes:
the working plane drawing unit is used for drawing a working plane and dividing the working plane into different units;
the color setting unit is used for setting the colors of the units according to the data received by the light curtain receiver, wherein the non-shielded area is set to be a first color, and the blind area and the shielded area are set to be a second color;
a second color deleting unit configured to delete the individual second color units wrapped by the first color region;
the second color merging unit is used for merging adjacent second color areas to form independent second color blocks;
the screening unit is used for screening and obtaining a second color block meeting the requirements according to a set rule to obtain a corresponding frame image;
the screening unit takes the second color block as a basic working unit, and the screening rule of 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 screens the rule including:
if one of the blocked light rays passes through only one of the second color blocks, the second color block is reserved;
the more second color blocks a blocked ray passes, the lower the weight of the blocked ray;
the weight value of each second color block is the sum of the weight values of the shielded light rays 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 first ranking weight value or the weight value larger than the set threshold value are reserved;
for the second color blocks through which the blocked light passes, at least one second color block is reserved.
The screening process of the screening unit comprises the following steps:
a1, acquiring all second color blocks to form a second color block pool;
a2, judging whether the second color block pool has the blocked light passing through only one second color block, if so, acquiring all the blocked light passing through only one second color block, and acquiring the corresponding second color block; reserving the second color block and deleting the second color block from the second color block pool; turning to step A4;
a3, judging whether a rule (5) is met, namely, at least one second color block is reserved in the second color blocks through which the shielded light passes; if the rule (5) is satisfied, turning to the step A5; if the rule (5) is not satisfied, the step A4 is carried out;
step A4, screening the second color blocks in the second color block pool, which specifically comprises the following steps: calculating weight values of the light rays through the step (2), calculating weight values of the second color blocks through the step (3), and then executing the step (4), and judging whether the corresponding second color blocks need to be reserved or not according to the sequence from the large to the small of the weight values of the second color blocks; specifically, sequentially selecting the second color block with the largest weight value from the rest second color blocks as a reserved second color block; and then turning to the step A3;
and step A5, finishing screening, taking all the screened second color blocks as reserved second color blocks, and deleting other second color blocks.
4. An identification system, further characterized in that it comprises the light curtain image generation system of claim 3.
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