CN113585912A - Automatic door control method based on image processing technology and automatic door - Google Patents
Automatic door control method based on image processing technology and automatic door Download PDFInfo
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- CN113585912A CN113585912A CN202110859104.8A CN202110859104A CN113585912A CN 113585912 A CN113585912 A CN 113585912A CN 202110859104 A CN202110859104 A CN 202110859104A CN 113585912 A CN113585912 A CN 113585912A
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The invention belongs to the technical field of automatic door control, and particularly relates to an automatic door control method based on an image processing technology and an automatic door, wherein the method comprises the following steps: acquiring current image data in a preset automatic door detection area; comparing the current image data with pre-stored background image data, and extracting a pixel difference value of the current image data and the background image data; judging whether the pixel difference value is larger than a preset standard trigger threshold value or not; if the judgment result is yes, door opening action instruction information is generated, if the judgment result is no, door closing action instruction information is generated, and the door opening or door closing action instruction information is used for being sent to an automatic door host of the automatic door. According to the automatic door control device, the preset induction domain is arranged, so that the induction domain of the automatic door is controlled in a proper region to be set, the automatic door can be triggered to open only when a person enters the preset induction domain, the automatic door is prevented from being triggered by the person outside the preset induction domain, and further the accurate triggering and control of the automatic door are realized.
Description
Technical Field
The invention belongs to the technical field of automatic door control, and particularly relates to an automatic door control method based on an image processing technology and an automatic door.
Background
At present, because of the convenience of using the automatic door, the automatic door is applied to more and more occasions, and most of the automatic doors on the market adopt microwave or infrared technology to detect human bodies, so that the automatic door opening is realized. In actual control, the microwave or infrared technology cannot accurately divide the sensing area and the non-sensing area, so that the automatic door in some public places is frequently and ineffectively triggered. For example, in an automatic door of a street supermarket, a microwave sensor of a doppler operation mode is installed, the microwave sensor mainly detects dynamic objects or persons, and in order to prevent the microwave sensor from being triggered by a door leaf by mistake in the opening and closing process of the automatic door, the sensing direction of the microwave sensor needs to be set to be far away from the door leaf and point to a far area, and the sensing area is mostly an area which is about 1m to 3m away from the door leaf. Therefore, when a person enters the area, the automatic door is opened. Or, outside the small supermarket door, the walking personnel can mistakenly touch the microwave sensor due to the existence of the personnel on the street, and inside the small supermarket door, the customers can frequently mistakenly touch the sensor when selecting the goods due to the existence of the goods.
Therefore, it is obvious that the automatic door in the market has the problem of inaccurate control and error touch when in use. Therefore, it is necessary to design an automatic door control method and an automatic door based on image processing technology.
Disclosure of Invention
The invention aims to provide an automatic door control method based on an image processing technology and an automatic door, and aims to solve the technical problem that the use of a user is influenced due to mistaken touch caused by inaccurate control of the automatic door in the prior art.
In order to achieve the above object, an embodiment of the present invention provides an automatic door control method based on an image processing technology, where the method includes:
acquiring current image data in a preset automatic door detection area;
comparing the current image data with pre-stored background image data, and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
if the door opening action instruction information is judged to be yes, door opening action instruction information is generated and is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
if not, generating door closing action instruction information, wherein the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
Optionally, the step of extracting a pixel difference value between the current image data and the background image data in a preset induction domain in the automatic door detection area specifically includes:
comparing the photosensitive information data of each corresponding pixel point in the current image data and the background image data, and acquiring a photosensitive information data difference value after comparison; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a photosensitive information data difference value;
and counting the number of the photosensitive information data difference values in the preset induction domain which are larger than a preset photosensitive information data difference value triggering threshold value, and recording the number as the pixel difference value.
Optionally, the step of counting the number of the photosensitive information data difference values in the preset induction domain, which are greater than a preset photosensitive information data difference value trigger threshold, and recording as the pixel difference value specifically includes:
judging whether the light sensing information data difference value in the preset induction domain is larger than a preset light sensing information data difference value trigger threshold value or not;
if the current image data is judged to be the image data with the sensitization information data difference value larger than the sensitization information data difference value triggering threshold, marking the pixel points in the current image data corresponding to the sensitization information data difference value as triggering difference pixel points;
and counting the number of the trigger difference pixel points in the preset induction domain, and recording the number as the pixel difference value.
Optionally, the method further comprises:
comparing the current image data with each pre-stored historical image data, and extracting a background difference value between the current image data and each historical image data, wherein one background difference value is generated after one current image data is compared with one historical image data;
judging whether the background difference values are smaller than a preset standard background threshold value;
if the image data is judged to be the historical image data, storing the current image data as the historical image data.
Optionally, each historical image data is image data corresponding to each time point in a preset time period, and one time point corresponds to one historical image data;
the step of extracting the background difference value between the current image data and each of the historical image data specifically includes:
comparing the current image data with the photosensitive information data of each corresponding pixel point in the historical image data, and acquiring a compared historical photosensitive information data difference value; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a historical photosensitive information data difference value;
judging whether the difference value of the historical photosensitive information data is larger than a preset background threshold value of the photosensitive information data difference value;
if the current image data is judged to be the background difference pixel point, the pixel point of the current image data corresponding to the historical photosensitive information data difference value which is greater than the photosensitive information data difference value background threshold value is marked as the background difference pixel point;
and counting the number of background difference pixel points in the current image data, and recording the number as the background difference value.
Optionally, the step of extracting a pixel difference value between the current image data and the background image data in a preset sensing field in the automatic door detection area further includes:
acquiring the preset induction domain preset in the automatic door detection area;
and storing the preset induction domain.
Optionally, the step of obtaining current image data in a preset automatic door detection area specifically includes:
acquiring visible light in a preset automatic door detection area;
converting the visible light into a voltage signal;
converting the voltage signal into a digital signal;
and converts the digital signal into the current image data.
One or more technical solutions in the automatic door control method based on the image processing technology provided by the embodiment of the present invention at least have one of the following technical effects:
the invention firstly obtains the current image data, compares the current image data with the prestored background image data, sets a preset induction domain in the automatic door detection area, extracts the pixel difference value of the current image data and the background image data in the preset induction domain, namely divides the small range of the preset induction domain in the large range of the automatic door detection area, judges whether the pixel difference value is larger than a preset standard trigger threshold value in the preset induction domain, if so, judges that the image pixel in the preset induction domain is changed, namely, a person enters the preset induction domain and needs to open the automatic door, so that door opening action instruction information is generated, thereby controlling the movable door leaf of the automatic door to be opened based on the door opening action instruction information, and if not, door closing action instruction information is generated, and based on the door closing action instruction information, the movable door leaf of the automatic door is controlled to be closed, so that the accurate control of the automatic door is realized, the user experience is improved, meanwhile, the preset induction domain is arranged, the induction domain of the automatic door is controlled in a proper region to be set, the automatic door can be triggered to be opened only when a person enters the preset induction domain, the person outside the preset induction domain is prevented from triggering the automatic door, and the accurate triggering and control of the automatic door are realized.
Optionally, a visual sensor, the visual sensor comprising:
the image acquisition module is used for acquiring current image data in a preset automatic door detection area;
the data comparison module is used for comparing the current image data with pre-stored background image data and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
the first judgment module is used for judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
the door opening instruction generating module is used for generating door opening action instruction information if the judgment result is yes, wherein the door opening action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
and the door closing instruction generating module is used for generating door closing action instruction information if the judgment result is no, wherein the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
One or more technical solutions in the visual sensor provided by the embodiment of the present invention have at least one of the following technical effects:
the visual sensor adopts the automatic door control method based on the image processing technology, so that accurate triggering and control of the automatic door can be realized.
In order to achieve the above object, an embodiment of the present invention provides an automatic door, which includes the visual sensor, an automatic door host, a motor, a transmission mechanism, and a movable door leaf; the visual sensor, the automatic door host, the motor, the transmission mechanism and the movable door leaf are sequentially connected; wherein the content of the first and second substances,
the visual sensor is used for acquiring current image data in a preset automatic door detection area, comparing the current image data with prestored background image data, extracting a pixel difference value between the current image data and the background image data in the preset induction area in the automatic door detection area, and judging whether the pixel difference value is greater than a preset standard trigger threshold value or not;
if the door opening command information is judged to be yes, door opening action command information is generated and sent to the automatic door host, and the automatic door host controls a motor to drive a transmission mechanism according to the door opening action command information, so that the transmission mechanism drives the movable door leaf to open;
if not, generating door closing action instruction information, sending the door closing action instruction information to the automatic door host, and controlling the movable door leaf to close by the automatic door host according to the door closing action instruction information.
Optionally, the automatic door host includes a receiving module, a controller module, a motor driving module and a transformer module, the receiving module is connected to the visual sensor, the controller module is connected to the receiving module, the motor driving module is connected to the controller module and the motor, and the transformer module is connected to the receiving module, the controller module and the motor driving module; wherein the content of the first and second substances,
the receiving module is used for sending the door opening action instruction information and the door closing action instruction information to the controller module;
the controller module is used for analyzing the door opening action instruction information and the door closing action instruction information, and after the door opening action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to be opened;
after the door closing action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to close.
One or more technical solutions in the automatic door provided by the embodiment of the present invention have at least one of the following technical effects:
according to the automatic door, the induction area of the automatic door can be controlled in a proper area to be set, the automatic door can be triggered to open only when people enter the preset induction area, the automatic door is prevented from being triggered by people outside the preset induction area, and accurate triggering and control of the automatic door are achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart of an automatic door control method based on image processing technology according to an embodiment of the present invention;
FIG. 2 is a flowchart of pixel difference extraction according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a process of calculating the pixel difference according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for controlling an automatic door according to another embodiment of the present invention;
fig. 5 is a flowchart of specific steps for extracting the background difference value according to the embodiment of the present invention;
fig. 6 is a flowchart illustrating storing a predetermined sense field according to an embodiment of the present invention;
FIG. 7 is a flowchart of acquiring current image data according to an embodiment of the present invention;
FIG. 8 is a block diagram of a visual sensor according to an embodiment of the present invention;
FIG. 9 is a block diagram of an image processor module according to an embodiment of the present invention;
FIG. 10 is a block diagram of a visual sensor according to another embodiment of the present invention;
fig. 11 is a block diagram of an automatic door according to an embodiment of the present invention;
fig. 12 is a block diagram of an automatic door host according to an embodiment of the present invention.
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.
In one embodiment of the present invention, as shown in fig. 1, there is provided an automatic door control method based on image processing technology, the method including:
step S100: acquiring current image data in a preset automatic door detection area;
specifically, the automatic door detection area is a detection area of the automatic door itself. By acquiring the current image data in the automatic door detection area, whether a person needs to open or not is judged conveniently on the basis of images.
Step S200: comparing the current image data with pre-stored background image data, and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
in particular, the predetermined sensing field is a smaller range in the automatic door detection area. That is, in this step, after the current image data is obtained, only image data comparison is performed on a part of the area in the automatic door detection area, that is, only the image in the preset induction area is compared, and image data in the whole automatic door detection area is not compared. Because of the whole comparison of the automatic door detection area, control inaccuracy is generated, and the problem of mistaken touch is caused. And comparing data in a preset induction domain in the automatic door detection region, and extracting the pixel difference value between the current image data and the background image data after comparison in the preset induction domain, so as to judge whether a person needs to enter the automatic door.
Further, the background image data is pre-stored in a background data storage module, and the background image data is used for judging whether the door needs to be opened or not. The pixel difference value is used for judging the difference between the current image data and the background image data by comparing the pixels of the current image data and the background image data. Because pixels are used for comparison, the name of the pixel in the pixel difference value is also used. Furthermore, when the pixel difference value is too large, it indicates that there is a need for accessing the automatic door, and therefore the automatic door needs to be opened.
Step S300: judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
specifically, the criterion triggering threshold is preset and used as a criterion for judging whether the automatic door needs to be opened.
Step S400: if the door opening action instruction information is judged to be yes, door opening action instruction information is generated and is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
in this step, when the judgment result is yes, that is, the pixel difference value is judged to be greater than a preset standard trigger threshold value, that is, after the current image data of the area in the preset induction area is compared with the background image data, the pixel difference reaches a certain threshold value, that is, it can be judged that a person comes in or goes out of the preset induction area at this moment, so that door opening action instruction information is generated, and the opening of the moving door leaf of the automatic door is controlled based on the generated door opening action instruction information.
Step S500: if not, generating door closing action instruction information, wherein the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
Specifically, when the judgment result is no, that is, the pixel difference value is judged to be less than or equal to a preset standard trigger threshold value, that is, after the current image data of the area in the preset induction area is compared with the background image data, the pixel difference is not large, that is, it can be judged that no person needs to enter or exit the preset induction area at the moment, so that door closing action instruction information is generated, and the moving door leaf of the automatic door is controlled to be closed based on the door closing action instruction information.
The invention firstly obtains the current image data, compares the current image data with the prestored background image data, sets a preset induction domain in the automatic door detection area, extracts the pixel difference value of the current image data and the background image data in the preset induction domain, namely divides the small range of the preset induction domain in the large range of the automatic door detection area, judges whether the pixel difference value is larger than a preset standard trigger threshold value in the preset induction domain, if so, judges that the image pixel in the preset induction domain is changed, namely, a person enters the preset induction domain and needs to open the automatic door, so that door opening action instruction information is generated, thereby controlling the movable door leaf of the automatic door to be opened based on the door opening action instruction information, and if not, door closing action instruction information is generated, and based on the door closing action instruction information, the movable door leaf of the automatic door is controlled to be closed, so that the accurate control of the automatic door is realized, the user experience is improved, meanwhile, the preset induction domain is arranged, the induction domain of the automatic door is controlled in a proper region to be set, the automatic door can be triggered to be opened only when a person enters the preset induction domain, the person outside the preset induction domain is prevented from triggering the automatic door, and the accurate triggering and control of the automatic door are realized.
In another embodiment of the present invention, as shown in fig. 2, the step of extracting the pixel difference value between the current image data and the background image data in a preset induction domain in the automatic door detection area specifically includes:
step S210: comparing the photosensitive information data of each corresponding pixel point in the current image data and the background image data, and acquiring a photosensitive information data difference value after comparison; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a photosensitive information data difference value;
specifically, when the current image data and the background image data are compared, the specific position of each pixel point can be indicated based on the X coordinate and the Y coordinate of each pixel point, so that the determination and the comparison of the corresponding pixel points in the current image data and the background image data are realized, the position is determined through the X coordinate and the Y coordinate, the comparison accuracy is realized, the judgment accuracy is improved, and the accuracy of the opening and closing control of the automatic door is further improved.
Further, the photosensitive information data of each pixel point can be converted into RGB, HSV or YUV formats, which format is specifically adopted, and the application is not particularly limited.
During comparison, each pixel point of the current image data is compared with each pixel point corresponding to the background image data respectively, and a photosensitive information data difference value is generated respectively.
And the photosensitive information data difference value is used for representing the difference between the pixel point of the current image data and the corresponding pixel point in the background image data.
In addition, in the step, corresponding pixel points to be compared are determined by a coordinate method, and then comparison is performed on each pixel, so that fine comparison of obtaining overall difference by small comparison is realized, the accuracy of image data is greatly improved, accurate image data support is provided for follow-up automatic door control, and the precision and accuracy of the automatic door control are further improved.
Further, if the visual sensor vibrates, the detected current image may shake, that is, the image coordinates may shift, at this time, image anti-shake processing needs to be performed on the current image data, so that the current image coordinates and the background image coordinates may correspond one to one again.
Step S220: and counting the number of the photosensitive information data difference values in the preset induction domain which are larger than a preset photosensitive information data difference value triggering threshold value, and recording the number as the pixel difference value.
Specifically, the sensitization information data difference value trigger threshold is preset. In this step, the number of the photosensitive information data difference values larger than the photosensitive information data difference value trigger threshold values is counted, the number is recorded as the pixel difference value, and the difference judgment of the image is realized through specific numerical values, so that the method is accurate and efficient.
In another embodiment of the present invention, as shown in fig. 3, the step of counting the number of the photosensitive information data difference values in the preset induction domain which are greater than the preset photosensitive information data difference value trigger threshold and recording as the pixel difference value specifically includes:
step S221: judging whether the light sensing information data difference value in the preset induction domain is larger than a preset light sensing information data difference value trigger threshold value or not;
specifically, after the photosensitive information data difference is obtained, the photosensitive information data difference trigger threshold is set, and the photosensitive information data difference trigger threshold is a standard reference value for judging the photosensitive information data difference.
Step S222: if the current image data is judged to be the image data with the sensitization information data difference value larger than the sensitization information data difference value triggering threshold, marking the pixel points in the current image data corresponding to the sensitization information data difference value as triggering difference pixel points;
specifically, in this step, if the judgment result is yes, it is judged that the photosensitive information data difference value in the preset induction domain is greater than a preset photosensitive information data difference value trigger threshold value. That is, the difference between the current image data and the corresponding pixel point in the background image data is greater than the standard reference value, so the pixel point in the current image data corresponding to the photosensitive information data difference value greater than the photosensitive information data difference value trigger threshold is marked as a trigger difference pixel point.
Step S223: and counting the number of the trigger difference pixel points in the preset induction domain, and recording the number as the pixel difference value.
Specifically, the pixel difference value is the number of the trigger difference pixel points.
In another embodiment of the present invention, as shown in fig. 4, the method further comprises the steps of:
step S610: comparing the current image data with each pre-stored historical image data, and extracting a background difference value between the current image data and each historical image data, wherein one background difference value is generated after one current image data is compared with one historical image data;
in this step, the difference between the current image data and the historical image data may be determined by extracting a background difference value between the current image data and each of the historical image data, and each of the historical image data is all image data in a specific period of time before a time point at which the previous image data was acquired. Obviously, a specific period of time includes a plurality of time points, each time point corresponds to one of the historical image data, and thus when comparing, one current image data is compared with one of the historical image data to generate one of the background difference values.
Step S620: judging whether the background difference values are smaller than a preset standard background threshold value;
in this step, the standard background threshold is preset and used for measuring the magnitude of the background difference value.
Step S630: if the image data is judged to be the historical image data, storing the current image data as the historical image data.
In this step, if yes, it is determined that each of the background differences is smaller than a preset standard background threshold. At this time, it is stated that the difference between the current image data and all the image data in the previous specific period of time is not great, if all the image data in the previous specific period of time indicates that no person needs to come in or go out, that is, all the image data in the previous specific period of time are environment data without people coming in and going out in the current environment, if the difference value between the current image data acquired at the next time point in the specific period of time and all the image data in the previous specific period of time is not large, it indicates that the environment at the current time point is not changed, further, it can be judged that no person comes in or goes out, that is, it can be judged that the environment is not interfered at the moment, and at the same time, in order to ensure real-time updating of the image data of the current environment, the current image data is stored as historical image data, so that accurate judgment on whether people come in or go out next time is facilitated.
In another embodiment of the present invention, as shown in fig. 5, each of the historical image data is image data corresponding to each time point in a preset time period, and one time point corresponds to one of the historical image data. Specifically, the preset time period is the image data corresponding to each time point in the specific time period before the time point of acquiring the current image data. That is, the specific time period is the preset time period. The preset time period may be set by a person skilled in the art, for example, set to 5 seconds, and then all the image data in the 5 seconds are each of the historical image data.
Further, the step of extracting the background difference value between the current image data and each of the historical image data specifically includes:
step S611: comparing the current image data with the photosensitive information data of each corresponding pixel point in the historical image data, and acquiring a compared historical photosensitive information data difference value; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a historical photosensitive information data difference value;
in this step, each pixel point corresponding to the current image data and the historical image data is judged according to the X coordinate and the Y coordinate of the pixel point, and then accurate comparison is performed. And the historical photosensitive information data difference value is used for representing the size of the photosensitive information data difference.
Step S612: judging whether the difference value of the historical photosensitive information data is larger than a preset background threshold value of the photosensitive information data difference value;
specifically, the background threshold of the photosensitive information data difference is preset and is used as a standard for measuring the size of the historical photosensitive information data difference.
Step S613: if the current image data is judged to be the background difference pixel point, the pixel point of the current image data corresponding to the historical photosensitive information data difference value which is greater than the photosensitive information data difference value background threshold value is marked as the background difference pixel point;
if yes, the step of judging whether the difference value of the historical photosensitive information data is larger than a preset background threshold value of the photosensitive information data difference value is carried out.
Step S614: and counting the number of background difference pixel points in the current image data, and recording the number as the background difference value.
Specifically, the background difference value is the number of the background difference pixel points, and the number of pixels in the current image data having a large difference from the pixels in each historical image data is obtained by obtaining the background difference value, so that the digitized accurate judgment is realized, and the control precision of the automatic door is improved.
In another embodiment of the present invention, as shown in fig. 6, the step of extracting the pixel difference value between the current image data and the background image data in the preset sensing field of the automatic door detection area further includes:
step S201: acquiring the preset induction domain preset in the automatic door detection area;
specifically, the preset induction domain is set in the automatic door detection region, so that when the automatic door is judged to be opened or not, the induction region of the automatic door is accurately divided, the detectable induction region of the automatic door is controlled in a proper region, if the preset induction domain is set to be within half a meter of the automatic door, and the automatic door is not influenced by opening and closing of a door leaf of the automatic door.
Step S202: and storing the preset induction domain.
In this step, the preset induction domain is stored, so that the comparison of subsequent data is facilitated.
In another embodiment of the present invention, as shown in fig. 7 to 8, the step of acquiring current image data in a preset automatic door detection area specifically includes:
step S110: acquiring visible light in a preset automatic door detection area;
specifically, in this step, the visible light in the preset automatic door detection area is acquired through a lens module.
Step S120: converting the visible light into a voltage signal;
in this step, the captured visible light is focused on a photosensitive element of an image sensor module, and different voltage values are formed on each pixel point. The image sensor module is connected with the lens module.
Step S130: converting the voltage signal into a digital signal;
specifically, in the step, the voltage signal is analog-to-digital converted by an analog-to-digital converter module, and then converted into a digital signal. The analog/digital converter module is connected with the image sensor module.
Step S140: and converts the digital signal into the current image data.
In this step, the digital signal is transmitted to an image processor module, and the image processor module performs data conversion processing on the digital signal and converts the digital signal into the current image data. The image processor module is connected with the analog-to-digital converter module.
Specifically, as shown in fig. 9, the image processor module includes a data transmission module, a data processing module, a background data learning module, and a background data storage module. The data transmission module is connected with the analog-to-digital converter module. The data transmission module, the data processing module and the background data learning module are connected in sequence. The background data storage module is also connected with the data processing module and the background data learning module.
And the data transmission module reads the digital signal and transmits the digital signal to a data processing module, and the data processing module processes the received digital signal to obtain the current image data.
In another embodiment of the present invention, as shown in fig. 10, a visual sensor is provided, where the visual sensor includes an image obtaining module, a data comparing module, a first determining module, a door opening instruction generating module, and a door closing instruction generating module.
The image acquisition module is used for acquiring current image data in a preset automatic door detection area;
the data comparison module is used for comparing the current image data with pre-stored background image data and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
the first judging module is used for judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
the door opening instruction generating module is used for generating door opening action instruction information if the judgment result is yes, wherein the door opening action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
the door closing instruction generating module is used for generating door closing action instruction information if the door closing instruction information is judged to be negative, and the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
In another embodiment of the present invention, as shown in fig. 8, a visual sensor is provided, which includes a lens module, an image sensor module, an analog/digital converter module, an image processor module and an output module, which are connected in sequence, wherein the output module is used for connecting to an automatic door host of an automatic door.
The image sensor module is used for focusing the captured visible light on a photosensitive element of the image sensor module and forming different voltage values on each pixel point. The analog-to-digital converter module performs analog-to-digital conversion on the voltage signal and further converts the voltage signal into a digital signal. And the image processor performs data conversion processing on the digital signals and converts the digital signals into the current image data.
Further, the image processor module compares the current image data with pre-stored background image data, and extracts a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
then the image processor module judges whether the pixel difference value is larger than a preset standard trigger threshold value;
if the image processor module judges that the door opening motion instruction information is positive, the door opening motion instruction information is generated and sent to an automatic door host of the automatic door through the output module, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening motion instruction information;
and when the image processor module judges that the door is closed, generating door closing action instruction information, and sending the door closing action instruction information to an automatic door host of the automatic door through the output module, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
In another embodiment of the present invention, a sensor control device (not shown) is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the sensor control device implements the steps of the method for controlling an automatic door based on image processing technology when executing the computer program.
In another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for controlling an automatic door based on image processing technology.
In another embodiment of the present invention, as shown in fig. 11, there is provided an automatic door, including the visual sensor, an automatic door main body, a motor, a transmission mechanism and a moving door leaf; the visual sensor, the automatic door host, the motor, the transmission mechanism and the movable door leaf are sequentially connected; wherein the content of the first and second substances,
the visual sensor is used for acquiring current image data in a preset automatic door detection area, comparing the current image data with prestored background image data, extracting a pixel difference value between the current image data and the background image data in the preset induction area in the automatic door detection area, and judging whether the pixel difference value is greater than a preset standard trigger threshold value or not;
if the visual sensor judges that the door opening command information is positive, door opening command information is generated and sent to the automatic door host, and the automatic door host controls a motor to drive a transmission mechanism according to the door opening command information, so that the transmission mechanism drives the movable door leaf to open;
and if the visual sensor judges that the door is closed, generating door closing action instruction information, sending the door closing action instruction information to the automatic door host, and controlling the movable door leaf to be closed by the automatic door host according to the door closing action instruction information.
In another embodiment of the present invention, as shown in fig. 12, the automatic door host includes a receiving module, a controller module, a motor driving module and a transformer module, the receiving module is connected to the visual sensor, the controller module is connected to the receiving module, the motor driving module is connected to the controller module and the motor, and the transformer module is connected to the receiving module, the controller module and the motor driving module; wherein the content of the first and second substances,
the receiving module is used for sending the door opening action instruction information and the door closing action instruction information to the controller module;
the controller module is used for analyzing the door opening action instruction information and the door closing action instruction information, and after the door opening action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to be opened;
after the door closing action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to close.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic door control method based on image processing technology is characterized by comprising the following steps:
acquiring current image data in a preset automatic door detection area;
comparing the current image data with pre-stored background image data, and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
if the door opening action instruction information is judged to be yes, door opening action instruction information is generated and is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
if not, generating door closing action instruction information, wherein the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
2. The method for controlling an automatic door based on image processing technology according to claim 1, wherein the step of extracting the pixel difference value between the current image data and the background image data in a preset sensing field in the automatic door detection area specifically comprises:
comparing the photosensitive information data of each corresponding pixel point in the current image data and the background image data, and acquiring a photosensitive information data difference value after comparison; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a photosensitive information data difference value;
and counting the number of the photosensitive information data difference values in the preset induction domain which are larger than a preset photosensitive information data difference value triggering threshold value, and recording the number as the pixel difference value.
3. The method of claim 2, wherein the step of counting the number of the light-sensitive information data difference values in the preset sensing field that are greater than a preset light-sensitive information data difference value trigger threshold and recording as the pixel difference value specifically comprises:
judging whether the light sensing information data difference value in the preset induction domain is larger than a preset light sensing information data difference value trigger threshold value or not;
if the current image data is judged to be the image data with the sensitization information data difference value larger than the sensitization information data difference value triggering threshold, marking the pixel points in the current image data corresponding to the sensitization information data difference value as triggering difference pixel points;
and counting the number of the trigger difference pixel points in the preset induction domain, and recording the number as the pixel difference value.
4. The method for controlling an automatic door based on image processing technology according to any one of claims 1 to 3, wherein the method further comprises:
comparing the current image data with each pre-stored historical image data, and extracting a background difference value between the current image data and each historical image data, wherein one background difference value is generated after one current image data is compared with one historical image data;
judging whether the background difference values are smaller than a preset standard background threshold value;
if the image data is judged to be the historical image data, storing the current image data as the historical image data.
5. The method of claim 4, wherein each of the historical image data is image data corresponding to each time point within a preset time period, and one time point corresponds to one of the historical image data;
the step of extracting the background difference value between the current image data and each of the historical image data specifically includes:
comparing the current image data with the photosensitive information data of each corresponding pixel point in the historical image data, and acquiring a compared historical photosensitive information data difference value; comparing one pixel point of the current image data with a corresponding pixel point in the background image data to generate a historical photosensitive information data difference value;
judging whether the difference value of the historical photosensitive information data is larger than a preset background threshold value of the photosensitive information data difference value;
if the current image data is judged to be the background difference pixel point, the pixel point of the current image data corresponding to the historical photosensitive information data difference value which is greater than the photosensitive information data difference value background threshold value is marked as the background difference pixel point;
and counting the number of background difference pixel points in the current image data, and recording the number as the background difference value.
6. The method for controlling an automatic door based on image processing technology according to any one of claims 1-3, wherein the step of extracting the pixel difference value between the current image data and the background image data in a preset sensing region of the automatic door detection region further comprises:
acquiring the preset induction domain preset in the automatic door detection area;
and storing the preset induction domain.
7. The method for controlling an automatic door based on image processing technology according to any one of claims 1 to 3, wherein the step of obtaining current image data in a preset automatic door detection area specifically comprises:
acquiring visible light in a preset automatic door detection area;
converting the visible light into a voltage signal;
converting the voltage signal into a digital signal;
and converts the digital signal into the current image data.
8. A visual sensor, the visual sensor comprising:
the image acquisition module is used for acquiring current image data in a preset automatic door detection area;
the data comparison module is used for comparing the current image data with pre-stored background image data and extracting a pixel difference value between the current image data and the background image data in a preset induction domain in an automatic door detection area;
the first judgment module is used for judging whether the pixel difference value is larger than a preset standard trigger threshold value or not;
the door opening instruction generating module is used for generating door opening action instruction information if the judgment result is yes, wherein the door opening action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be opened according to the door opening action instruction information;
and the door closing instruction generating module is used for generating door closing action instruction information if the judgment result is no, wherein the door closing action instruction information is used for being sent to an automatic door host of the automatic door, so that the automatic door host controls a movable door leaf of the automatic door to be closed according to the door closing action instruction information.
9. An automatic door, characterized in that, comprising the visual sensor of claim 8, an automatic door main body, a motor, a transmission mechanism and a movable door leaf; the visual sensor, the automatic door host, the motor, the transmission mechanism and the movable door leaf are sequentially connected; wherein the content of the first and second substances,
the visual sensor is used for acquiring current image data in a preset automatic door detection area, comparing the current image data with prestored background image data, extracting a pixel difference value between the current image data and the background image data in the preset induction area in the automatic door detection area, and judging whether the pixel difference value is greater than a preset standard trigger threshold value or not;
if the door opening command information is judged to be yes, door opening action command information is generated and sent to the automatic door host, and the automatic door host controls a motor to drive a transmission mechanism according to the door opening action command information, so that the transmission mechanism drives the movable door leaf to open;
if not, generating door closing action instruction information, sending the door closing action instruction information to the automatic door host, and controlling the movable door leaf to close by the automatic door host according to the door closing action instruction information.
10. The automatic door of claim 9, wherein the automatic door host comprises a receiving module, a controller module, a motor drive module, and a transformer module, the receiving module is connected to the vision sensor, the controller module is connected to the receiving module, the motor drive module is connected to the controller module and the motor, and the transformer module is connected to the receiving module, the controller module, and the motor drive module; wherein the content of the first and second substances,
the receiving module is used for sending the door opening action instruction information and the door closing action instruction information to the controller module;
the controller module is used for analyzing the door opening action instruction information and the door closing action instruction information, and after the door opening action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to be opened;
after the door closing action instruction information is analyzed, the controller module controls the motor driving module to drive the motor, so that the motor drives the transmission mechanism to drive the movable door leaf to close.
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