CN113585913B - Automatic door and method for setting triggering area of automatic door - Google Patents
Automatic door and method for setting triggering area of automatic door Download PDFInfo
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- CN113585913B CN113585913B CN202110859106.7A CN202110859106A CN113585913B CN 113585913 B CN113585913 B CN 113585913B CN 202110859106 A CN202110859106 A CN 202110859106A CN 113585913 B CN113585913 B CN 113585913B
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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 a method for setting a trigger area of an automatic door and the automatic door, wherein the method comprises the following steps: acquiring current image data in an automatic door detection area; judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object; if so, judging whether the area division standard image lasts for a certain time period and is not changed; if the judgment result is yes, setting the area where the area division standard object is located as an effective trigger area, or setting the area between the area division standard object and the automatic door as an effective trigger area. The automatic door control system realizes accurate division of the triggering area of the automatic door, further realizes accurate triggering and accurate control of the automatic door, and improves the control level of the automatic door.
Description
Technical Field
The invention belongs to the technical field of automatic door control, and particularly relates to a method for setting a trigger area of an automatic door and the automatic door.
Background
With the increasing demands of people for hygiene and convenience, automatic doors are widely used in various occasions. With the increase of the use demand, people are increasingly high to the response precision and the accurate control's of automatically-controlled door requirement, to the inductor that traditional automatically-controlled door used on the market, like infrared inductor and microwave inductor, only can realize simple detection area and divide, also can only carry out data detection in fixed detection area to realize the control of automatically-controlled door.
Obviously, the inductor that current automatically-controlled door used to and based on the automatic door control that this inductor realized can not realize dividing the region at original detection intra-area further accuracy, and then lead to the automatically-controlled door on the present market can not accurate division trigger region, and then lead to triggering inaccurately, and the problem that the automatic door control in-process takes place the mistake easily and touches and the automatic door control is inaccurate.
Therefore, it is necessary to design a method for setting a triggering area of an automatic door and an automatic door.
Disclosure of Invention
The invention aims to provide a method for setting a trigger area of an automatic door and the automatic door, and aims to solve the technical problem that the automatic door cannot accurately divide the trigger area to cause inaccurate triggering in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a method for setting a trigger area of an automatic door, where the method includes:
acquiring current image data in an automatic door detection area;
judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object or not;
if so, judging whether the area division standard image lasts for a certain time period and is not changed;
if the judgment result is yes, setting the area where the area division standard object is located as an effective trigger area, or setting the area between the area division standard object and the automatic door as an effective trigger area.
Optionally, the area division standard object includes a special mark object, a standard image feature of the special mark object is a first color feature, a standard data feature range corresponding to the standard image feature is a first color feature range, and the actual image feature includes an actual color feature;
the judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
presetting a special mark object as a region division standard object;
setting a first color characteristic range corresponding to a first color characteristic according to the first color characteristic of the special mark object;
judging whether the actual color features of the regions in the current image data are in the first color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
Optionally, the area division standard object includes a marking line, a standard image feature of the marking line is a first visual feature, a standard data feature range corresponding to the standard image feature is a first visual feature range, and the actual image feature includes an actual visual feature;
the judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
presetting a marking line as a standard object for area division;
setting a first visual feature range corresponding to the first visual feature according to the first visual feature of the mark line;
judging whether the actual visual features of the regions in the current image data are in the first visual feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
Optionally, the number of the marking lines is one or more;
the setting of the area where the standard area division object is located as an effective triggering area, or the setting of the area between the standard area division object and the automatic door as an effective triggering area specifically includes:
when the number of the mark lines is one, setting an area between one mark line and the automatic door as an effective trigger area;
and when the number of the mark lines is multiple, setting an internal area surrounded by the mark lines as an effective trigger area.
Optionally, the area division standard object includes an optical graph, a standard image feature of the optical graph is a second color feature, a standard data feature range corresponding to the standard image feature is a second color feature range, and the actual image feature includes an actual color feature;
the judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
presetting a special mark object as an optical pattern;
setting a second color characteristic range corresponding to a second color characteristic according to the second color characteristic of the optical graph;
judging whether the actual color features of the area in the current image data are in the second color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
Optionally, the optical pattern is emitted by a visible light source emitting device, and the method further comprises:
setting the mode of the visible light source emitting device for emitting the optical pattern to be emitting at intervals of a preset time period;
and after the effective trigger area is set, the visible light source emitting device emitting the optical pattern turns off the emission.
Optionally, the method further comprises:
storing the effective trigger area;
detecting effective image information in the effective trigger area in real time;
and judging whether to open or close the automatic door according to the effective image information.
Optionally, the method further comprises:
detecting the actual position of the area division standard object in real time;
and updating the effective trigger area in real time according to the area division standard object.
Optionally, the data processing device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps in the method for setting the trigger area of the automatic door when executing the computer program.
Alternatively, a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps in the method for setting a trigger area of an automatic door.
The method for setting the triggering area of the automatic door and the one or more technical schemes of the automatic door provided by the embodiment of the invention at least have one of the following technical effects:
the invention judges whether the actual image characteristic of a part of area in the current image data in the automatic door detection area is matched with the standard data characteristic range corresponding to the standard image characteristic of the area division standard object, if so, the area division standard object exists in the detection area, but the effective trigger area cannot be set, so the area in which the area division standard object is positioned is set as the effective trigger area by judging whether the area division standard image is unchanged for a specific time period or not, if so, the area division standard object is not the object carried by the passing person or the person, but is used for setting the effective trigger area, or the area between the area division standard object and the automatic door is set as the effective trigger area, thereby realizing the data comparison between the current image data and the preset area division standard object, thereby accomplish the effective regional settlement of triggering in the automatically-controlled door detection area, simple and swift to realize the accurate division of the regional of triggering of automatically-controlled door, and then realize the accurate of automatically-controlled door and trigger and accurate control, promote the automatic door control level.
To achieve the above object, an embodiment of the present invention provides a visual sensor, including:
the current image data acquisition module is used for acquiring current image data in the automatic door detection area;
the first judgment module is used for judging whether the actual image characteristics of the area in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset area division standard object;
the second judgment module is used for judging whether the area division standard image lasts for a certain time period and is not changed if the judgment result is yes;
and the trigger area setting module is used for setting the area where the area division standard object is located as an effective trigger area or setting the area between the area division standard object and the automatic door as an effective trigger area if the judgment result is yes.
Optionally, an automatic door is further provided, where the automatic door 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 the automatic door detection area;
judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of the preset region division standard object or not;
if the judgment of the visual sensor is yes, judging whether the area division standard image lasts for a certain time period and is not changed;
if the visual sensor judges that the area is the effective triggering area, setting the area where the area division standard object is located as the effective triggering area, or setting the area between the area division standard object and the automatic door as the effective triggering area;
the visual sensor detects effective image information in the effective trigger area in real time and judges whether to open or close the automatic door according to the effective image information;
when the automatic door needs to be opened, generating door opening action instruction information, sending the door opening action instruction information to the automatic door host, and controlling a motor driving transmission mechanism by the automatic door host according to the door opening action instruction information to enable the transmission mechanism to drive the movable door leaf to be opened;
when the automatic door needs to be closed, door closing action instruction information is generated and sent to the automatic door host, and the automatic door host controls the movable door leaf to be closed according to the door closing action instruction information.
One or more technical schemes in the visual inductor and the automatic door provided by the embodiment of the invention at least have one of the following technical effects:
because the visual sensor and the automatic door are both based on the automatic door triggering area setting method, the visual sensor and the automatic door can realize accurate division of the triggering area of the automatic door, so that accurate triggering and accurate control of the automatic door are realized, and the automatic door control level is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a flowchart of a method for setting a triggering area of an automatic door according to an embodiment of the present invention;
fig. 2 is a flowchart for determining whether there is a matching between an actual image feature of a region in current image data and a standard data feature range corresponding to a standard image feature of a preset standard object for region division according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a process of determining whether there is a matching between an actual image feature of a region in current image data and a standard data feature range corresponding to a standard image feature of a preset standard object for region division according to another embodiment of the present invention;
fig. 4 is a specific flowchart of setting an effective trigger area according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a process of determining whether there is a matching between an actual image feature of a region in current image data and a standard data feature range corresponding to a standard image feature of a preset standard object for region division according to a third embodiment of the present invention;
FIG. 6 is a flowchart of storing valid trigger areas according to an embodiment of the present invention;
FIG. 7 is a flowchart of updating an active trigger area 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 a visual sensor according to another embodiment of the present invention;
fig. 10 is a block diagram of an automatic door 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 any and all possible combinations of one or more of the associated listed items and includes such combinations.
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 a method for setting a triggering area of an automatic door, the method including the steps of:
step S100: acquiring current image data in an automatic door detection area;
in this step, the automatic door detection area is an original detection area of the automatic door. I.e. the area that can be detected by the automatic door. When the automatic door uses the visual sensor, the detection area of the automatic door is the area which can be detected by the visual sensor.
The current image data is image data in a detectable region.
Specifically, the current image data is obtained in real time, that is, one current image data is obtained at each time point, so that real-time updating of data is realized, and accuracy of automatic door control is indirectly improved.
Step S200: judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object;
specifically, the area included in the current image data is the range within the entire automatic door detection area. The current image data includes its corresponding actual image features, such as color features or shape features.
The area division standard objects are preset and are used for assisting in setting a more accurate effective triggering area in the automatic door detection area. The region division standard object comprises corresponding standard image features. The standard data feature range is set according to the standard image features of the area division standard object, that is, different standard image features correspond to different standard data feature ranges.
In this step, it is determined whether there is an area division standard object for setting an effective trigger area in the current automatic door detection area by determining whether there is a match between the actual image feature of the area in the current image data and the standard data feature range corresponding to the standard image feature of the preset area division standard object.
In addition, the characteristics are compared by setting the actual image characteristics and the standard image characteristics, so that accurate and rapid comparison is realized, and the data processing efficiency is improved.
Through feature comparison, the purpose that only one area division standard object is needed to be stored without storing a large number of images of the area division standard objects is achieved, and whether the area division standard objects for dividing effective trigger areas exist in the current image data or not can be judged according to the image features of the area division standard objects.
Step S300: if so, judging whether the area division standard image lasts for a certain time period and is not changed;
if yes, the method determines that the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object.
Specifically, in order to realize accurate determination, it is excluded that a person passes through or an object is carried through, instead of actually setting an effective trigger area, so that it is continuously determined whether the area division standard image lasts for a specific time period.
Further, the specific time period may be 5 seconds, that is, in this embodiment, it is determined whether the region division standard image lasts for 5 seconds.
Step S400: if the judgment result is yes, setting the area where the area division standard object is located as an effective trigger area, or setting the area between the area division standard object and the automatic door as an effective trigger area.
In this step, if it is determined that the area division standard image continues for the specific time period, the situation that the person passes through or the person with the object passes through can be excluded, that is, the effective trigger area is really set.
Therefore, according to the difference of the area division standard objects, the area where the area division standard object is located is set as an effective trigger area, or the area between the area division standard object and the automatic door is set as an effective trigger area.
Specifically, when the area occupied by the area division standard object is a closed area, the area occupied by the area division standard object may be set as an effective trigger area.
If the area occupied by the area-dividing standard object is a non-closed area, such as a bar, a line, a plurality of bars, or a plurality of lines, the area between the area-dividing standard object and the automatic door can be set as an effective triggering area.
The invention judges whether the actual image characteristic of a part of area in the current image data in the detection area of the automatic door is matched with the standard data characteristic range corresponding to the standard image characteristic of the area division standard object, if so, the area division standard object exists in the detection area, but the effective trigger area cannot be set, so the area where the area division standard object is located is set as the effective trigger area by judging whether the area division standard image is unchanged for a specific time period or not, if so, the area division standard object is not the object carried by the passing person or the person, but is used for setting the effective trigger area, or the area between the area division standard object and the automatic door is set as the effective trigger area, thereby realizing the data comparison between the current image data and the preset area division standard object, thereby accomplish the effective regional settlement of triggering in the automatically-controlled door detection area, simple and swift to realize the accurate division of the regional of triggering of automatically-controlled door, and then realize the accurate of automatically-controlled door and trigger and accurate control, promote the automatic door control level.
In another embodiment of the present invention, as shown in fig. 2, the area division standard object includes a special mark object, a standard image feature of the special mark object is a first color feature, a standard data feature range corresponding to the standard image feature is a first color feature range, and the actual image feature includes an actual color feature;
in this embodiment, the special mark object is a red carpet. Then the standard image feature of the special mark object is the red feature, and the standard data feature range corresponding to the standard image feature is the first color feature range corresponding to red.
The judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
step S211: presetting a special mark object as a region division standard object;
in this step, in order to ensure that the region setting is performed quickly and subsequently, the special mark object needs to be set first as the region division standard object.
In this embodiment, the red carpet is first set as the standard area dividing object.
Step S212: setting a first color characteristic range corresponding to the first color characteristic according to the first color characteristic of the special mark object;
specifically, in this step, a corresponding red color characteristic range representing red color is set according to the red color of the red carpet, that is, the first color characteristic range is set.
Step S213: judging whether the actual color features of the regions in the current image data are in the first color feature range or not;
in this step, it is determined whether an area of the current image data includes red, and the red is within the first color feature range.
Step S214: if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
in this embodiment, if the determination is yes, that is, it is determined that there is a region in the current image data that includes red, and the red is within the first color feature range.
Therefore, it is determined that the actual image feature of the region in the current image data matches the standard data feature range corresponding to the standard image feature of the preset region division standard object.
That is, if the determination in step S300 is yes, that is, if the determination in this step is yes, the process may proceed to step S300.
If not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
In this embodiment, when the determination is negative, it is determined that no region in the current image data includes a red region within the first color feature range.
That is, it is determined that the actual image feature of the current image data without the region matches the standard data feature range corresponding to the standard image feature of the preset region division standard object.
Therefore, the determination needs to be continued, i.e., the step S100 is performed.
In another embodiment of the present invention, as shown in fig. 3, the area division standard object includes a marking line, a standard image feature of the marking line is a first visual feature, a standard data feature range corresponding to the standard image feature is a first visual feature range, and the actual image feature includes an actual visual feature;
in this embodiment, the marking lines are zebra warning lines with yellow and black lines, the standard image features of the marking lines are the image features of the zebra warning lines, and the color data features of the yellow and black colors are the first visual features. The standard data characteristic range corresponding to the standard image characteristic is a color characteristic range set according to two color characteristics of yellow and black, namely the first visual characteristic range.
In another embodiment of the invention, the standard image characteristics of the zebra fence further comprise a spacing ratio between adjacent zebra fences and the like.
The judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
step S221: presetting a marking line as a standard object for area division;
in this embodiment, standard objects are divided into areas by setting yellow and black alternate zebra warning lines.
Step S222: setting a first visual feature range corresponding to the first visual feature according to the first visual feature of the mark line;
specifically, in this embodiment, the first visual characteristic range is set according to the color of the zebra fence, that is, the two color characteristics of yellow and black.
Step S223: judging whether the actual visual features of the regions in the current image data are in the first visual feature range or not;
in this step, it is determined whether the actual color feature included in the area in the current image data is within the first visual feature range set according to the color of the zebra crossing.
Step S224: if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
specifically, when the determination result is yes, the determination result is that whether the actual color feature included in the area in the current image data is within the first visual feature range set according to the color of the zebra crossing.
Namely, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
That is, if the determination in step S300 is yes, that is, if the determination in this step is yes, the process may proceed to step S300.
If not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
If not, the actual color features included in the current image data are determined to be within the first visual feature range set according to the colors of the zebra crossing lines.
Therefore, the determination is continued, i.e., the step S100 is performed.
In another embodiment of the present invention, as shown in fig. 4, the number of the marking lines is one or more;
the setting of the area where the standard area division object is located as an effective triggering area, or the setting of the area between the standard area division object and the automatic door as an effective triggering area specifically includes:
step S511: when the number of the mark lines is one, setting an area between one mark line and the automatic door as an effective trigger area;
in this step, when the number of the marking lines is one, that is, when the number of the zebra crossings is only one, the area between the zebra crossings and the automatic door is set as an effective trigger area. That is, only if the person concerned travels to the area between the zebra crossing and the automatic door will the automatic door be triggered.
Step S512: and when the number of the mark lines is multiple, setting an internal area surrounded by the mark lines as an effective trigger area.
Specifically, in this embodiment, when the number of the sign lines is multiple, that is, when the number of the zebra crossings is multiple, an internal area surrounded by the multiple zebra crossings is set as an effective trigger area.
Further, an inner area surrounded by the plurality of marking lines is a closed pattern, that is, the inner area of the closed pattern is set as the effective trigger area.
In another embodiment of the present invention, as shown in fig. 5, the area division standard object includes an optical graph, a standard image feature of the optical graph is a second color feature, a standard data feature range corresponding to the standard image feature is a second color feature range, and the actual image feature includes an actual color feature;
specifically, the optical pattern is a red laser image. The standard image feature of the optical pattern is a color image feature contained in the red laser image, namely the second color feature.
The standard data characteristic range corresponding to the standard image characteristic is a color characteristic data range corresponding to the red laser image, namely the second color characteristic range.
The judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
step S231: presetting a special mark object as an optical pattern;
in this step, the red laser image is preset as an optical pattern.
Step S232: setting a second color characteristic range corresponding to a second color characteristic according to the second color characteristic of the optical graph;
specifically, in this step, a color feature data range corresponding to the red laser image is set according to the color image feature of the red laser image.
Step S233: judging whether the actual color features of the regions in the current image data are in the second color feature range or not;
in this step, it is determined whether the actual color feature of the region in the current image data is within the color feature data range corresponding to the red laser image.
Step S234: if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
specifically, when the determination is yes, that is, it is determined that the actual color feature of the region in the current image data is within the second color feature range.
It can also be understood that the actual image feature of the area in the current image data is determined to match the standard data feature range corresponding to the standard image feature of the preset area division standard object.
That is, if the determination in step S300 is yes, that is, if the determination in this step is yes, the process may proceed to step S300.
If not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
Specifically, if the determination result is negative, it is determined that the actual color feature of no region in the current image data is within the second color feature range.
Therefore, the determination needs to be continued, i.e., the step S100 is performed.
In another embodiment of the present invention, as shown in fig. 6, the optical pattern is emitted by a visible light source emitting device, and the method further comprises:
and setting the mode of the visible light source emitting device for emitting the optical pattern to be emitting at intervals of a preset time period.
In this embodiment, the visible light source emitting device can be set according to actual conditions, and through control the laser emission position of the visible light source emitting device makes the optical pattern projected in the arbitrary position in the automatically-controlled door detection area, and then realizes the nimble setting in effective trigger area promotes the use experience.
Specifically, the optical pattern emitted by the visible light source emitting device is flash by setting the mode of emitting the optical pattern to be emitted at intervals of a preset time period. That is, at a first time point, the optical pattern is in a lighting state, and at a next time point, the optical pattern is in a non-lighting state, and then when the current image is captured to obtain the current image data, the real-time image with and without the optical pattern can be captured respectively, so that the two frames of images are compared, the shape and the position of the marked optical pattern can be obtained more accurately, and further the function of accurately determining the effective trigger area is realized, and after the setting of the effective trigger area is completed, the visible light source emitting device emitting the optical pattern can close emitting.
In another embodiment of the present invention, as shown in fig. 1-2, the method further comprises:
step S510: storing the effective trigger area;
specifically, after the effective trigger area is set, the effective trigger area can be stored. After the storage of the effective triggering area is completed, the effective triggering area can be reserved even if the auxiliary visual sensor removes the area division standard object for triggering area learning, and therefore accurate control of the automatic door is guaranteed.
That is, even if the user removes the carpet and zebra fence, the visible light source emitting device can be turned off without causing a change in the effective trigger area.
Step S520: detecting effective image information in the effective trigger area in real time;
specifically, effective image information in the effective trigger area is detected by implementing detection, so that effective data support is provided for accurate control of the automatic door in the follow-up process.
Step S530: and judging whether to open or close the automatic door according to the effective image information.
Specifically, in this step, the effective image information may be compared with pre-stored background image data, a pixel difference value between the effective image information and the background image data is extracted, and when the pixel difference value is greater than a preset standard trigger threshold, door opening action instruction information is generated and used to be 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 when the pixel difference value is not greater than a preset standard trigger threshold, 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.
In another embodiment of the present invention, as shown in fig. 7, the method further comprises:
step S610: detecting the actual position of the area division standard object in real time;
specifically, whether the effective trigger area is changed or not is judged by detecting the actual position of the area division standard object.
Step S620: and updating the effective trigger area in real time according to the area division standard object.
In this step, when the actual position of the area division standard object is judged to be changed, the effective trigger area is reset according to the changed actual position, so that the effective trigger area is updated in real time, the timeliness of data is guaranteed, and the accurate control of the automatic door is improved.
In another embodiment of the present invention, as shown in fig. 8, there is also provided a visual sensor including:
the current image data acquisition module is used for acquiring current image data in the automatic door detection area;
the first judgment module is used for judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object;
the second judgment module is used for judging whether the area division standard image lasts for a certain time period and is not changed if the judgment result is yes;
and the trigger area setting module is used for setting the area where the area division standard object is located as an effective trigger area or setting the area between the area division standard object and the automatic door as an effective trigger area if the judgment result is yes.
In another embodiment of the present invention, the visual sensor may further include other devices, so as to implement the steps of the method for setting the triggering area of the automatic door.
In another embodiment of the present invention, as shown in fig. 9, the vision sensor includes a lens module, an image sensor module, an analog-to-digital converter module, an image processor module and an output module, which are connected in sequence.
Specifically, the lens module acquires visible light in the automatic door detection area, the captured visible light is focused on a photosensitive element of the image sensor module, different voltage values are formed 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, the digital signal is transmitted to the image processor module, and the image processor module performs data conversion on the digital signal and converts the digital signal into the current image data.
Then, the image processor module judges whether the actual image characteristics of the area in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset area division standard object, if so, the image processor module judges whether the area division standard image lasts for a certain time period and is not changed, if so, the area where the area division standard object is located is set as an effective trigger area, or the area between the area division standard object and the automatic door is set as an effective trigger area.
In another embodiment of the present invention, the visual sensor may be configured to automatically start setting and learning of the trigger area after each power-on. Or, a key is configured on the visual sensor, and the setting judgment and the updating of the effective trigger area are started after the key is pressed each time; or, a wireless communication device is configured on the visual sensor, and a user can start an effective trigger area setting process through a terminal, so that the effective trigger area is set. The terminal can be a remote controller, a mobile phone APP, a computer and other devices capable of realizing human-computer interaction, and the wireless communication mode of the terminal can be WIFI, Bluetooth or other wireless communication modes.
In another embodiment of the present invention, as shown in fig. 10, an automatic door comprises the sensor, 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 the automatic door detection area;
judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object or not;
if the judgment of the visual sensor is yes, judging whether the area division standard image lasts for a certain time period and is not changed;
if the visual sensor judges that the area is the effective triggering area, setting the area where the area division standard object is located as the effective triggering area, or setting the area between the area division standard object and the automatic door as the effective triggering area;
the visual sensor detects effective image information in the effective triggering area in real time and judges whether the automatic door is opened or closed according to the effective image information;
when the automatic door needs to be opened, generating door opening action instruction information, sending the door opening action instruction information to the automatic door host, and controlling a motor driving transmission mechanism by the automatic door host according to the door opening action instruction information to enable the transmission mechanism to drive the movable door leaf to be opened;
when the automatic door needs to be closed, door closing action instruction information is generated and sent to the automatic door host, and the automatic door host controls the movable door leaf to be closed according to the door closing action instruction information.
In another embodiment of the present invention, a data processing apparatus (not shown) includes a memory and a processor, the memory stores a computer program, and the processor implements the steps in the method for setting the trigger area of the automatic door 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 in the method for setting a triggering area of an automatic door.
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 (9)
1. A method for setting a trigger zone of an automatic door, the method comprising:
acquiring current image data in an automatic door detection area;
judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object;
judging whether the actual image characteristics of the area in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object or not, namely judging whether the area division standard object for setting an effective trigger area exists in the current automatic door detection area or not;
if yes, judging whether the area division standard object appearing in the automatic door detection area lasts for a certain time period and is not changed;
if the judgment result is yes, setting the area where the area division standard object is located as an effective trigger area, or setting the area between the area division standard object and the automatic door as an effective trigger area;
the area division standard object comprises a special mark object, the standard image feature of the special mark object is a first color feature, the standard data feature range corresponding to the standard image feature is a first color feature range, and the actual image feature comprises an actual color feature;
the judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
presetting a special mark object as a region division standard object;
setting a first color characteristic range corresponding to the first color characteristic according to the first color characteristic of the special mark object;
judging whether the actual color features of the area in the current image data are in the first color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
2. The method for setting the trigger area of the automatic door according to claim 1, wherein the area division standard object includes a marking line, a standard image feature of the marking line is a first visual feature, a standard data feature range corresponding to the standard image feature is a first visual feature range, and the actual image feature includes an actual visual feature;
the determining whether the actual image feature of the area in the current image data matches with the standard data feature range corresponding to the standard image feature of the preset area division standard object specifically includes:
presetting a marking line as a standard object for area division;
setting a first visual feature range corresponding to the first visual feature according to the first visual feature of the mark line;
judging whether the actual visual features of the area in the current image data are in the first visual feature range or not;
if yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
3. The method of setting the activation region of an automatic door according to claim 2, wherein the number of the marking lines is one or more;
the setting of the area where the standard area division object is located as an effective triggering area, or the setting of the area between the standard area division object and the automatic door as an effective triggering area specifically includes:
when the number of the mark lines is one, setting an area between one mark line and the automatic door as an effective trigger area;
and when the number of the mark lines is multiple, setting an internal area surrounded by the mark lines as an effective trigger area.
4. The method as claimed in claim 1, wherein the area division standard object comprises an optical pattern, the standard image feature of the optical pattern is a second color feature, the standard data feature range corresponding to the standard image feature is a second color feature range, and the actual image feature comprises an actual color feature;
the judging whether the actual image features of the region in the current image data are matched with the standard data feature range corresponding to the standard image features of the preset region division standard object specifically comprises:
presetting a special mark object as an optical pattern;
setting a second color characteristic range corresponding to a second color characteristic according to the second color characteristic of the optical pattern;
judging whether the actual color features of the regions in the current image data are in the second color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
5. The method of claim 4, wherein the optical pattern is emitted from a visible light source emitting device, the method further comprising:
setting the mode of the visible light source emitting device for emitting the optical pattern to be emitting at intervals of a preset time period;
and after the effective trigger area is set, the visible light source emitting device emitting the optical pattern turns off the emission.
6. The method of setting a triggering area of an automatic door according to any one of claims 1 to 5, further comprising:
storing the effective trigger area;
detecting effective image information in the effective trigger area in real time;
and judging whether to open or close the automatic door according to the effective image information.
7. The method of setting a triggering area of an automatic door according to any one of claims 1 to 5, further comprising:
detecting the actual position of the area division standard object in real time;
and updating the effective trigger area in real time according to the area division standard object.
8. A visual sensor, the visual sensor comprising:
the current image data acquisition module is used for acquiring current image data in the automatic door detection area;
the first judgment module is used for judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object;
judging whether the actual image characteristics of the area in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object or not, namely judging whether the area division standard object for setting the effective trigger area exists in the current automatic door detection area or not;
the second judgment module is used for judging whether the area division standard object appearing in the automatic door detection area lasts for a certain time period and is not changed if the judgment result is yes;
the trigger area setting module is used for setting the area where the area division standard object is located as an effective trigger area or setting the area between the area division standard object and the automatic door as an effective trigger area if the judgment result is yes;
the area division standard object comprises a special mark object, the standard image feature of the special mark object is a first color feature, the standard data feature range corresponding to the standard image feature is a first color feature range, and the actual image feature comprises an actual color feature;
the first judging module is further configured to:
presetting a special mark object as a region division standard object;
setting a first color characteristic range corresponding to a first color characteristic according to the first color characteristic of the special mark object;
judging whether the actual color features of the regions in the current image data are in the first color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
9. An automatic door, characterized in that the automatic door comprises the visual sensor of claim 8, 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 the automatic door detection area;
judging whether the actual image characteristics of the region in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of a preset region division standard object or not;
judging whether the actual image characteristics of the area in the current image data are matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object or not, namely judging whether the area division standard object for setting the effective trigger area exists in the current automatic door detection area or not;
if the judgment of the visual sensor is yes, judging whether the area division standard object appearing in the detection area of the automatic door lasts for a specific time period;
if the visual sensor judges that the area is the effective triggering area, setting the area where the area division standard object is located as the effective triggering area, or setting the area between the area division standard object and the automatic door as the effective triggering area;
the visual sensor detects effective image information in the effective triggering area in real time and judges whether the automatic door is opened or closed according to the effective image information;
when the automatic door needs to be opened, generating door opening action instruction information, sending the door opening action instruction information to the automatic door host, and controlling a motor to drive a transmission mechanism by the automatic door host according to the door opening action instruction information to enable the transmission mechanism to drive the movable door leaf to be opened;
when the automatic door needs to be closed, generating door closing action instruction information, and sending the door closing action instruction information to the automatic door host, wherein the automatic door host controls the movable door leaf to be closed according to the door closing action instruction information;
the area division standard object comprises a special mark object, the standard image feature of the special mark object is a first color feature, the standard data feature range corresponding to the standard image feature is a first color feature range, and the actual image feature comprises an actual color feature;
the visual sensor is configured to: presetting a special mark object as a region division standard object;
setting a first color characteristic range corresponding to the first color characteristic according to the first color characteristic of the special mark object;
judging whether the actual color features of the regions in the current image data are in the first color feature range or not;
if the judgment result is yes, the actual image characteristics of the area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object;
if not, the actual image characteristics of no area in the current image data are judged to be matched with the standard data characteristic range corresponding to the standard image characteristics of the preset area division standard object.
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