CN113687444A

CN113687444A - Auxiliary detection equipment and method and device for acquiring auxiliary detection signal

Info

Publication number: CN113687444A
Application number: CN202111110844.8A
Authority: CN
Inventors: 柳絮青; 马苏晨; 周晓煜; 曾晨利
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2021-11-23

Abstract

The embodiment of the invention discloses auxiliary detection equipment and an auxiliary detection signal acquisition method and device. The distance detection signal is obtained through the distance measurement sensor, the control component determines the target distance according to the distance detection signal, and determines the object placing state signal and the door state signal according to the target distance, the measurement error and the cabinet grid depth parameter. Therefore, auxiliary detection signals can be provided for the access cabinet, and the accuracy of detection of the use state of the cabinet lattice by the access cabinet is improved.

Description

Auxiliary detection equipment and method and device for acquiring auxiliary detection signal

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to an auxiliary detection device, and a method and an apparatus for acquiring an auxiliary detection signal.

Background

At present, people often use article storing and taking cabinets, such as take-out food, express delivery taking, supermarket bag storage, railway station bag storage and the like. In order to improve the convenience of the user for accessing the cabinet by using articles, the using state of the cabinet lattice is required to be intelligently detected so as to be intelligently controlled.

The detection of the object placing state and the door state of the existing article storing and taking cabinet is executed through different components, the object placing state is detected by using an infrared sensor, a laser sensor and the like, and the door state is detected through a microswitch, a Hall sensor and the like of an electromagnetic lock. However, the false detection rate of the access cabinet in the use state is high by adopting a mode of multiple groups of sensors.

Disclosure of Invention

In view of this, embodiments of the present invention provide an auxiliary detection device, and a method and an apparatus for acquiring an auxiliary detection signal, which can provide an auxiliary detection signal for an access cabinet to improve the accuracy of detecting the use state of a cabinet by the access cabinet.

In a first aspect, an embodiment of the present invention provides an auxiliary detection device, where the device includes:

a distance measuring sensor for acquiring a distance detection signal; and

and the control component is used for determining a target distance according to the distance detection signal and determining an auxiliary detection signal according to the target distance, the measurement error and the cabinet grid depth parameter, wherein the auxiliary detection signal comprises an object placing state signal and a door state signal.

In some embodiments, the ranging sensor is an ultrasonic sensor.

In some embodiments, the ranging sensor is disposed on a side opposite the cabinet door, and the transmission direction of the ultrasonic waves is toward the cabinet door.

In some embodiments, the apparatus further comprises:

the photosensitive sensor is used for acquiring a light intensity detection signal;

the control component is further used for determining a stable state of the cabinet lattice according to the distance detection signal and/or the light intensity detection signal, wherein the stable state comprises stable cabinet lattice and unstable cabinet lattice.

In some embodiments, the distance detection signal and/or the light intensity detection signal are in a plurality of groups.

In some embodiments, the control component is configured to determine a first average of the plurality of sets of range detection signals, determine a first variance from the first average, and determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold.

In some embodiments, the control component is configured to determine a measured distance corresponding to each distance detection signal, determine a second average of the plurality of sets of measured distances, determine a second variance according to the second average, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to a second variance threshold.

In some embodiments, the control component is configured to determine a third average value of the plurality of sets of light intensity detection signals, determine a third difference according to the third average value, and determine that the stable state of the cabinet is stable in response to the third difference being less than or equal to a third variance threshold.

In some embodiments, the control component is configured to determine a first average value of the plurality of sets of distance detection signals, determine a third average value of the plurality of sets of light intensity detection signals, determine a first variance from the first average value, determine a third variance from the third average value, and determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold and the third variance being less than or equal to a third variance threshold.

In some embodiments, the control unit is configured to determine a measured distance corresponding to each distance detection signal, determine a second average value of the plurality of sets of measured distances, determine a third average value of the plurality of sets of light intensity detection signals, determine a second variance according to the second average value, determine a third variance according to the third average value, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to a second variance threshold and the third variance being less than or equal to a third variance threshold.

In some embodiments, the control section is configured to collect the distance detection signal from the distance sensor at a predetermined cycle, and to end the collection in response to a collection time period satisfying a predetermined time period or the collected distance detection signals satisfying a predetermined number of groups.

In some embodiments, the control section is configured to collect the light intensity detection signal from the photosensor at a predetermined cycle, and to end the collection in response to a collection time period satisfying a predetermined time period or a collection of light intensity detection signals satisfying a predetermined number of groups.

In some embodiments, the control unit is configured to determine a measured distance corresponding to each distance detection signal in response to the stable state being stable, and use an average value of the measured distances of the plurality of sets of distance detection signals as the target distance.

In some embodiments, the measurement error is determined from an error parameter of the ranging sensor;

wherein the control means is configured to acquire the auxiliary detection signal by:

comparing the difference between the bin depth parameter and the measurement error and the sum of the bin depth parameter and the measurement error with the target distance respectively;

responding to the target distance smaller than the difference between the cabinet grid depth and the measurement error, outputting an object placing state signal as a first signal, and outputting a door state signal as a fourth signal;

in response to the target distance being greater than the difference between the cabinet grid depth and the measurement error and less than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal and outputting a door state signal as a fourth signal; and

responding to the fact that the target distance is larger than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal, and outputting a door state signal as a third signal;

the first signal is used for representing that an object is placed, the second signal is used for representing that no object is placed, the third signal is used for representing that the door state is open, and the fourth signal is used for representing that the door state is uncertain.

In some embodiments, the apparatus further comprises:

at least one input device for obtaining a cabinet depth parameter and a filtering grade;

wherein the control means is further for determining at least one of a first variance threshold, a second variance threshold, and a third variance threshold in dependence on the filtering level.

In some embodiments, the apparatus comprises:

the first input device is used for acquiring the cabinet depth parameter; and

and the second input device is used for acquiring the filtering grade.

In a second aspect, an embodiment of the present invention provides an auxiliary detection signal acquiring method, where the method includes:

acquiring a distance detection signal from a distance measuring sensor;

determining a target distance according to the distance detection signal; and

and determining an auxiliary detection signal according to the target distance, the measurement error and the cabinet grid depth parameter, wherein the auxiliary detection signal comprises an object placing state signal and a door state signal.

In some embodiments, the method further comprises:

acquiring a light intensity detection signal from a photosensitive sensor; and

and determining the stable state of the cabinet grids according to the distance detection signals and/or the light intensity detection signals, wherein the stable state comprises stable cabinet grids and unstable cabinet grids.

In some embodiments, the determining the stable state of the cabinet according to the distance detection signal and/or the light intensity detection signal comprises:

determining a first average value of the plurality of groups of distance detection signals;

determining a first square difference according to the first average value; and

in response to the first variance being less than or equal to a first variance threshold, determining that the stable state of the bin is bin stable.

determining a measuring distance corresponding to each distance detection signal;

determining a second average value of the plurality of groups of measured distances;

determining a second variance according to the second average; and

in response to the second variance being less than or equal to a second variance threshold, determining that the stable state of the bin is bin stable.

determining a third average value of the plurality of groups of light intensity detection signals;

determining a third difference according to the third average value; and

in response to the third variance being less than or equal to a third variance threshold, determining that the stable state of the cabinet is cabinet stable.

determining a first average value of a plurality of groups of distance detection signals, and determining a third average value of a plurality of groups of light intensity detection signals;

determining a first square difference according to the first average value, and determining a third square difference according to the third average value; and

in response to the first variance being less than or equal to a first variance threshold and the third variance being less than or equal to a third variance threshold, determining that the stable state of the cabinet is cabinet stable.

determining second average values of the multiple groups of measured distances, and determining third average values of the multiple groups of light intensity detection signals;

determining a second variance according to the second average value, and determining a third variance according to the third average value; and

in response to the second variance being less than or equal to a second variance threshold and the third variance being less than or equal to a third variance threshold, determining that the stable state of the cabinet is cabinet stable.

In some embodiments, the obtaining the range detection signal from the ranging sensor comprises:

collecting a distance detection signal from the distance sensor according to a predetermined period; and

and finishing the acquisition in response to the acquisition time length meeting the preset time length or the acquired distance detection signals meeting the preset group number.

In some embodiments, said acquiring a light intensity detection signal from a photosensitive sensor comprises:

acquiring a light intensity detection signal from the photosensitive sensor according to a predetermined period; and

and finishing the acquisition in response to the acquisition time length meeting the preset time length or the acquired light intensity detection signals meeting the preset group number.

In some embodiments, said determining a target distance from said distance detection signal comprises:

responding to the stable state that the cabinet grids are stable, and determining the measuring distance corresponding to each distance detection signal; and

and taking the average value of the measured distances of the plurality of groups of distance detection signals as the target distance.

In some embodiments, the measurement error is an absolute value of a measurement error value of the ranging sensor;

wherein the determining an auxiliary detection signal according to the target distance, the measurement error, and the bin depth parameter comprises:

In some embodiments, the method further comprises:

acquiring a cabinet grid depth parameter and a filtering grade; and

at least one of a first variance threshold, a second variance threshold, and a third variance threshold is determined based on the filtering level.

In some embodiments, the obtaining the bin depth parameter and the filtering level comprises:

obtaining the bin depth parameter from a first input device; and

the filtering level is obtained from the second input device.

In a third aspect, an embodiment of the present invention provides an apparatus for acquiring an auxiliary detection signal, where the apparatus includes:

a distance detection signal acquisition unit for acquiring a distance detection signal from the distance measurement sensor;

a target distance determination unit for determining a target distance from the distance detection signal; and

and the auxiliary detection signal acquisition unit is used for determining an auxiliary detection signal according to the target distance, the measurement error and the cabinet grid depth parameter, and the auxiliary detection signal comprises an object placing state signal and a door state signal.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement the method according to the second aspect.

According to the technical scheme of the embodiment of the invention, the distance detection signal is obtained through the distance measurement sensor, the control component determines the target distance according to the distance detection signal, and determines the object placing state signal and the door state signal according to the target distance, the measurement error and the cabinet grid depth parameter. Therefore, auxiliary detection signals can be provided for the access cabinet, and the accuracy of detection of the use state of the cabinet lattice by the access cabinet is improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of an access system according to an embodiment of the invention;

FIG. 2 is a schematic view of an item detection apparatus according to an embodiment of the present invention;

FIG. 3 is a side view of a cabinet of an embodiment of the present invention;

FIG. 4 is a schematic diagram of a cabinet state of one embodiment of the present invention;

FIG. 5 is a schematic diagram of a cabinet state of another embodiment of the present invention;

FIG. 6 is a schematic diagram of a cabinet state of yet another embodiment of the present invention;

FIG. 7 is a schematic diagram of a cabinet state of yet another embodiment of the present invention;

FIG. 8 is a flow chart of a control component of an embodiment of the present invention;

fig. 9 is a flowchart of a method of acquiring an auxiliary detection signal according to an embodiment of the present invention;

fig. 10 is a schematic diagram of an apparatus for acquiring an auxiliary detection signal according to an embodiment of the present invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Meanwhile, it should be understood that, in the following description, a "circuit" refers to a conductive loop constituted by at least one element or sub-circuit through electrical or electromagnetic connection. When an element or circuit is referred to as being "connected to" another element or element/circuit is referred to as being "connected between" two nodes, it may be directly coupled or connected to the other element or intervening elements may be present, and the connection between the elements may be physical, logical, or a combination thereof. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, it is intended that there are no intervening elements present.

Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

FIG. 1 is a diagram of an accessing system according to an embodiment of the invention. As shown in fig. 1, the access system of the embodiment of the present invention includes an access cabinet 1 and an auxiliary detection device 2. In the embodiment shown in fig. 1, the access cabinet 1 comprises eight cabinets, 11-18 respectively. In fig. 1, the cabinet is illustrated as a rectangular parallelepiped, and the right side is a schematic view of the cabinet 12, in which the area indicated by the solid line frame is a cabinet door, and the area indicated by the hatched portion is the side opposite to the standard door. The auxiliary detecting device 2 is provided on the side opposite to the specification door.

It should be understood that the access cabinet shown in fig. 1 is only one example of the embodiment of the present invention, and the access cabinet is not limited in the embodiment of the present invention, and the access cabinet may be various existing access cabinets, such as a take-out cabinet, an express pick-up cabinet, a bag storage cabinet in a supermarket or a train station, and the like.

It should also be understood that, for convenience of illustration, fig. 1 illustrates the cabinet as a rectangular parallelepiped, and the cabinet may have various shapes, as the shape of the cabinet is not limited in the embodiment of the present invention.

In an alternative implementation, the access cabinet 1 may be integrated with the auxiliary detection device 2, i.e. the auxiliary detection device 2 is arranged at a corresponding location when the access cabinet 1 is manufactured.

In another alternative implementation, the access cabinet 1 and the auxiliary detection device 2 are independent parts, i.e. the auxiliary detection device 2 can be mounted on any existing access cabinet.

In some embodiments, the access cabinet 1 includes a storage detection device, which may be implemented by various existing methods, such as a pressure sensor, an infrared sensor, a laser sensor, a photosensitive sensor, and the like.

In some embodiments, the access cabinet 1 includes a door state detection device, which may be implemented by various existing manners, such as a micro switch, a hall sensor, and the like.

It should be understood that the above-mentioned object detection device and door state detection device are included in the access cabinet itself, and are not included in the auxiliary detection device in the present application.

In some embodiments, the access cabinet 1 comprises a central controller, and the central controller is configured to determine the storage status of the cabinet compartment according to the detection signal obtained by the storage detection device, and determine the door status of the cabinet compartment according to the detection signal obtained by the door status detection device.

In the present embodiment, the auxiliary detection device 2 is configured to acquire an auxiliary detection signal, which includes a placement status signal and a door status signal.

Further, the auxiliary detection device 2 sends the acquired object placing state signal and the door state signal to the central controller, so that the central controller corrects the acquired object placing state and the door state according to the object placing state signal and the door state signal, and the accuracy of the detection of the cabinet grid state is improved. Meanwhile, when the function of the access cabinet is not complete (for example, only one of the object placing state or the door state can be detected), or when one of the object placing state or the door state is detected to be abnormal, the cabinet state can be determined through the auxiliary detection signal.

That is, access cabinet 1 in this application can obtain according to self put thing detection device and door state detection device and put thing state and door state, simultaneously, can obtain through supplementary check out test set and put thing state signal and door state signal to it corrects thing state and door state to put thing state and door state according to supplementary check out test set acquisition.

Fig. 2 is a schematic view of an object detection device according to an embodiment of the invention. As shown in fig. 2, the object detection apparatus according to the embodiment of the present invention includes a control part 21, a distance measuring sensor 22, a light sensor 23, a first input device 24, and a second input device 25.

In the present embodiment, the distance measuring sensor 22 is used to acquire a distance detection signal.

Further, the distance measuring sensor 22 is an ultrasonic sensor, and the ultrasonic sensor is a sensor for converting an ultrasonic signal into another energy signal (e.g., an electrical signal). The ultrasonic wave is a mechanical wave with the vibration frequency higher than 20kHz, and has the characteristics of high frequency, short wavelength, good directivity, capability of being directionally propagated as a ray and the like. The ultrasonic wave can generate obvious reflection when contacting impurities or interfaces to form reflection echoes, so that the ultrasonic ranging has better adaptability to the environment and has the advantages of good real-time performance, high precision, low price and the like. And, compare laser sensor or infrared sensor, ultrasonic sensor is difficult for receiving ambient light influence, and adaptability is better.

Further, the distance measuring sensor 22 is disposed at a side opposite to the cabinet door, and the emitting direction of the ultrasonic waves is toward the cabinet door. Specifically, taking the direction from the standard door as a front view direction as an example, fig. 3 shows a side view of one cabinet, in which a hatched portion indicates the standard door and a broken line indicates the emission direction of the ultrasonic wave.

It should be understood that the above embodiments are described by taking the case where the ultrasonic sensor is disposed on the side opposite to the cabinet door as an example, but the position of the ultrasonic sensor in the embodiments of the present invention is not particularly limited as long as the position of the ultrasonic sensor is attached to the side opposite to the cabinet door or close to the side opposite to the cabinet door, and the emitting direction of the ultrasonic waves is toward the specification door. For example, the ultrasonic sensor may be fixedly connected to the other side walls of the cabinet by means of a connecting assembly (connecting rod, etc.).

Further, the ultrasonic sensor has a transmitting end and a receiving end, wherein the transmitting end is used for transmitting ultrasonic waves, and the receiving end is used for receiving the transmitting echoes. Specifically, the transmitting end of the ultrasonic sensor transmits ultrasonic waves with a certain frequency, when the ultrasonic waves reach an obstacle, the ultrasonic waves are reflected by the obstacle to form reflected echoes, and the reflected echoes are received. The ultrasonic sensor generates a distance measurement signal including information such as transmission time and reception time of the ultrasonic wave, and transmits the distance measurement signal to the control unit.

In the present embodiment, the photosensor 23 is used to acquire a light intensity detection signal.

Further, a photosensor is a sensor that converts an optical signal into an electrical signal using a photosensor. The photosensitive sensor may be classified into various types according to the photosensitive element, such as a photoresistor type sensor, a photodiode type sensor, a photovoltaic cell type sensor, and the like. Taking the photoresistor type sensor as an example, the photoresistor is a resistor which is made by using the photoelectric effect of a semiconductor and has a resistance value which changes with the intensity of incident light, the intensity of the incident light is reduced, the intensity of the incident light is weak, and the resistance is increased. Therefore, different electric signals can be output under different illumination intensities.

In the present embodiment, the control section 21 acquires a distance detection signal from the distance measuring sensor 22 and a light intensity detection signal from the photosensor 23. Wherein the distance detection signals and/or the light intensity detection signals are in a plurality of groups.

Specifically, the control section 21 is configured to collect a distance detection signal from the distance sensor 22 at a predetermined cycle, collect a light intensity detection signal from the photosensor, and end the collection in response to a collection time period satisfying a predetermined time period or the collected distance detection signal or light intensity detection signal satisfying a predetermined number of sets.

Further, the predetermined period may be implemented by a timer. For example, with a 100ms timer, data acquisition is performed every 100ms elapsed.

Further, the predetermined time period can be satisfied by a timer. For example, if the timer of the predetermined period of the acquisition number is 100ms and the number of data sets to be acquired is 10, the timer of the predetermined duration is 1000ms, and thus the acquisition is finished after each 10 data sets are acquired. Or, the judgment may be performed by counting the number of sets of the acquired data, specifically, the judgment may be performed by an accumulator, the accumulator increments by 1 after data is acquired once, and the acquisition is ended when the value of the accumulator reaches a predetermined value.

Further, the control unit 21 is configured to determine a stable state of the cabinet according to at least one of the distance detection signal and the light intensity detection signal, where the stable state includes cabinet stability and cabinet instability.

More specifically, since the cabinet may be disturbed by human operations (e.g., placing articles, taking articles away, opening a cabinet door, closing a cabinet door, etc.) or external factors (e.g., shaking of a cabinet door blown by wind), an unstable state occurs, and thus the control part determines the stable state of the cabinet according to at least one of the distance detection signal and the light intensity detection signal. If only human factors are considered, the stable cabinet grids mean that the cabinet grids are not operated, and the unstable cabinet grids mean that the cabinet grids are operated.

In an alternative implementation, the control unit 21 is configured to determine the stable state of the cabinet according to the distance detection signal. Specifically, the control unit 21 is configured to determine a first average value of a plurality of sets of distance detection signals, determine a first variance according to the first average value, and determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold. Or the control component is configured to determine the measurement distances corresponding to the distance detection signals, determine a second average value of the plurality of sets of measurement distances, determine a second variance according to the second average value, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to a second variance threshold.

As described above, the distance detection signal acquired by the control section 21 includes the emission time t of the ultrasonic wave₁And the time t of reception of the reflected echo₂Thus, the control unit 21 can determine the round trip time of the ultrasonic wave as (t)₂-t₁) Assuming that the propagation velocity of the ultrasonic wave is v, the calculation formula of the measurement distance s is:

wherein V is the propagation velocity of the ultrasonic wave, t₂Receiving time, t, for transmitting echoes₁The transmission time of the ultrasonic wave and S is the measurement distance.

For the calculation of the average value and the variance, the average value and the variance of the measurement distances are taken as an example for explanation, and it is assumed that the acquired distance detection signals are n groups, and the measurement distances corresponding to the groups of distance detection signals obtained by the above formula of measurement calculation are respectively S₁、S₂，……，S_nThen, the calculation formula of the average value of the measured distances is:

wherein S is_aTo measure the mean value of the distance, S_iThe measured distance corresponding to the ith distance detection signal is 1,2,3, … …, n.

Wherein, the calculation formula of the variance is as follows:

wherein D is the variance, S_aTo measure the mean value of the distance, S_iThe measured distance corresponding to the ith distance detection signal is 1,2,3, … …, n.

Therefore, the second average value and the second variance can be obtained through the method, and the first average value and the first variance can be obtained based on a similar method.

In another alternative implementation, the control unit 21 is configured to determine the stable state of the cabinet according to the light intensity detection signal. Specifically, the control unit 21 determines a third average value of the plurality of sets of light intensity detection signals, determines a third difference according to the third average value, and determines that the stable state of the cabinet is stable in response to the third difference being less than or equal to a third variance threshold.

The calculation manner is similar to the above formula for calculating the second average value and the second variance, and the embodiment of the present invention is not described herein again.

In yet another alternative implementation, the control unit 21 is configured to determine the stable state of the cabinet according to the distance detection signal and the light intensity detection signal. Specifically, the control unit 21 determines a first average value of the plurality of sets of distance detection signals, determines a third average value of the plurality of sets of light intensity detection signals, determines a first square difference according to the first average value, determines a third square difference according to the third average value, and determines that the stable state of the cabinet is stable in response to the first square difference being less than or equal to a first variance threshold and the third square difference being less than or equal to a third variance threshold.

In the present embodiment, the second input means 25 is used to obtain the filtering level. Wherein the control means 21 is adapted to determine at least one of a first variance threshold, a second variance threshold and a third variance threshold depending on said filtering level.

Further, the control section 21 determines a target distance from the distance detection signal in response to the stable state of the cabinet being stable, and determines an auxiliary detection signal from the target distance, the measurement error, and the cabinet depth parameter.

Specifically, the control unit is configured to determine a measurement distance corresponding to each of the distance detection signals, and use an average value of the measurement distances of the plurality of sets of distance detection signals as the target distance. That is, the control unit 21 sets the second average value calculated as described above as the target distance.

In this embodiment, the control unit 21 may obtain, through the first input device 24, a bin depth parameter, where the bin depth parameter is used to represent a vertical distance between the bin door and an opposite side of the bin door, and L in fig. 3 is the bin depth parameter. Specifically, as described above, the auxiliary detection device may be applied to various existing access cabinets, and the cabinet depth parameters of different access cabinets are different, so that the cabinet depth parameters may be input through the first input device 24 when the auxiliary detection device is installed in the access cabinet.

In the present embodiment, the first input device 24 and the second input device 25 can be implemented based on various existing manners, such as a touch screen, a keyboard, a dialer, and the like.

It should be understood that the embodiment of the present invention is described by taking the first input device 24 as an example to obtain the bin depth parameter and the second input device 25 as an example to obtain the filtering level, but the embodiment of the present invention is not limited thereto, and the bin depth parameter and the filtering level may also be obtained based on the same input device.

The measurement error may be determined from an error parameter of the ranging sensor. The error parameter can be a specific distance value or a percentage, when the error parameter is the specific distance value, the measurement error is an absolute value of the distance value, and when the error parameter is the percentage, the measurement error is an absolute value of a product of the cabinet grid depth parameter and the percentage. For example, when the error parameter of the ranging sensor is ± 5cm, the measurement error is 5 cm; when the depth parameter of the cabinet grid is 100cm and the error parameter is +/-5%, the measurement error is 5 cm.

Fig. 4-7 show schematic diagrams of the target distance of the cabinet grid in different states, as follows:

in fig. 4, the cabinet compartment is in a state where no article is placed, and the door is in a state where the door is closed. At this time, L-E < Sa < L + E is satisfied for the target distance Sa.

In fig. 5, the cabinet compartment is in a state where no article is placed, and the door is in an open state. At this time, Sa ≧ L + E is satisfied for the target distance Sa.

In fig. 6, the cabinet compartment is in a state where the articles are placed, and the door is in a state where the door is closed. At this time, Sa ≦ L-E is satisfied for the target distance Sa.

In fig. 7, the cabinet compartment is in an open state with articles placed therein and the door is in a closed state. At this time, Sa ≦ L-E is satisfied for the target distance Sa.

Namely, the method is divided into three intervals according to the measurement error and the cabinet depth parameter, wherein the first interval is an interval from 0 to L-E, the second interval is an interval from L-E to L + E, and the third interval is an interval greater than L + E. And then the object placing state and the door state are determined according to the section where the target distance is located.

Therefore, the detection of the object placing state and the door state can be realized through one ultrasonic sensor, the equipment cost is reduced, and meanwhile, the installation and the arrangement are convenient.

Thereby, the control section 21 can determine the assist detection signal according to the acquired target distance.

Further, the control section 21 compares the difference between the bin depth parameter and the measurement error, and the sum of the bin depth parameter and the measurement error with the target distance, respectively; responding to the target distance smaller than the difference between the cabinet grid depth and the measurement error, outputting an object placing state signal as a first signal, and outputting a door state signal as a fourth signal; in response to the target distance being greater than the difference between the cabinet grid depth and the measurement error and less than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal and outputting a door state signal as a fourth signal; and outputting an object placing state signal as a second signal and outputting a door state signal as a third signal in response to the target distance being greater than the sum of the cabinet grid depth and the measurement error; the first signal is used for representing that an object is placed, the second signal is used for representing that no object is placed, the third signal is used for representing that the door state is open, and the fourth signal is used for representing that the door state is uncertain.

Further, expressed in a binary manner, the first signal and the second signal in the placement state signal are expressed as 1 and 0, respectively, and the third signal and the fourth signal in the gate state signal are expressed as 1 and 0, respectively. That is, when the placement state signal output is 1, it indicates that there is an object placed, and when the placement state signal output is 0, it indicates that there is no object placed; when the gate state signal output is 1, it indicates that the gate is open, and when the gate state signal output is 0, it indicates that the gate state is indeterminate.

For example, referring to fig. 4-7, assuming that the target distance is Sa, the bin depth parameter is L, and the measurement error is E, then:

when Sa is less than or equal to L-E, it can be determined that an article is placed, but it cannot be determined whether the door is opened or closed, and thus, the object placing state signal output is 1 and the door state signal output is 0.

When L-E < Sa < L + E, it can be determined that no article is placed, but the door may be in a closed state or may be small in opening size, and thus, the door state is not determined, whereby the article state signal output is 0 and the door state signal output is 0.

When Sa is larger than or equal to L + E, it can be determined that no object is placed and the door is in an open state, so that the object placing state signal output is 0 and the door state signal output is 1.

Further, the control component outputs the acquired article placing state signal and the acquired door state signal, so that the central controller of the access cabinet determines the cabinet grid state according to the article placing state signal and the door state signal. Specifically, when the door status is uncertain, the central controller may further determine according to an output signal of a door status detection device provided in the access cabinet itself, which is not limited in the embodiment of the present invention.

Further, the control Unit 21 may be implemented by an MCU (micro Controller Unit), a PLC (Programmable Logic Controller), an FPGA (Field-Programmable Gate Array), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit).

Further, the execution flow of the control unit will be further described with reference to the flowchart shown in fig. 8. In the embodiment shown in fig. 8, the execution flow of the control unit includes the following steps:

step S801 starts.

Step S802, judging whether the timer is up.

By setting a timer, the duration of the timer is a collection period, whether the timer expires is judged, if yes, step S803 is executed, and if not, step S802 is repeatedly executed until the timer expires.

And step S803, collecting a distance detection signal and/or a light intensity detection signal.

Step S804, judging whether the number of the collected data groups meets the preset number.

And judging whether the number of the acquired data groups reaches a preset number, if so, ending the acquisition and entering the step S805. If the number of the groups is not reached, the method returns to step S802 to continue to collect data.

It should be understood that the method for ending data acquisition is not limited to the method illustrated in fig. 4, and may also be implemented in other ways, for example, it may also be implemented by a timer, assuming that the timer in step S802 is a 100ms timer, if 10 groups of data need to be acquired, step S804 may be implemented by setting a 1000ms timer.

And step S805, calculating a first average value and/or a second average value and/or a third average value.

One or more of the first average value, the second average value, and the third average value are calculated. The first average value is an average value of a plurality of groups of distance detection signals, the second average value is an average value of measurement distances corresponding to the plurality of groups of distance detection signals, and the third average value is an average value of a plurality of groups of light intensity detection signals.

Step S806, calculate the first variance and/or the second variance and/or the third variance.

One or more of the first variance, the second variance, and the third variance are calculated. The first variance is the variance of the plurality of groups of distance detection signals, the second variance is the variance of the measured distances corresponding to the plurality of groups of distance detection signals, and the third variance is the variance of the plurality of groups of light intensity detection signals.

And step S807, judging whether the cabinet is operated.

Since the variance may represent a discrete state between the plurality of sets of data, when the first variance or the second variance is large, it represents that the data collected by the distance sensor has a large change in the time period during which the plurality of sets of data are collected, that is, a user may be performing an operation of opening/closing a cabinet compartment door, or an operation of taking/placing an article, that is, it represents that the cabinet compartment is unstable. When the first variance or the second variance is smaller, the data change collected by the distance sensor is smaller in the time period for collecting the plurality of groups of data, namely, the user does not perform the operation of opening/closing the cabinet lattice door, or the operation of taking/placing articles is not performed, namely, the cabinet lattice is stable.

Similarly, when the third difference is large, the data collected by the photosensitive sensor is large in variation during the time period for collecting the plurality of sets of data, that is, the user may be performing an operation of opening/closing the cabinet compartment door, or an operation of taking/placing an article, that is, the representation of the cabinet compartment is unstable. When the third difference is small, the data change collected by the photosensitive sensor is small in the time period of collecting the multiple groups of data, namely, the user is not in operation of opening/closing the cabinet lattice door or in operation of taking/placing articles, namely, the cabinet lattice is stable.

Therefore, the stable state of the cabinet can be judged according to at least one of the first variance, the second variance and the third variance, and the stable state comprises stable cabinet and unstable cabinet.

Specifically, for the above step S805 to step S807:

in an alternative implementation, the control unit determines a first average value of the plurality of sets of distance detection signals, determines a first variance according to the first average value, and determines that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold. Or the control component is configured to determine the measurement distances corresponding to the distance detection signals, determine a second average value of the plurality of sets of measurement distances, determine a second variance according to the second average value, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to a second variance threshold.

In another alternative implementation, the control unit determines a third average value of the plurality of sets of light intensity detection signals, determines a third difference according to the third average value, and determines that the stable state of the cabinet is stable in response to the third difference being less than or equal to a third variance threshold.

In yet another alternative implementation, the control component determines a first average value of the plurality of sets of distance detection signals, determines a third average value of the plurality of sets of light intensity detection signals, determines a first variance according to the first average value, determines a third variance according to the third average value, and determines that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold and the third variance being less than or equal to a third variance threshold.

And step S808, emptying data.

In response to that the stable state of the cabinet lattice is unstable, the door state and/or the object placing state of the representation cabinet lattice may change at any time, so that the control component does not acquire the auxiliary detection signal, and clears the data, returns to step S802, re-acquires the data of the predetermined number of groups and determines the stable state of the cabinet lattice until the stable state is stable, and then enters step S809.

And step S809, determining an auxiliary detection signal.

And when the control part judges that the stable state of the cabinet lattice is stable, determining an auxiliary detection signal.

Further, the control part compares the difference between the bin depth parameter and the measurement error and the sum of the bin depth parameter and the measurement error with the target distance respectively; responding to the target distance smaller than the difference between the cabinet grid depth and the measurement error, outputting an object placing state signal as a first signal, and outputting a door state signal as a fourth signal; in response to the target distance being greater than the difference between the cabinet grid depth and the measurement error and less than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal and outputting a door state signal as a fourth signal; and outputting an object placing state signal as a second signal and outputting a door state signal as a third signal in response to the target distance being greater than the sum of the cabinet grid depth and the measurement error; the first signal is used for representing that an object is placed, the second signal is used for representing that no object is placed, the third signal is used for representing that the door state is open, and the fourth signal is used for representing that the door state is uncertain.

For example, assuming that the target distance is Sa, the bin depth parameter is L, and the measurement error is E, then:

and when Sa is less than or equal to L-E, the object placing state signal output is 1, and the door state signal output is 0.

When Sa is more than L-E and less than L + E, the object placing state signal output is 0, and the door state signal output is 0.

When Sa is larger than or equal to L + E, the object placing state signal output is 0, and the door state signal output is 1.

Furthermore, the control component sends the auxiliary detection signal to a central controller of the access cabinet, so that the central controller corrects the acquired object placing state and the door state according to the object placing state signal and the door state signal of the auxiliary detection signal, and the accuracy of the cabinet grid state detection is improved.

According to the embodiment of the invention, the distance detection signal is obtained through the distance measurement sensor, the control component determines the target distance according to the distance detection signal, and determines the object placing state signal and the door state signal according to the target distance, the measurement error and the cabinet grid depth parameter. Therefore, auxiliary detection signals can be provided for the access cabinet, and the accuracy of detection of the use state of the cabinet lattice by the access cabinet is improved.

Fig. 9 is a flowchart of an acquisition method of an auxiliary detection signal according to an embodiment of the present invention. As shown in fig. 9, the method for acquiring an auxiliary detection signal according to an embodiment of the present invention includes the following steps:

step S910 acquires a distance detection signal from the distance measurement sensor.

And step S920, determining the target distance according to the distance detection signal.

And S930, determining an auxiliary detection signal according to the target distance, the measurement error and the cabinet depth parameter, wherein the auxiliary detection signal comprises an object placing state signal and a door state signal.

In some embodiments, the method further comprises:

acquiring a light intensity detection signal from a photosensitive sensor; and

determining a first square difference according to the first average value; and

determining a second variance according to the second average; and

determining a third difference according to the third average value; and

In some embodiments, the method further comprises:

acquiring a cabinet grid depth parameter and a filtering grade; and

obtaining the bin depth parameter from a first input device; and

the filtering level is obtained from the second input device.

Fig. 10 is a schematic diagram of an apparatus for acquiring an auxiliary detection signal according to an embodiment of the present invention. As shown in fig. 10, the acquisition apparatus of the auxiliary detection signal of the embodiment of the present invention includes a distance detection signal acquisition unit 101, a target distance determination unit 102, and an auxiliary detection signal acquisition unit 103. The distance detection signal acquisition unit 101 is configured to acquire a distance detection signal from a distance measurement sensor. The target distance determining unit 102 is configured to determine a target distance according to the distance detection signal. The auxiliary detection signal acquisition unit 103 is configured to determine an auxiliary detection signal according to the target distance, the measurement error, and the cabinet depth parameter, where the auxiliary detection signal includes an object placement status signal and a door status signal.

In some embodiments, the apparatus further comprises:

a light intensity detection signal acquisition unit for acquiring a light intensity detection signal from the photosensor; and

and the stable state determining unit is used for determining the stable state of the cabinet grids according to the distance detection signals and/or the light intensity detection signals, wherein the stable state comprises stable cabinet grids and unstable cabinet grids.

In some embodiments, the steady state determination unit comprises:

a first average value determining subunit, configured to determine a first average value of the plurality of groups of distance detection signals;

a first variance determining subunit, configured to determine a first variance according to the first average; and

a first state determination subunit, configured to determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold.

In some embodiments, the steady state determination unit comprises:

the first measuring distance determining subunit is used for determining the measuring distance corresponding to each distance detection signal;

the second average value determining subunit is used for determining a second average value of the plurality of groups of measured distances;

a second variance determining subunit, configured to determine a second variance according to the second average; and

a second state determination subunit for determining the stable state of the cabinet as cabinet stable in response to the second variance being less than or equal to a second variance threshold.

In some embodiments, the steady state determination unit comprises:

a third average value determining subunit, configured to determine a third average value of the plurality of sets of light intensity detection signals;

a third difference determining subunit, configured to determine a third difference according to the third average value; and

a third state determination subunit, configured to determine, in response to the third variance being less than or equal to a third variance threshold, that the stable state of the cabinet is cabinet stable.

In some embodiments, the steady state determination subunit comprises:

the fourth average value determining subunit is configured to determine a first average value of the plurality of groups of distance detection signals, and determine a third average value of the plurality of groups of light intensity detection signals;

a fourth difference determination subunit, configured to determine a first difference according to the first average value, and determine a third difference according to the third average value; and

a fourth state determination subunit, configured to determine that the stable state of the cabinet is cabinet stable in response to the first variance being less than or equal to a first variance threshold and the third variance being less than or equal to a third variance threshold.

In some embodiments, the steady state determination unit comprises:

a second measured distance determining subunit, configured to determine a measured distance corresponding to each distance detection signal;

the fifth average value determining subunit is configured to determine second average values of the multiple sets of measured distances, and determine third average values of the multiple sets of light intensity detection signals;

the fifth variance determining subunit is configured to determine a second variance according to the second average value, and determine a third variance according to the third average value; and

a fifth state determination subunit, configured to determine that the stable state of the cabinet is stable in response to that the second variance is less than or equal to a second variance threshold and the third variance is less than or equal to a third variance threshold.

In some embodiments, the distance detection signal acquisition unit includes:

a first signal acquisition subunit, configured to acquire a distance detection signal from the distance sensor according to a predetermined period; and

and the first end acquisition unit is used for responding to the acquisition time length meeting the preset time length or the acquired distance detection signals meeting the preset group number and ending the acquisition.

In some embodiments, the light intensity detection signal acquisition unit includes:

the second signal acquisition unit is used for acquiring a light intensity detection signal from the photosensitive sensor according to a preset period; and

and the second acquisition ending unit is used for responding to the condition that the acquisition time length meets the preset time length or the acquired light intensity detection signals meet the preset group number, and ending the acquisition.

In some embodiments, the target distance determination unit includes:

the measured distance determining subunit is used for determining the measured distance corresponding to each distance detection signal in response to the stable state being the cabinet stability; and

and the target distance acquisition subunit is used for taking the average value of the measured distances of the multiple groups of distance detection signals as the target distance.

wherein the auxiliary detection signal acquisition unit includes:

the comparison subunit is used for comparing the difference between the cabinet depth parameter and the measurement error and the sum of the cabinet depth parameter and the measurement error with the target distance respectively;

the first output subunit is used for responding to the situation that the target distance is smaller than the difference between the cabinet grid depth and the measurement error, outputting an object placing state signal as a first signal, and outputting a door state signal as a fourth signal;

the second output subunit is used for responding to the situation that the target distance is larger than the difference between the cabinet grid depth and the measurement error and smaller than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal, and outputting a door state signal as a fourth signal; and

the third output subunit is used for responding to the situation that the target distance is larger than the sum of the cabinet grid depth and the measurement error, outputting an object placing state signal as a second signal, and outputting a door state signal as a third signal;

In some embodiments, the apparatus further comprises:

the parameter acquisition unit is used for acquiring the cabinet depth parameter and the filtering grade; and

a threshold determination unit for determining at least one of a first variance threshold, a second variance threshold and a third variance threshold according to the filtering level.

In some embodiments, the parameter obtaining unit includes:

the first parameter acquisition subunit is used for acquiring the cabinet depth parameter from a first input device; and

and a second parameter obtaining subunit, configured to obtain the filtering level from the second input device.

In this embodiment, the auxiliary detection device further comprises a memory 26 in communicative connection with the at least one control component 21; and a communication module 27 communicatively connected to the scanning device, the communication module 27 receiving and transmitting data under the control of the control section 21; the memory 26 stores instructions executable by the at least one control unit 21, and the instructions are executed by the at least one control unit 21 to implement the method for acquiring the auxiliary detection signal.

Specifically, the electronic device includes: one or more control units 21 and a memory 26, one control unit 21 being exemplified in fig. 2. The control unit 21 and the memory 26 may be connected by a bus or in another manner, and fig. 2 illustrates the connection by a bus as an example. Memory 26, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The control section 21 executes various functional applications and data processing of the apparatus, that is, implements the above-described acquisition method of the auxiliary detection signal, by executing the nonvolatile software program, instructions, and modules stored in the memory 26.

The memory 26 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 26 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 26 may optionally include a memory remotely located from the control component 21, and these remote memories may be connected to the external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 26, which when executed by the one or more control components 21, perform the method of acquisition of the auxiliary detection signal in any of the method embodiments described above.

The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.

Another embodiment of the invention is directed to a non-transitory storage medium storing a computer-readable program for causing a computer to perform some or all of the above-described method embodiments.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The embodiment of the invention discloses A1 and auxiliary detection equipment, wherein the equipment comprises:

a distance measuring sensor for acquiring a distance detection signal; and

A2, the apparatus of A1, the ranging sensor being an ultrasonic sensor.

A3, the apparatus according to A2, wherein the distance measuring sensor is arranged such that the emission direction of the ultrasonic waves is directed toward the cabinet door.

A4, the apparatus of A1, further comprising:

A5, the apparatus of A4, the distance detection signals and/or the light intensity detection signals being in multiple groups.

A6, the apparatus of A5, the control unit configured to determine a first average of the plurality of sets of range detection signals, determine a first variance from the first average, and determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold.

A7, the device according to A5, wherein the control unit is configured to determine the measured distances corresponding to the distance detection signals, determine a second average value of the plurality of sets of measured distances, determine a second variance according to the second average value, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to a second variance threshold.

A8, the device according to A5, wherein the control unit is configured to determine a third mean value of the multiple sets of light intensity detection signals, determine a third difference according to the third mean value, and determine that the stable state of the cabinet is stable in response to the third difference being less than or equal to a third variance threshold.

A9, the apparatus according to A5, the control unit is configured to determine a first mean value of a plurality of distance detection signals, determine a third mean value of a plurality of light intensity detection signals, determine a first variance according to the first mean value, determine a third variance according to the third mean value, and determine that the stable state of the cabinet is stable in response to the first variance being less than or equal to a first variance threshold and the third variance being less than or equal to a third variance threshold.

A10, the device according to A5, wherein the control unit is configured to determine the measured distances corresponding to the distance detection signals, determine the second average values of the multiple sets of measured distances, determine the third average values of the multiple sets of light intensity detection signals, determine the second variance according to the second average values, determine the third variance according to the third average values, and determine that the stable state of the cabinet is stable in response to the second variance being less than or equal to the second variance threshold and the third variance being less than or equal to the third variance threshold.

A11, the apparatus according to a5, the control means being configured to collect distance detection signals from the distance sensors at a predetermined cycle, and to end collection in response to a collection time period satisfying a predetermined time period or collected distance detection signals satisfying a predetermined number of groups.

A12, the apparatus according to A5, wherein the control unit is configured to collect light intensity detection signals from the photosensitive sensor at predetermined cycles, and to terminate the collection in response to a collection duration satisfying a predetermined duration or a collection of light intensity detection signals satisfying a predetermined number of groups.

A13, the apparatus of A5, wherein the control unit is configured to determine a measured distance corresponding to each distance detection signal in response to the stable state being stable, and to take an average of the measured distances of the plurality of sets of distance detection signals as the target distance.

A14, the device according to A1, the measurement error being determined from the error parameters of the ranging sensor;

A15, the apparatus of A1, further comprising:

A16, the apparatus of A15, the apparatus comprising:

the first input device is used for acquiring the cabinet depth parameter; and

and the second input device is used for acquiring the filtering grade.

The embodiment of the invention discloses B1 and an auxiliary detection signal acquisition method, which comprises the following steps:

acquiring a distance detection signal from a distance measuring sensor;

determining a target distance according to the distance detection signal; and

B2, the method of B1, the method further comprising:

acquiring a light intensity detection signal from a photosensitive sensor; and

B3, the distance detection signals and/or the light intensity detection signals being in multiple groups according to the method of B2.

B4, the method of B3, the determining a steady state of a cabinet from the distance detection signal and/or the light intensity detection signal comprising:

determining a first square difference according to the first average value; and

B5, the method of B3, the determining a steady state of a cabinet from the distance detection signal and/or the light intensity detection signal comprising:

determining a second variance according to the second average; and

B6, the method according to B3, wherein the determining the stable state of the cabinet according to the distance detection signal and/or the light intensity detection signal comprises:

determining a third difference according to the third average value; and

B7, the method of B3, the determining a steady state of a cabinet from the distance detection signal and/or the light intensity detection signal comprising:

B8, the method of B3, the determining a steady state of a cabinet from the distance detection signal and/or the light intensity detection signal comprising:

B9, the method of B3, the acquiring a range detection signal from a ranging sensor comprising:

B10, the method of B3, the acquiring a light intensity detection signal from a photosensitive sensor includes:

B11, the method of B3, the determining a target distance from the distance detection signal comprising:

B12, according to the method of B1, the measurement error is an absolute value of a measurement error value of the ranging sensor;

B13, the method of B1, the method further comprising:

acquiring a cabinet grid depth parameter and a filtering grade; and

B14, according to the method of B13, the acquiring bin depth parameters and filtering levels comprises:

obtaining the bin depth parameter from a first input device; and

the filtering level is obtained from the second input device.

The embodiment of the invention discloses C1 and an auxiliary detection signal acquisition device, wherein the auxiliary detection signal acquisition device comprises:

The embodiment of the invention discloses D1, a computer readable storage medium, and computer program instructions stored thereon, wherein the computer program instructions realize the method according to any one of B1-B14 when being executed by a processor.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An auxiliary detection device, characterized in that it comprises:

a distance measuring sensor for acquiring a distance detection signal; and

2. The apparatus of claim 1, wherein the ranging sensor is an ultrasonic sensor.

3. The apparatus of claim 2, wherein the ranging sensor is arranged such that the direction of transmission of the ultrasonic waves is towards the cabinet door.

4. The apparatus of claim 1, further comprising:

5. The apparatus of claim 4, wherein the distance detection signals and/or the light intensity detection signals are in a plurality of groups.

6. The apparatus of claim 5, wherein the control component is configured to determine a first average of the plurality of sets of range detection signals, determine a first variance from the first average, and determine the stable state of the cabinet as stable in response to the first variance being less than or equal to a first variance threshold.

7. The apparatus of claim 5, wherein the control component is configured to determine a measured distance corresponding to each of the distance detection signals, determine a second average of the plurality of sets of measured distances, determine a second variance based on the second average, and determine the stable state of the cabinet as stable in response to the second variance being less than or equal to a second variance threshold.

8. A method for assisting acquisition of a detection signal, the method comprising:

acquiring a distance detection signal from a distance measuring sensor;

determining a target distance according to the distance detection signal; and

9. An apparatus for assisting acquisition of a detected signal, the apparatus comprising:

10. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of claim 8.