CN114788514A - Target object expelling method, controller and aiming device - Google Patents
Target object expelling method, controller and aiming device Download PDFInfo
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Abstract
The application provides an expulsion method of a target object, a controller and aiming equipment, wherein the aiming equipment comprises the controller and a laser emitter, the controller acquires a first thermal image of an initial area, and judges whether the target object exists in the initial area or not through the first thermal image, so that the target area with the target object in the initial area is effectively identified. When the number of the target areas is lower than a first preset value or a barrier-free sensing instruction sent by a sensor is received, the situation that a barrier exists in the initial area is eliminated, and when no barrier exists in the initial area, the laser emitter is controlled to be aligned to the target areas and emits laser to expel the target. And then, judging whether the target object is successfully expelled according to the second thermal image in the initial area, controlling the laser transmitter to continuously transmit laser when the target object is not successfully expelled, and controlling the laser transmitter to stop transmitting laser after transmitting laser for a preset number of times, so that the target object is effectively expelled while damage to the target object is avoided.
Description
Technical Field
The application relates to the technical field of thermal imaging, in particular to a target object expelling method, a controller and aiming equipment.
Background
With the development and progress of video analysis technology, more and more events can be detected and identified in real time through video monitoring, for example, in the catering industry, whether target objects such as mice appear in a kitchen or not is monitored through video.
However, in a real scene, although the video analysis method can detect the target object, it does not substantially affect the target object and cannot effectively expel the target object.
Disclosure of Invention
The application provides a target object expelling method, a controller and aiming equipment, which are used for effectively expelling a target object.
In a first aspect, the present application provides a method of target object expulsion, a targeting device comprising a controller and a laser emitter, the method for the controller comprising:
acquiring a first thermal image of an initial region, and screening out a target region including a target object from the initial region according to the first thermal image;
when the number of the target areas is lower than a first preset value or an obstacle-free sensing instruction sent by a sensor is received, controlling a laser transmitter to aim at the target areas and transmitting laser to expel the target objects;
and acquiring a second thermal image of the initial area, judging whether the target object exists in the target area according to the second thermal image, and if so, controlling the laser transmitter to transmit laser for a preset number of times and then stopping transmitting the laser.
Optionally, screening out a target region including a target object from the initial region according to the first thermal image specifically includes:
converting a temperature matrix corresponding to the first thermal image into a binary matrix, and segmenting the binary matrix into a plurality of sub-matrices, wherein each element in the binary matrix is a first value or a second value;
screening out a target sub-matrix from the plurality of sub-matrices, wherein the ratio of the number of the first values to the number of the second values meets a first preset condition;
and acquiring a second target image of the target sub-matrix in the first thermal image, and acquiring a target area corresponding to the second target image by using the corresponding relation between the first thermal image and the initial area.
Optionally, the converting the temperature matrix corresponding to the first thermal image into a binary matrix specifically includes:
and marking the temperature value within the preset temperature range in the temperature matrix corresponding to the first thermal image as a first value, and marking the temperature value outside the preset temperature range in the temperature matrix corresponding to the thermal image as a second value to obtain the binary matrix.
Optionally, the aiming device comprises a thermal imaging lens, a thermal beacon and a polarizer;
the controlling the laser emitter to aim at the target area specifically includes:
taking an axis which passes through the center point of the polarizer and is parallel to an imaging plane of the thermal imaging lens as a first axis, taking an axis which is vertical to the imaging plane as a second axis, wherein the first axis, the second axis and a third thermal image of the thermal beacon are in the same plane;
calculating a first slope of a center point of a first thermal image and a first point of a second target image, wherein the second target image is an image corresponding to the target area in the first thermal image;
controlling a second slope of a third thermal image of the thermal beacon to be equal to the first slope, wherein the thermal beacon is located at a tail end of the laser transmitter and extends for a first distance along a first direction, the tail end is opposite to the head end, the head end is a laser transmitting end, and the first direction is opposite to the transmitting direction of the laser transmitter;
calculating a first included angle between the third thermal image and the first shaft;
and controlling the included angle between the laser emitter and the horizontal plane to be the first included angle so as to align the target area.
Optionally, the controlling a second slope of a third thermal image of the thermal beacon to be equal to the first slope specifically includes:
controlling a first linear motor to rotate, wherein the first linear motor rotates to drive the thermal beacon to perform a first movement, so that a second slope of a third thermal image of the thermal beacon is equal to the first slope;
control laser emitter's the contained angle with the horizontal plane does first contained angle specifically includes:
and controlling a second linear motor to rotate, wherein the second linear motor rotates to drive the laser emitter to carry out second movement, so that the included angle between the laser emitter and the horizontal plane is controlled to be the first included angle.
Optionally, the calculating a first included angle between the third thermal image and the first axis specifically includes:
calculating a second included angle according to the focal length and the pixel length of the thermal imaging lens, wherein the pixel length is the product of the pixel length and the pixel length of the thermal imaging lens;
and calculating a first included angle between the third thermal image and the first axis according to the second included angle and the installation angle of the polarizer.
Optionally, the controlling the laser emitter to emit the laser for the preset number of times and then stop emitting the laser specifically includes:
and controlling the laser transmitter to continuously transmit laser for one time, judging whether the target object exists in the target area, if so, controlling the laser transmitter to continuously transmit laser for one time, and stopping transmitting the laser until controlling the laser transmitter to transmit the laser for a preset number of times.
In a second aspect, the present application provides an object expelling apparatus, comprising:
the screening module is used for acquiring a first thermal image of an initial region and screening out a target region comprising a target object from the initial region according to the first thermal image;
the control module is used for controlling the laser emitter to aim at the target area and emitting laser to expel the target when the number of the target areas is lower than a first preset value or a barrier-free sensing instruction sent by the sensor is received;
and the judging module is used for acquiring a second thermal image of the initial area, judging whether the target object exists in the target area according to the second thermal image, and if so, controlling the laser transmitter to transmit laser for a preset time and then stopping transmitting the laser.
In a third aspect, the present application provides a controller comprising: a memory and a processor;
the memory is used for storing instructions; the processor is configured to call instructions in the memory to perform the eviction method of the target in the first aspect and any one of the possible designs of the first aspect.
In a fourth aspect, the present application provides a sighting device, including the controller of the third aspect, and a thermal imaging lens and a laser emitter connected to the controller;
the thermal imaging lens is used for forming a first thermal image and a second thermal image of an initial area and sending the first thermal image and the second thermal image to the controller;
the laser transmitter is used for aiming at a target area under the control of the controller and sending laser to the target area to expel a target object in the target area.
Optionally, the method further includes: the linear motor is connected with the controller, and the thermal power beacon is connected with the laser transmitter;
the linear motor is used for driving the thermal power beacon and the laser transmitter to move.
Optionally, the thermal beacon includes a heating wire and an enclosure enclosing the heating wire, a gap is formed on the enclosure, the heating wire is used for emitting infrared light, and the thermal imaging lens is used for forming a thermal image of the thermal beacon according to the infrared light emitted from the gap.
In a fifth aspect, the present application provides a computer-readable storage medium having stored therein computer instructions, which when executed by at least one processor of a controller, cause the controller to perform a method for evicting a target object in any one of the first aspect and the possible designs of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when executed by at least one processor of a controller, cause the controller to perform a method for eviction of a target in the first aspect and any one of the possible designs of the first aspect.
According to the target object expelling method, aiming equipment comprises a controller and a laser emitter, wherein the controller acquires a first thermal image of an initial area, and screens out a target area comprising a target object from the initial area according to the first thermal image. And when the number of the target objects is lower than a first preset value or an obstacle-free sensing instruction sent by the sensor is received, controlling the laser transmitter to aim at the target area and transmitting laser to expel the target objects. And then, acquiring a second thermal image of the initial area, judging whether a target object exists in the target area according to the second thermal image, and controlling the laser transmitter to transmit laser for a preset time and then stopping transmitting the laser when the target object still exists in the target area. In this way, whether the target object exists in the initial region is judged through the first thermal image, and therefore the target region with the target object in the initial region is effectively identified. When the number of the target areas is lower than a first preset value or a non-obstacle sensing instruction sent by a sensor is received, the condition that an obstacle exists in the initial area is eliminated, and when the obstacle does not exist in the initial area, the laser emitter is controlled to be aligned to the target area and emits laser to expel the target. And then, whether the target object is successfully expelled is judged according to the second thermal image of the initial area, the laser transmitter is controlled to continue to transmit laser when the target object is not successfully expelled, and the laser transmitter is controlled to stop transmitting laser after the laser is transmitted for a preset number of times, so that the target object is effectively expelled, and meanwhile, the target object is prevented from being damaged.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a scenario of an object eviction method according to an embodiment of the present application;
fig. 2 is a flowchart of a target object eviction method according to an embodiment of the present application;
fig. 3 is a flowchart of a method for screening a target area according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for controlling a laser transmitter according to an embodiment of the present application;
FIG. 5 is a schematic view of a thermal image provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a thermal beacon according to an embodiment of the present application;
FIG. 7 is an angle schematic of a thermal image provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of an object expelling device according to an embodiment of the present application;
fig. 9 is a schematic hardware structure diagram of a controller according to an embodiment of the present application;
fig. 10 is a partial side view of a targeting device provided in an embodiment of the present application;
fig. 11 is a partial top view of a targeting device provided in accordance with an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The bright kitchen range is a form that catering service providers display related processes of catering services to the public in society by adopting transparent glass, video and other modes. The bright kitchen range enables customers of catering enterprises to visually see whether the operation of kitchen staff is standard, whether the sanitation is qualified, and whether mouse and other articles which are not suitable to appear.
With the development and progress of video analysis and artificial intelligence technology, more and more events can be detected and identified in real time through video monitoring, for example, whether a mouse and other target objects appear in a kitchen or not is monitored through video. However, in a real scene, although the video analysis method can detect the target object, the video analysis method does not substantially affect the target object and cannot effectively expel the target object.
At present, a visible light camera and a laser emitter can be coaxially arranged on a cloud deck through a large cloud deck, the cloud deck is driven to move to aim at a target object after AI identification, and red-green conversion laser is emitted, so that the effect of driving away the target object is achieved.
However, the target object and the initial region where the target object is located have a large difference, and the imaging quality of the camera in the night mode is poor, so that the target object in the initial region cannot be effectively identified, and the target object in the initial region cannot be effectively expelled.
In order to solve the above problem, the present application provides an object expelling method, in which a controller in a targeting device acquires a first thermal image of an initial region, screens out an object region including an object from the initial region according to the first thermal image, and can effectively identify the object in the initial region by using the first thermal image of the initial region, thereby screening out the object region including the object region in the initial region. Whether obstacles exist in the initial area is judged according to the number of the target areas and sensing instructions sent by the sensor, when the number of the target areas is lower than a first preset value or a non-obstacle sensing instruction sent by the sensor is received, the situation that the obstacles exist in the initial area is eliminated, the target in the target area can be subjected to expelling processing, and at the moment, the laser emitter is controlled to be aligned to the target area and emits laser to expel the target. Subsequently, obtain the second heating power image in initial region, judge through the second heating power image whether target object exists in the target area to judge whether effective expulsion target object, when target object exists in the target area, fail effective expulsion target object, control laser emitter and continue to emit laser and control laser emitter and stop laser emission after laser emitter transmits preset number of times laser, thereby avoid causing the injury to the target object when effectively expelling the target object.
The technical means of the present application will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic view illustrating a scenario of a target object eviction method according to an embodiment of the present application. The thermal imaging lens 101 collects a first thermal image of an initial area and a third thermal image of a thermal beacon for the first time, sends the first thermal image and the third thermal image to the controller 102, and the controller 102 screens out a target area including a target object from the initial area according to the first thermal image and calculates the number of the target area. The sensor 103 senses whether an obstacle exists in the initial area and transmits a sensing command to the controller 102, wherein the sensing command includes an obstacle sensing command or a non-obstacle sensing command. When receiving a no-obstacle sensing instruction sent by the sensor 103 or when the number of the target areas is lower than a first preset value, the controller 102 calculates an inclination angle between the thermal beacon and the horizontal plane according to the third thermal image, uses the inclination angle between the thermal beacon and the horizontal plane as a target inclination angle of the laser transmitter 104 relative to the horizontal plane, and controls the laser transmitter 104 to rotate to the target inclination angle, so that the laser transmitter 104 is aligned with the target areas. The laser transmitter 104 emits laser light to the target area to expel the target object after aiming at the target area. After the laser emitter 104 expels the target object once, the controller 102 controls the thermal imaging lens 101 to acquire a second thermal image of the initial region for the second time, and judges whether the target object exists in the target region according to the second thermal image, and when the target object still exists in the target region, the controller 102 controls the laser emitter 104 to continue to emit laser to the target region and stops emitting laser after emitting laser for a preset number of times.
Fig. 2 is a flowchart illustrating a method for evicting a target according to an embodiment of the present application. On the basis of the embodiment shown in fig. 1, as shown in fig. 2, with the controller of the aiming device as the execution subject, the method of the embodiment may include the following steps:
s101, obtaining a first thermal image of an initial area, and screening out a target area including a target object from the initial area according to the first thermal image.
Because the random movement of molecules and atoms exists in the object with the temperature higher than the absolute temperature (-273 ℃) in nature, the surface of the object can continuously radiate infrared light. The thermal imaging is to collect infrared light in a thermal infrared band (8-14 μm) so as to detect thermal radiation emitted by an object, convert the thermal radiation into gray values after the thermal radiation is detected, and perform imaging by using the gray value difference of each object. Because the temperature of the object is different, the emitted heat radiation is different, and the thermal image can show temperature difference through different gray scales, so that the thermal image is actually a data matrix formed by actual temperature values of all points.
The thermal imaging lens collects and converges the heat radiation of the incident infrared light, so that the spatial distribution of the infrared light is displayed on a given plane, and the given plane is an image plane. The thermal imaging lens forms a first thermal image of the initial region according to thermal radiation of infrared light emitted by each object in the initial region, and the first thermal image can be understood as a temperature matrix formed by actual temperature values of each object in the initial region. Due to the fact that the temperature of the target object in the initial region is different from that of other objects, the first target image corresponding to the target object can be screened out from the first thermal image, so that the position of the target object in the initial region can be obtained, a certain range of the position serves as a target region including the target object, the certain range can be determined according to specific conditions, for example, the width of a laser beam emitted by a laser emitter is determined, and the width of the laser beam is larger than or equal to the maximum distance between the boundary of the target region and the target object.
As an implementation manner, the initial area is a kitchen at night, the target object is a mouse, and the temperature of the mouse is different from the temperatures of other objects such as a table, a chair, a cooker, and a bowl, the temperature of the mouse is generally 32-42 ℃, and the temperatures of the other objects such as the table, the cooker, and the bowl are the temperatures of the night environment, which are close to the normal temperature, i.e., 25 ℃, so that after the first thermal image of the kitchen is obtained, the first target image corresponding to the mouse can be screened out from the first thermal image, the position of the mouse in the kitchen is obtained according to the position of the first target image in the first thermal image, and the target area including the mouse is obtained.
In some embodiments, as shown in fig. 3, screening out a target region including a target object from the initial region according to the first thermal image may include: s111, converting the temperature matrix corresponding to the first thermal image into a binary matrix, and segmenting the binary matrix into a plurality of sub-matrices. S112, screening out a target sub-matrix from the plurality of sub-matrices, wherein the ratio of the number of the first values to the number of the second values meets a first preset condition. 113. And acquiring a second target image of the target sub-matrix in the first thermal image, and acquiring a target area corresponding to the second target image by utilizing the corresponding relation between the first thermal image and the initial area.
In step S111, since the first thermal image is actually a temperature matrix composed of the temperatures of the respective objects in the initial region, the temperature matrix can also be understood as a temperature matrix of the initial region, which reflects the temperature distribution in the initial region. The temperature matrix corresponding to the first thermal image is converted into a binary matrix, for example, a temperature value in a preset temperature range in the temperature matrix can be marked as a first value, a temperature value out of the preset temperature range in the temperature matrix can be marked as a second value to obtain the binary matrix, each element in the binary matrix is the first value or the second value, and the binary matrix only comprises two values, so that a target area can be screened out quickly in the follow-up process. The preset temperature range may be 32-42 degrees celsius, a temperature value at 32-42 degrees celsius is marked as a first value, a temperature value smaller than 32 degrees celsius or larger than 42 degrees celsius is marked as a second value, the first value is, for example, 1, and the second value is 0. After converting the temperature matrix into the binary matrix, the binary matrix is divided into a plurality of sub-matrices, and if the binary matrix is a matrix with M rows and N columns, the matrix with M rows and N columns can be divided into (M × N)/(M × N) sub-matrices with M rows and N columns, where M and N can be 5, for example, the sub-matrices are 5 rows and 5 columns.
In step S112, each sub-matrix is a matrix with m rows and n columns, the number of the first values and the number of the second values in each sub-matrix are m × n, and the number of the first values and the number of the second values in each sub-matrix are obtained, for example, the number of the first values in the sub-matrix is a, and the number of the second values in the sub-matrix is b, then m × n ═ a + b. And when the ratio of the number of the first values to the number of the second values in the submatrix meets a first preset condition, the submatrix is a target submatrix. As an implementation manner, if the first preset condition is greater than the second preset value, when the number of the first values and the number of the second values in the submatrix are greater than the second preset value, the submatrix is a target submatrix meeting the first preset condition. For example, the second preset value is 2/5, and each sub-matrix is a 5 × 5 matrix, and when the number of the first values in the sub-matrix is greater than 10, the sub-matrix is the target sub-matrix.
In step S113, since the target sub-matrix is one of the binary matrices, the binary matrix is transformed by a temperature matrix, and the temperature matrix corresponds to the first thermal image, the target sub-matrix corresponds to one image in the first thermal image, and the one image corresponding to the target sub-matrix is recorded as the second target image. Because the first thermal image corresponds to the initial region, the second target image corresponds to one region in the initial region, and therefore one region in the initial region corresponding to the second target image is obtained according to the corresponding relation between the first thermal image and the initial region, and the one region is used as the target region. And because the ratio of the number of the first values to the number of the second values in the target sub-matrix meets a first preset condition, the target object exists in the target area corresponding to the second target image, and thus the target area where the target object exists is effectively obtained. It should be noted that the second target image corresponds to the target area, the first target image corresponds to the target object, and the second target image includes the first target image.
S102, when the number of the target areas is lower than a first preset value or an obstacle-free sensing instruction transmitted by a sensor is received, controlling a laser transmitter to aim at the target areas and transmitting laser to expel the target objects.
If the number of target regions is too large, the target in the initial region is too large, and there may be an obstacle having a temperature close to that of the target. For example, when the initial area is a kitchen and the target object is a mouse, if too many mice in the initial area are not in accordance with the convention of the kitchen, which may be when the staff enters the kitchen, the staff is an obstacle close to the target object. When the obstacle exists in the target area, the laser emitter is not suitable for emitting laser to the target area, and the obstacle is prevented from being damaged.
In some embodiments, the laser emitter may be controlled to aim at the target area and emit laser light to expel the target object when the number of the target areas is a first preset value. The first preset value may be determined according to the number of the sub-matrices, for example, when the number of the sub-matrices is 10, the first preset value may be 3, and it may be understood that when the initial region is divided into 10 regions, the target region including the target object should be less than 3.
In other embodiments, the presence of an obstacle in the initial region may be sensed by a sensor that sends a sensing command to the controller. When the sensor senses that the barrier exists in the initial area, sending a barrier sensing instruction to the controller; when the sensor senses that no obstacle exists in the initial area, an obstacle-free sensing instruction is sent to the controller. And when receiving the obstacle-free sensing instruction, the controller controls the laser transmitter to aim at the target area and transmit laser to expel the target. When the controller receives the obstacle sensing instruction, the laser transmitter is not controlled to be aligned to the target area. The sensor may be, for example, a human body sensor, and the human body sensor may sense whether a person exists in the initial region, so as to avoid damage to the person.
In some embodiments, as shown in fig. 4, controlling the laser emitter to be directed at the target area may include: s121, an axis which penetrates through the center point of the polarizer and is parallel to the imaging plane of the thermal imaging lens is taken as a first axis, and an axis which is perpendicular to the imaging plane is taken as a second axis. S122, calculating a first slope of the center point of the first thermal image and the first point of the second target image. And S123, controlling a second slope of a third thermal image of the thermal beacon to be equal to the first slope. And S124, calculating a first included angle between the third thermal image and the first axis. And S125, controlling the included angle between the laser emitter and the horizontal plane to be a first included angle so as to align the target area.
In step S121, the infrared light emitted from the target is reflected by the polarizer and enters the thermal imaging lens, and the thermal imaging lens collects and converges the infrared light reflected by the polarizer, so that the spatial distribution of the infrared light is displayed on the imaging surface. Since the axis passing through the center point of the polarizer and parallel to the imaging plane of the thermal imaging lens includes two axes, the axis in the same plane as the third thermal image of the thermal beacon is taken as the first axis, i.e., the Y axis in fig. 5, and the axis perpendicular to the imaging plane is taken as the second axis, i.e., the X axis in fig. 5, then the first axis, the second axis, and the third thermal image of the thermal beacon are located in the same plane.
In step S122, a center point O of the first thermal image and a second target image of the target area in the first thermal image are obtained, and any point in the second target image is selected as the first point P, for example, a point on a boundary of the second target image may be selected as the first point P, or a point in the boundary of the second target image may be selected as the first point P. When the first thermal image is reduced to a certain ratio, the second target image in the first thermal image may be reduced to one point, and the first point P of the second target image may be the second target image. A first slope of a center point O of the first thermal image and a first point P of the second target image is calculated. For example, as shown in fig. 5, only the first point P and the third thermal image are shown in fig. 5, a coordinate system may be established with the center point O as an origin, the first axis as a Y axis, and the second axis as an X axis, the coordinate of the first point P may be obtained, and the first slope between the point O and the point P may be calculated according to the coordinates of the first point P and the center point O. It should be noted that, the central point O of the first thermal image corresponds to a central point in the initial region, and the first point P of the second target image corresponds to a point in the target region, so that the first slope is a slope between the point in the target region and the central point of the initial region.
In step S123, the thermal beacon is located at the tail end of the laser transmitter and extends a first distance along a first direction, the tail end and the head end of the laser transmitter are opposite ends, the head end is a laser emitting end, the first direction is opposite to the emitting direction of the laser transmitter, the thermal beacon extends along an opposite direction of the emitting direction of the laser reflector, the thermal beacon may be a cylinder, as shown in fig. 6, a third thermal image of the thermal beacon is a line segment L, as shown in fig. 5. And if the imaging plane of the thermal imaging lens is divided into two portions, the first portion for forming a first thermal image of the initial region and the second portion for forming a third thermal image of the thermal beacon, the area of the first portion being greater than the area of the second portion, e.g., the area of the first portion occupying 3/4 of the imaging plane and the area of the second portion occupying 1/4 of the imaging plane, then the first thermal image of the initial region is located in the thermal imaging region 501 in fig. 5 and the third thermal image of the thermal beacon is located in the thermal imaging region 502 in fig. 5.
In this embodiment, the first linear motor 107 may be controlled to rotate, so that the first linear motor 107 rotates to drive the thermal beacon 105 to perform the first movement, that is, move left and right, so that the second slope of the third thermal image of the thermal beacon is equal to the first slope, and when the second slope of the third thermal image is equal to the first slope, the first linear motor stops being controlled to rotate. The Y-axis of the coordinate system may be elongated such that the third thermal image is in the coordinate system, and it may be determined whether the second slope of the third thermal image of the thermal beacon is equal to the first slope according to whether a connection line between the center point O and the first point P is parallel to the third thermal image.
In step S124, as shown in fig. 7, a first line a in fig. 7 represents a side view of the imaging plane of the thermal imaging lens, a second line Y represents a first axis Y, i.e., an axis in which the polarizer center point is parallel to the imaging plane of the thermal imaging lens, a third line X represents a second axis X, i.e., an axis perpendicular to the imaging plane, a fourth line B represents a polarizer, a fifth line C represents a division line of the third thermal image and the first thermal image, a sixth line D represents the third thermal image, a seventh line E represents the first thermal image, an eighth line PL represents a pixel length, i.e., a product of the pixel length and the pixel length, and a ninth line F represents a focal length of the thermal imaging lens. Calculating a second included angle 2 according to the focal length F and the pixel length PL of the thermal imaging lens, and calculating a first included angle 1 between the third thermal image and the first axis Y according to the second included angle 2 and the mounting angles 1 and 3 of the polarizer B. Specifically, the angle 2 and the angle 5 are opposite angles, then the angle 2 is equal to the angle 5, the angles 7 and the angle 4 are respectively an incident angle of infrared light of a target object incident to a polarizer and a reflection angle reflected from the polarizer to a thermal imaging lens, then the angle 7 is equal to the angle 4, the angle 7 and the angle 3 are opposite angles, so the angle 7 is equal to the angle 3, the angle 7 is equal to the angle 4, the angle 1+ 3 is an installation angle of a reflector, and the angle 5 can be calculated according to the F and the pixel length PL, so the degree of the angle 4 can be obtained. Since the & lt 4 & gt is & lt 3 & gt, the degree of & lt 1 can be calculated. A first included angle between a third thermal image of the thermal beacon and the first axis Y is an included angle between the thermal beacon and the horizontal plane, the extending direction of the thermal beacon is parallel to the extending direction of the laser emitter, and the first included angle is an included angle between the laser emitter and the horizontal plane.
In S125, the laser emitter may be located in a central region of the initial region, for example, the emission center of the laser emitter is located at a central point of the initial region. The controller controls the second linear motor to rotate, the second linear motor rotates to drive the laser emitter to move secondarily, namely, the laser emitter moves vertically, and the included angle between the laser emitter and the horizontal plane is controlled to be a first included angle. As an implementation, the thermal beacon and the laser transmitter may be an integral structure, the thermal beacon extends along the tail end of the laser transmitter, and the inclination angle of the thermal beacon is equal to the inclination angle of the laser transmitter. The included angle between the laser emitter and the horizontal plane can be controlled to be a first included angle by controlling the included angle between the thermal beacon and the horizontal plane to be the first included angle, and the laser emitter is aligned to the target area when the included angle between the laser emitter and the horizontal plane is the first included angle.
In some embodiments, if the angle of the laser emitter needs to be adjusted, a target angle between the third thermal image and the first axis Y may be calculated according to the first angle between the third thermal image and the first axis Y, the initial projection length of the third thermal image, and the target projection length of the third thermal image. For example, the thermal beacon extends a first distance of 5 along the tail end of the laser transmitter, when the thermal beacon is parallel to the horizontal plane, an included angle between the third thermal image and the first axis Y is 0 °, the pixel length of the third thermal image is 10 pixels, if the target included angle needs to be controlled to be 30 °, the projection length L' of the third thermal image on the second axis needs to be 4, and the pixel length is 8.
The laser emitter emits laser after aiming at the target area, and the laser beam has a certain width, so that the target object can be irradiated by the laser when the laser is emitted to the target area, and the target object is expelled.
S103, acquiring a second thermal image of the initial area, and judging whether a target object exists in the target area according to the second thermal image.
And acquiring a second thermal image of the initial area after the laser transmitter is used for expelling the target once, and judging whether the target exists in the target area or not according to the second thermal image. The second thermal image is a temperature matrix formed by actual temperature values of all objects in the initial area after the target object is expelled once. If the temperature matrix has the temperature value within the preset temperature range, the laser emitter fails to expel the target object, and if the temperature matrix does not have the temperature value within the preset temperature range, the laser emitter successfully expels the target object.
In some embodiments, if the target object is driven away from the target area but not from the initial area after the target object is driven away once by the laser emitter, the target area including the target object may be retrieved by using the second thermal image, and the laser emitter is controlled to continue to drive away the target object until the target object is driven away from the initial area.
When the target object is present in the target area, step S104 is executed, and when the target object is not present in the target area, step S105 is executed.
And S104, controlling the laser transmitter to transmit the laser for the preset times and then stopping transmitting the laser.
And when the target object still exists in the target area according to the second thermal image, controlling the laser transmitter to continuously transmit laser.
In some embodiments, after the laser emitter emits laser for one time, a fourth thermal image of the initial region may be obtained, whether the target object is driven away is determined, if not, the laser emitter is controlled to continue to emit laser for one time, a fifth thermal image of the initial region is obtained again, and the steps are sequentially repeated until after the laser emits laser for a preset number of times, the first thermal image corresponding to the target object still exists in the thermal image of the initial region, and the laser emitter is controlled to stop emitting laser. When the target object is not driven away by multiple laser emission, the target object may be other objects with the temperature within the preset range, but not the object which can be driven away, for example, the target object is a chicken to be eaten within the preset temperature range, the temperature of the chicken tends to be the temperature of the mouse, the chicken is mistaken as the mouse, the chicken is not driven away after multiple laser emission, the target object can be listed in an ignore list, the laser emission is stopped, and therefore the target object is prevented from being damaged. The laser emitter can also be controlled to emit laser for a preset number of times, then the laser emission is stopped, a sixth thermal image of the initial area is obtained again, whether the target object is driven away or not is judged according to the sixth thermal image, and if the target object is not driven away, the target object is listed in an ignore list.
And S105, controlling the laser emitter to stop emitting laser.
And controlling the laser transmitter to stop transmitting laser after judging the driving target object according to the second thermal image.
According to the target object expelling method, the target object in the initial area is effectively identified according to the first thermal image of the initial area, whether obstacles exist in the initial area is judged through the number of the target areas and sensing instructions sent by the sensors, when the number of the target areas is lower than a first preset value or no-obstacle sensing instructions sent by the sensors are received, the situation that the obstacles exist in the initial area is eliminated, and at the moment, the laser emitter is controlled to aim at the target area and emit laser to expel the target object. Subsequently, whether the target object exists in the target area is judged through a second thermal image of the initial area so as to judge whether the target object is effectively expelled, if the target object cannot be effectively expelled, the laser transmitter is controlled to continue to emit laser and is controlled to stop emitting the laser after the laser transmitter emits laser for a preset number of times, and therefore damage to the target object is avoided while the target object is effectively expelled.
Fig. 8 is a schematic structural diagram of an object expelling device according to an embodiment of the present application, and as shown in fig. 8, the object expelling device 10 according to the present embodiment is used to implement the operation corresponding to the controller in any one of the above method embodiments, where the object expelling device 10 according to the present embodiment includes:
the screening module 11 is configured to acquire a first thermal image of an initial region, and screen out a target region including a target object from the initial region according to the first thermal image;
the control module 12 is configured to control the laser emitter to aim at the target area and emit laser to expel the target object when the number of the target areas is lower than a first preset value or an obstacle-free sensing instruction sent by the sensor is received;
and the judging module 13 is configured to obtain a second thermal image of the initial region, judge whether the target object exists in the target region according to the second thermal image, and control the laser transmitter to transmit laser for a preset number of times and then stop transmitting laser if the target object exists in the target region.
The object expelling apparatus 10 provided in the embodiment of the present application may implement the foregoing method embodiment, and for details of implementation principles and technical effects, reference may be made to the foregoing method embodiment, which is not described herein again.
Fig. 9 illustrates a hardware structure diagram of a controller according to an embodiment of the present application. As shown in fig. 9, the controller 20 is configured to implement operations corresponding to the controller in any of the method embodiments described above, and the controller 20 of this embodiment may include: memory 21, processor 22 and communication interface 23.
A memory 21 for storing computer instructions. The Memory 21 may include a Random Access Memory (RAM), a Non-Volatile Memory (NVM), at least one disk Memory, a usb flash drive, a removable hard drive, a read-only Memory, a magnetic disk or an optical disk.
The processor 22 is configured to execute the computer instructions stored in the memory to implement the object eviction method in the above embodiment. Reference may be made in particular to the description relating to the method embodiments described above. The Processor 22 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
Alternatively, the memory 21 may be separate or integrated with the processor 22.
The communication interface 23 may be connected to the processor 22. Processor 22 may control communication interface 23 to perform the functions of receiving and transmitting signals.
The controller provided in this embodiment may be used to execute the method for evicting the target object, and its implementation manner and technical effect are similar, which are not described herein again.
The application also provides aiming equipment which comprises the controller, a thermal imaging lens and a laser emitter, wherein the thermal imaging lens and the laser emitter are connected with the controller;
the thermal imaging lens is used for forming a first thermal image and a second thermal image of the initial area and sending the first thermal image and the second thermal image to the controller;
the laser transmitter is used for aiming at the target area under the control of the controller and sending laser to the target area to expel a target object in the target area.
In some embodiments, the aiming device further comprises a linear motor connected with the controller and a thermal beacon connected with the laser transmitter, wherein the linear motor is used for driving the thermal beacon and the laser transmitter to move. As shown in fig. 10 and fig. 11, fig. 10 is a schematic diagram of a partial side view structure of the aiming device, fig. 11 is a schematic diagram of a partial top view structure of the aiming device, the linear motor includes a first linear motor 107 and a second linear motor 106, the first linear motor 107 is used for driving the thermal beacon 105 and the laser emitter 104 to move left and right, and the second linear motor 106 is used for driving the thermal beacon 105 and the laser emitter 104 to move up and down.
In some embodiments, as shown in fig. 6, the thermal beacon 105 includes a heating wire 603 and an enclosure 601 enclosing the heating wire 603, a gap 602 is formed on the enclosure 601, the heating wire 603 is used for emitting infrared light, and the thermal imaging lens forms a thermal image of the thermal beacon according to the infrared light emitted from the gap 602.
The present application also provides a computer readable storage medium, in which computer instructions are stored, and when the computer instructions are executed by a processor, the computer instructions are used for implementing the methods provided by the above-mentioned various embodiments.
The present application also provides a computer program product comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by at least one processor of the device from a computer-readable storage medium, and execution of the computer instructions by the at least one processor causes the device to perform the methods provided by the various embodiments described above.
The embodiment of the present application further provides a chip, which includes a memory and a processor, where the memory is used to store computer instructions, and the processor is used to call and execute the computer instructions from the memory, so that a device in which the chip is installed executes the method described in the above various possible embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of the technical features. And these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A method of target object eviction, wherein a targeting device comprises a controller and a laser emitter, the method for the controller comprising:
acquiring a first thermal image of an initial area, and screening out a target area comprising a target object from the initial area according to the first thermal image;
when the number of the target areas is lower than a first preset value or a non-obstacle sensing instruction sent by a sensor is received, controlling a laser emitter to aim at the target areas and emitting laser to expel the target objects;
and acquiring a second thermal image of the initial area, judging whether the target object exists in the target area according to the second thermal image, and if so, controlling the laser transmitter to transmit laser for a preset number of times and then stopping transmitting the laser.
2. The method of claim 1, wherein screening out a target region including a target object from the initial region based on the first thermal image comprises:
converting a temperature matrix corresponding to the first thermal image into a binary matrix, and segmenting the binary matrix into a plurality of sub-matrices, wherein each element in the binary matrix is a first value or a second value;
screening out a target sub-matrix, of which the ratio of the number of the first values to the number of the second values meets a first preset condition, from the plurality of sub-matrices;
and acquiring a second target image of the target sub-matrix in the first thermal image, and acquiring a target area corresponding to the second target image by using the corresponding relation between the first thermal image and the initial area.
3. The method according to claim 2, wherein the converting the temperature matrix corresponding to the first thermal image into a binarized matrix specifically comprises:
and marking the temperature value within the preset temperature range in the temperature matrix corresponding to the first thermal image as a first value, and marking the temperature value outside the preset temperature range in the temperature matrix corresponding to the thermal image as a second value to obtain the binary matrix.
4. The method of claim 1, wherein the aiming device comprises a thermal imaging lens, a thermal beacon, and a polarizer;
the controlling the laser transmitter to aim at the target area specifically includes:
taking an axis which passes through the center point of the polarizer and is parallel to an imaging plane of the thermal imaging lens as a first axis, taking an axis which is vertical to the imaging plane as a second axis, wherein the first axis, the second axis and a third thermal image of the thermal beacon are in the same plane;
calculating a first slope of a center point of a first thermal image and a first point of a second target image, wherein the second target image is an image corresponding to the target area in the first thermal image;
controlling a second slope of a third thermal image of the thermal beacon to be equal to the first slope, wherein the thermal beacon is located at a tail end of the laser transmitter and extends for a first distance along a first direction, the tail end is opposite to a head end, the head end is a laser transmitting end, and the first direction is opposite to the transmitting direction of the laser transmitter;
calculating a first included angle between the third thermal image and the first shaft;
and controlling the included angle between the laser emitter and the horizontal plane to be the first included angle so as to align the target area.
5. The method of claim 4, wherein controlling a second slope of a third thermal image of the thermal beacon to be equal to the first slope comprises:
controlling a first linear motor to rotate, wherein the first linear motor rotates to drive the thermal beacon to perform a first movement, so that a second slope of a third thermal image of the thermal beacon is equal to the first slope;
control laser emitter's the contained angle with the horizontal plane does first contained angle specifically includes:
and controlling a second linear motor to rotate, wherein the second linear motor rotates to drive the laser emitter to carry out second movement, so that the included angle between the laser emitter and the horizontal plane is controlled to be the first included angle.
6. The method according to claim 4, wherein the calculating a first angle between the third thermal image and the first axis comprises:
calculating a second included angle according to the focal length and the pixel length of the thermal imaging lens, wherein the pixel length is the product of the pixel length and the pixel length of the thermal imaging lens;
and calculating a first included angle between the third thermal image and the first axis according to the second included angle and the installation angle of the polarizer.
7. The method according to claim 1, wherein the controlling the laser emitter to emit the laser for the preset number of times and then stop emitting the laser specifically comprises:
and controlling the laser transmitter to continuously transmit laser for one time, judging whether the target object exists in the target area, if so, controlling the laser transmitter to continuously transmit laser for one time, and stopping transmitting the laser until controlling the laser transmitter to transmit the laser for a preset number of times.
8. A controller, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement a method of eviction of an object as claimed in any of claims 1 to 7.
9. A sighting device comprising the controller of claim 8, a thermal imaging lens and a laser transmitter coupled to the controller;
the thermal imaging lens is used for forming a first thermal image and a second thermal image of an initial area and sending the first thermal image and the second thermal image to the controller;
the laser transmitter is used for aiming at a target area under the control of the controller and sending laser to the target area to expel a target object in the target area.
10. The aiming device of claim 9, further comprising: the linear motor is connected with the controller, and the thermal beacon is connected with the laser transmitter;
the linear motor is used for driving the thermal power beacon and the laser transmitter to move.
11. The aiming device as claimed in claim 10, wherein the thermal beacon includes a heating wire and an enclosure enclosing the heating wire, the enclosure is formed with a slit, the heating wire is used for emitting infrared light, and the thermal imaging lens is used for forming a thermal image of the thermal beacon according to the infrared light emitted from the slit.
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