CN114788514B - Target object expelling method, controller and aiming device - Google Patents
Target object expelling method, controller and aiming device Download PDFInfo
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- CN114788514B CN114788514B CN202210414189.3A CN202210414189A CN114788514B CN 114788514 B CN114788514 B CN 114788514B CN 202210414189 A CN202210414189 A CN 202210414189A CN 114788514 B CN114788514 B CN 114788514B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
- A01M29/10—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like using light sources, e.g. lasers or flashing lights
Abstract
The application provides a target object expelling method, 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 a target object exists in the initial area or not through the first thermal image, so that a target area with the target object exists in the initial area is effectively identified. And 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, eliminating the condition that an obstacle exists in the initial area, and when the obstacle does not exist in the initial area, controlling the laser emitter to aim at the target area and emitting laser to expel the target object. And judging whether the target object is successfully expelled according to the second thermal image of the initial area, controlling the laser emitter to continuously emit laser when the target object is not successfully expelled, and controlling the laser emitter to stop emitting the laser after emitting the laser for preset times, thereby avoiding damage to the target object while effectively expelling the target object.
Description
Technical Field
The present application relates to the field of thermal imaging technologies, and in particular, to a method for expelling a target object, a controller, and an aiming device.
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 a rat or other target object appears in a kitchen 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 have an essential effect on the target object, and cannot effectively expel the target object.
Disclosure of Invention
The application provides an expelling method, a controller and aiming equipment for effectively expelling a target object.
In a first aspect, the present application provides a method of expelling a target, a targeting device including a controller and a laser transmitter, the method for the controller comprising:
acquiring a first thermal image of an initial area, and screening 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 an obstacle-free sensing instruction sent by a sensor is received, controlling a laser emitter to aim at the target areas and emit laser so as 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 emitter to emit laser for preset times and stopping emitting the laser.
Optionally, selecting a target area including a target object from the initial area according to the first thermal image specifically includes:
converting a temperature matrix corresponding to the first thermal image into a binarization matrix, and dividing the binarization matrix into a plurality of submatrices, wherein each element in the binarization matrix is a first value or a second value;
screening target submatrices from the plurality of submatrices, 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 submatrix 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.
Optionally, the converting the temperature matrix corresponding to the first thermal image into a binarization matrix specifically includes:
and marking a temperature value in a preset temperature range in a temperature matrix corresponding to the first thermal image as a first value, and marking a temperature value out of the preset temperature range in the temperature matrix corresponding to the thermal image as a second value to obtain the binarization matrix.
Optionally, the aiming device includes a thermal imaging lens, a thermal beacon, and a polarizer;
The controlling the laser transmitter to aim at the target area specifically comprises:
taking an axis which passes through the center point of the polarizer and is parallel to the imaging surface of the thermal imaging lens as a first axis, taking an axis which is perpendicular to the imaging surface as a second axis, and enabling the first axis, the second axis and a third thermal image of the thermal beacon to be 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 positioned at the 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 axis;
and controlling the included angle between the laser emitter and the horizontal plane to be the first included angle so as to align with the target area.
Optionally, the second slope of the third thermal image controlling the thermal beacon is equal to the first slope, specifically including:
Controlling a first linear motor to rotate, wherein the first linear motor rotates to drive the thermal beacon to perform first movement so that a second slope of a third thermal image of the thermal beacon is equal to the first slope;
the included angle between the control laser transmitter and the horizontal plane is the first included angle, and specifically comprises:
and controlling a second linear motor to rotate, wherein the second linear motor rotates to drive the laser transmitter to perform second movement so as to control the included angle between the laser transmitter and the horizontal plane 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 of the thermal imaging lens and the pixel length, 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 a preset number of times and then stop emitting the laser specifically includes:
and controlling the laser emitter to continuously emit laser once, judging whether the target object exists in the target area, if so, controlling the laser emitter to continuously emit laser once, and stopping emitting the laser after controlling the laser emitter to emit laser for preset times.
In a second aspect, the present application provides an eviction apparatus for an object, comprising:
the screening module is used for acquiring a first thermal image of an initial area and screening a target area comprising a target object from the initial area according to the first thermal image;
the control module is used for controlling 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 induction 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, stopping emitting laser after controlling the laser emitter to emit laser for preset times.
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 invoke instructions in the memory to perform the method of evicting the target in the first aspect and any of the possible designs of the first aspect.
In a fourth aspect, the present application provides an aiming device comprising the controller of the third aspect, 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 aligning a target area under the control of the controller and transmitting laser to the target area so as to expel a target object in the target area.
Optionally, the method further comprises: a linear motor connected to the controller and a thermal beacon connected to the laser transmitter;
the linear motor is used for driving the thermal beacon and the laser transmitter to move.
Optionally, the thermal beacon includes heating filament and parcel the inclusion of heating filament, be formed with the gap on the inclusion, the heating filament is used for sending infrared light, the thermal imaging lens is used for according to the gap outgoing infrared light forms the thermal image of thermal beacon.
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, perform the method of evicting an object in any of the first aspect and any of 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, perform the method of expelling targets in the first aspect and any 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 a target area comprising a target object is screened out of the initial area according to the first thermal image. When the number of the targets is lower than a first preset value or an obstacle-free sensing instruction sent by the sensor is received, controlling the laser emitter to aim at the target area and emit laser so as to expel the targets. 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 when the target object still exists in the target area, controlling the laser emitter to emit laser for preset times and stopping emitting the laser. In this way, whether the target object exists in the initial area is judged through the first thermal image, so that the target area with the target object in the initial area is effectively identified. And 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, eliminating the condition that an obstacle exists in the initial area, and when the obstacle does not exist in the initial area, controlling the laser emitter to aim at the target area and emitting laser to expel the target object. And judging whether the target object is successfully expelled according to the second thermal image of the initial area, controlling the laser emitter to continuously emit laser when the target object is not successfully expelled, and controlling the laser emitter to stop emitting the laser after emitting the laser for preset times, thereby avoiding damage to the target object while effectively expelling the target object.
Drawings
For a clearer description of the present application or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a scenario of an eviction method of a target object according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for expelling an object according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for screening a target area according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of controlling a laser transmitter according to one embodiment of the present application;
FIG. 5 is a schematic illustration of a thermal image according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a heat beacon according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a thermal image according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of an expelling device for an object according to an embodiment of the present disclosure;
Fig. 9 is a schematic hardware structure of a controller according to an embodiment of the present application;
FIG. 10 is a partial side view of a targeting device according to an embodiment of the present application;
fig. 11 is a partial top view of a pointing device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, 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 apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The kitchen range is one form of food and drink service provider to show relevant food and drink service course to public. The kitchen range enables catering enterprise customers to intuitively see whether the operation of kitchen staff is standard, whether sanitation is qualified, whether the kitchen staff is provided with articles which are not suitable for being provided with mice and the like.
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 target such as a mouse is present in a kitchen or not through video monitoring. However, in a real scene, although the video analysis method can detect the target object, the video analysis method does not have an essential effect on the target object and cannot effectively expel the target object.
At present, a visible light camera and a laser transmitter can be coaxially arranged on a holder through a large holder, the holder is driven to move to aim at a target object after AI identification, and red-green conversion laser is emitted to achieve the effect of driving away the target object.
However, since the difference between the target object and the initial area where the target object is located is large and the imaging quality of the camera is poor in the night mode, the target object in the initial area cannot be effectively identified, and thus the target object in the initial area cannot be effectively driven out.
In view of the above problems, the present application proposes a method for expelling a target object, in which a controller in a targeting device acquires a first thermal image of an initial area, and screens a target area including the target object from the initial area according to the first thermal image, and the target object in the initial area can be effectively identified by using the first thermal image of the initial area, so as to screen the target area including the target area in the initial area. Judging whether an obstacle exists in the initial area or not through the number of the target areas and the sensing instruction sent by the sensor, and when the number of the target areas is lower than a first preset value or the obstacle-free sensing instruction sent by the sensor is received, eliminating the situation that the obstacle exists in the initial area, indicating that the target object in the target area can be subjected to expelling processing, and controlling the laser emitter to aim at the target area and emit laser to expel the target object. And then, acquiring a second thermal image of the initial area, judging whether a target object exists in the target area through the second thermal image so as to judge whether the target object is effectively expelled, when the target object exists in the target area, failing to effectively expel the target object, controlling the laser emitter to continuously emit laser and controlling the laser emitter to stop emitting the laser after the laser emitter emits the laser for a preset number of times, thereby effectively expelling the target object and simultaneously avoiding damage to the target object.
The technical scheme of the present application is described in detail below with specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a schematic view of a scenario of an eviction method of an object according to an embodiment of the present application. The thermal imaging lens 101 first collects a first thermal image of the initial region and a third thermal image of the thermal beacon, and transmits the first thermal image and the third thermal image to the controller 102, and the controller 102 screens out a target region including a target object from the initial region according to the first thermal image, and calculates the number of the target regions. The sensor 103 senses whether an obstacle exists in the initial area and transmits a sensing instruction to the controller 102, wherein the sensing instruction includes an obstacle sensing instruction or an obstacle-free sensing instruction. When receiving the obstacle-free sensing instruction sent by the sensor 103 or when the number of target areas is lower than a first preset value, the controller 102 calculates the inclination angle of the thermal beacon and the horizontal plane according to the third thermal image, takes the inclination angle of the thermal beacon and the horizontal plane as the 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 to the target areas. The laser transmitter 104 directs laser light toward the target area to expel the target object. After the laser transmitter 104 ejects the target object once, the controller 102 controls the thermal imaging lens 101 to collect the second thermal image of the initial area for the second time, and judges whether the target object exists in the target area according to the second thermal image, when the target object still exists in the target area, the controller 102 controls the laser transmitter 104 to continuously transmit laser to the target area and stops transmitting the laser after transmitting the laser for a preset number of times.
Fig. 2 is a flowchart of a method for expelling an object according to an embodiment of the present application. Based on the embodiment shown in fig. 1, as shown in fig. 2, the method of this embodiment may include the following steps of:
s101, acquiring a first thermal image of an initial area, and screening a target area comprising a target object from the initial area according to the first thermal image.
Since an object in nature with a temperature higher than absolute temperature (-273 ℃) has irregular movement of molecules and atoms, the surface thereof continuously radiates 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 objects, and convert the thermal radiation into gray values after detecting the thermal radiation, and image the objects by utilizing gray value differences of the objects. The thermal image can represent the temperature difference through the gray level difference due to the different temperatures of the objects and the different emitted heat radiation, so the thermal image is actually a data matrix composed of the actual temperature values of the respective points.
The thermal imaging lens collects and converges the thermal radiation of the incident infrared light, so that the spatial distribution of the thermal radiation is displayed on a given plane, and the given plane is an imaging plane. The thermal imaging lens forms a first thermal image of the initial area according to thermal radiation of infrared light emitted by each object in the initial area, and the first thermal image can be understood as a temperature matrix formed by actual temperature values of each object in the initial area. Since the temperature of the target object in the initial area is different from that of other objects, a 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 area can be obtained, a certain range of the position is taken as a target area comprising 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 according to the width of the laser beam, and the width of the laser beam is larger than or equal to the maximum distance between the boundary of the target area and the target object.
As one implementation manner, the initial area is a kitchen at night, the target object is a mouse, the temperature of the mouse is generally 32-42 ℃ compared with the temperature of other objects such as a table, a chair, a cooker, a bowl and the like, and the temperature of the other objects such as the table, the chair, the cooker, the bowl and the like is the temperature of the night environment, which is close to the normal temperature, namely 25 ℃, so after the first thermal image of the kitchen is acquired, 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 acquired according to the position of the first target image in the first thermal image, and the target area including the mouse is acquired.
In some embodiments, as shown in fig. 3, screening the target area including the target object from the initial area according to the first thermal image may include: s111, converting a temperature matrix corresponding to the first thermal image into a binarization matrix, and dividing the binarization matrix into a plurality of submatrices. S112, screening target submatrices from the submatrices, 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 submatrix 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, the temperature matrix reflecting the temperature distribution in the initial region. The temperature matrix corresponding to the first thermal image is converted into a binarization matrix, for example, a temperature value in a preset temperature range in the temperature matrix can be marked as a first value, a temperature outside the preset temperature range in the temperature matrix is marked as a second value, so that a binarization matrix is obtained, and each element in the binarization matrix is the first value or the second value. The preset temperature range may be 32 to 42 degrees celsius, and a temperature value at 32 to 42 degrees celsius is marked as a first value, and a temperature value less than 32 degrees celsius or greater than 42 degrees celsius is marked as a second value, for example, 1, and the second value is 0. After converting the temperature matrix into a binary matrix, dividing the binary matrix into a plurality of submatrices, if the binary matrix is an M-row and N-column matrix, dividing the M-row and N-column matrix into (m×n)/(m×n) M-row and N-column submatrices, where M and N may be, for example, 5, and the submatrices are 5-row and 5-column submatrices.
In step S112, each of the sub-matrices is a matrix of m rows and n columns, and the number of the first values and the second values in each of the sub-matrices is m×n, and the number of the first values and the number of the second values in each of the sub-matrices are obtained, for example, the number of the first values in the sub-matrix is a, and the number of the second values is b, where m×n=a+b. When the ratio of the number of the first values and the number of the second values in the submatrix meets a first preset condition, the submatrix is a target submatrix. As one implementation, the first preset condition is greater than the second preset value, and 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 that meets the first preset condition. For example, the second preset value is 2/5, 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 sub-matrix of the binarization matrix, the binarization matrix is converted by the temperature matrix, and the temperature matrix corresponds to the first thermal image, the target sub-matrix corresponds to one block of the first thermal image, and one block of the image corresponding to the target sub-matrix is recorded as the second target image. Because the first thermal image corresponds to the initial area, the second target image corresponds to a block area in the initial area, and therefore, the block area in the initial area corresponding to the second target image is obtained according to the corresponding relation between the first thermal image and the initial area, and the block area is taken as the target area. And as the ratio of the number of the first values to the number of the second values in the target submatrix meets the first preset condition, the target object exists in the target area corresponding to the second target image, so that the target area with the target object is effectively acquired. 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.
And S102, when the number of the target areas is lower than a first preset value or an obstacle-free sensing instruction emitted by the sensor is received, controlling the laser emitter to aim at the target areas and emit laser so as to expel the target objects.
If the number of target areas is too large, the number of targets in the initial area is too large, and an obstacle having a temperature similar to that of the targets may exist. For example, when the initial area is a kitchen and the target is a mouse, if too many mice in the initial area do not conform to the routine of the kitchen, it may be that staff enter the kitchen, and the staff is an obstacle close to the target. When an obstacle exists in the target area, the laser emitter is not suitable for emitting laser to the target area, so that the obstacle is prevented from being damaged.
In some embodiments, the laser transmitter may be controlled to be directed at the target area and to emit laser light to expel the target object when the number of target areas is a first preset value. The first preset value may be determined according to the number of sub-matrices, for example, when the number of sub-matrices is 10, the first preset value may be 3, which may be understood as that when the initial area is divided into 10 areas, the target area including the target object should be less than 3.
In other embodiments, a sensor may be used to sense the presence of an obstacle in the initial area, and the sensor sends a sense command to the controller. When the sensor senses that an obstacle exists in the initial area, an obstacle sensing instruction is sent to the controller; and when the sensor senses that no obstacle exists in the initial area, sending an obstacle-free sensing instruction to the controller. And when the controller receives the obstacle-free sensing instruction, the controller controls the laser emitter to aim at the target area and emit laser so as to expel the target object. And when receiving the obstacle sensing instruction, the controller does not control the laser emitter to be aligned to the target area. The sensor can be, for example, a human body sensor, so that the human body sensor can sense whether a human exists in the initial area, and injury to the human body is avoided.
In some embodiments, as shown in fig. 4, controlling the laser transmitter to be aimed at the target area may include: s121, taking an axis passing through the center point of the polarizer and parallel to the imaging plane of the thermal imaging lens as a first axis and taking an axis perpendicular to the imaging plane 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. S123, controlling the second slope of the third thermal image of the thermal beacon to be equal to the first slope. S124, calculating a first included angle between the third thermal image and the first axis. S125, controlling the included angle between the laser emitter and the horizontal plane to be a first included angle so as to align with the target area.
In step S121, the infrared light emitted from the target object 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 a first axis, i.e., the Y axis in fig. 5, and the axis perpendicular to the imaging plane is taken as a second axis, i.e., the X axis in fig. 5, 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 acquired, and any point in the second target image is selected as the first point P, for example, a point on the boundary of the second target image may be selected as the first point P, or a point within the boundary of the second target image may be selected as the first point P. When the first thermal image is scaled down to a certain scale, the second target image in the first thermal image may be scaled down to one point, and then the first point P of the second target image may be the second target image. A first slope of the center point O of the first thermal image and the 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 the origin, the first axis as the Y axis, and the second axis as the X axis, the coordinates of the first point P are obtained, and the first slope between the O point and the P point is calculated according to the coordinates of the first point P and the center point O. It should be noted that, if the center point O of the first thermal image corresponds to the center point in the initial area, and the first point P of the second target image corresponds to a point in the target area, the first slope is a slope between the point in the target area and the center point of the initial area.
In step S123, the heat beacon is located at the tail end of the laser emitter and extends a first distance along a first direction, where the tail end and the head end of the laser emitter are opposite ends, and the head end is the laser emitting end, and the first direction is opposite to the emitting direction of the laser emitter, so that the heat beacon extends along the direction opposite to the emitting direction of the laser emitter, and the heat beacon may be a cylinder, as shown in fig. 6, and then the third heat image of the heat beacon is a line segment L, as shown in fig. 5. And if the imaging surface of the thermal imaging lens is divided into two parts, a first part for forming a first thermal image of the initial area and a second part for forming a third thermal image of the thermal beacon, the area of the first part being greater than the area of the second part, for example, 3/4 of the area of the first part and 1/4 of the area of the imaging surface, the first thermal image of the initial area is located in the thermal imaging area 501 in fig. 5 and the third thermal image of the thermal beacon is located in the beacon imaging area 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 heat beacon 105 to perform a first movement, that is, to move left and right, so that the second slope of the third heat image of the heat beacon is equal to the first slope, and when the second slope of the third heat image is equal to the first slope, the control of the first linear motor is stopped. 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 based on whether the 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 an imaging surface of the thermal imaging lens, a second line Y represents a first axis Y, that is, an axis of which a polarizer center point is parallel to the imaging surface of the thermal imaging lens, a third line X represents a second axis X, that is, an axis perpendicular to the imaging surface, a fourth line B represents a polarizer, a fifth line C represents a dividing 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, that is, a product of a pixel and a pixel length, and a ninth line F represents a focal length of the thermal imaging lens. And calculating a second included angle 2 according to the focal length F of the thermal imaging lens and the pixel length PL, 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 installation angles 1 and 3 of the polarizer B. Specifically, if +.2= 5, +.7 and +.4 are opposite angles, then +.2= 5, +.7 and +.4 are respectively the incident angle of the target object to the polarizer and the reflection angle of the target object reflected from the polarizer to the thermal imaging lens, then +.7= 4, +.7 and +.3 are opposite angles, then +.7= 3, so +.7= 4= 3, since +.1+.3+.4+ (90 ° -.5) =180°, and +.1+.3 is the installation angle of the reflector, and +.5 can be calculated according to the focal length F and the pixel length PL, so the degree of +.4 can be obtained. Since = -4 = -3, the degree of +.1 can be calculated. The first included angle between the third thermal image of the thermal beacon and the first axis Y is the included angle between the thermal beacon and the horizontal plane, and the extending direction of the thermal beacon is parallel to the extending direction of the laser transmitter, so that the first included angle is the included angle of the laser transmitter relative to the horizontal plane.
In S125, the laser transmitter may be located in a central region of the initial region, for example, the emission center of the laser transmitter is located at a center point of the initial region. The controller controls the second linear motor to rotate, and the second linear motor rotates to drive the laser transmitter to perform second movement, namely up-down movement, and the included angle between the laser transmitter and the horizontal plane is controlled to be a first included angle. As an implementation, the heat beacon and the laser transmitter may be integrally configured, the heat beacon extending along the tail end of the laser transmitter, the tilt angle of the heat beacon being equal to the tilt angle of the laser transmitter. The included angle between the heat beacon and the horizontal plane is controlled to be a first included angle, so that the included angle between the laser transmitter and the horizontal plane can be controlled to be the first included angle, and the laser transmitter is aligned to the target area when the included angle between the laser transmitter and the horizontal plane is the first included angle.
In some embodiments, if the angle of the laser emitter needs to be adjusted, the 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, when the thermal beacon extends along the tail end of the laser emitter by a first distance of 5, and when the thermal beacon is parallel to the horizontal plane, the 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 is 4, and the pixel length is 8, it can be determined whether the target included angle between the thermal beacon and the horizontal plane is controlled to be 30 ° according to the projection length of the third thermal image on the second axis and the pixel length.
The laser emitter emits laser after being aligned to the target area, and the laser beam has a certain width, so that the laser can be used for irradiating the target object when the laser is emitted to the target area, thereby expelling the target object.
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.
After the laser emitter is utilized to expel the target object once, a second thermal image of the initial area is acquired, and whether the target object exists in the target area is judged according to the second thermal image. The second thermal image is a temperature matrix composed of actual temperature values of each object in the initial area after the object is ejected once. And if the temperature value in the preset temperature range does not exist in the temperature matrix, indicating that the laser transmitter successfully ejects the target object.
In some embodiments, if the laser emitter is used to expel the target object once, it is known through the second thermal image that the target object is expelled from the target area but is not expelled from the initial area, the target area including the target object may be obtained again, and the laser emitter is controlled to continue expelling the target object until the target object is expelled from the initial area.
When the target area has a target object, step S104 is executed, and when the target area has no target object, step S105 is executed.
S104, controlling the laser emitter to emit laser for preset times, and stopping emitting the laser.
And when the target object still exists in the target area according to the second thermal image judgment, controlling the laser emitter to continuously emit laser.
In some embodiments, after the laser emitter emits the laser once, a fourth thermal image of the initial area may be obtained, and whether the target object is driven off may be determined, if not, the laser emitter is controlled to continue emitting the laser once, a fifth thermal image of the initial area is obtained again, and the process is sequentially circulated until the first thermal image corresponding to the target object still exists in the thermal image of the initial area after the laser is emitted for the preset number of times, and the laser emitter is controlled to stop emitting the laser. When the target object is not driven out by the laser emitted for many times, the target object may be other objects with the temperature within the preset range, but not the driven object, for example, the target object is a chicken to be eaten with the temperature within the preset temperature range, the chicken is mistakenly used as a mouse because the temperature of the chicken is close to the temperature of the mouse, the target object is not driven out after the laser emitted for many times, the target object can be listed in an neglected list, and the laser emission is stopped, so that the damage to the target object is avoided. And the laser emitter can be controlled to emit laser for preset times, then the laser emission is stopped, a sixth thermal image of the initial area is obtained again, whether the target object is driven off is judged according to the sixth thermal image, and if the target object is not driven off, the target object is listed in the neglected list.
S105, controlling the laser emitter to stop emitting laser.
And after judging that the target object is driven off according to the second thermal image, controlling the laser emitter to stop emitting laser.
According to the method for expelling the target object, the target object in the initial area is effectively identified according to the first thermal image of the initial area, whether the target object exists in the initial area is judged through the number of the target area and the sensing instruction sent by the sensor, when the number of the target area is lower than a first preset value or the barrier-free sensing instruction sent by the sensor is received, the situation that the barrier exists in the initial area is eliminated, and at the moment, the laser emitter is controlled to be aligned with the target area and emits laser to expel the target object. And then judging whether the target area has the target object or not through the second thermal image of the initial area so as to judge whether the target object is effectively expelled, and if the target object is not effectively expelled, controlling the laser emitter to continuously emit laser and controlling the laser emitter to stop emitting the laser after the laser emitter emits the laser for the preset times, thereby effectively expelling the target object and simultaneously avoiding the damage to the target object.
Fig. 8 is a schematic structural diagram of an apparatus for expelling an object according to an embodiment of the present application, as shown in fig. 8, an apparatus 10 for expelling an object according to the present embodiment is configured to implement operations corresponding to a controller in any of the above method embodiments, where the apparatus 10 for expelling an object according to the present embodiment includes:
The screening module 11 is configured to obtain a first thermal image of an initial area, and screen a target area including a target object from the initial area according to the first thermal image;
a control module 12, configured to control a laser emitter to align with 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 an inductor is received;
and the judging module 13 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 yes, stopping emitting laser after controlling the laser emitter to emit laser for preset times.
The target object expelling apparatus 10 provided in the embodiment of the present application may execute the above method embodiment, and the specific implementation principle and technical effects of the method embodiment may be referred to the above method embodiment, which is not described herein again.
Fig. 9 shows a schematic hardware structure of a controller according to an embodiment of the present application. As shown in fig. 9, the controller 20, configured to implement operations corresponding to the controller in any of the above method embodiments, the controller 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 23.
A memory 21 for storing computer instructions. The Memory 21 may include a high-speed random access Memory (Random Access Memory, RAM), and may further include a Non-Volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a U-disk, a removable hard disk, a read-only Memory, a magnetic disk, or an optical disk.
A processor 22 for executing computer instructions stored in a memory to implement the method of evicting an object in the above-described embodiments. Reference may be made in particular to the relevant description of the embodiments of the method described above. The processor 22 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. 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 for execution, or in a combination of hardware and software modules in a processor for execution.
Alternatively, the memory 21 may be separate or integrated with the processor 22.
The communication interface 23 may be connected to the processor 22. The processor 22 may control the communication interface 23 to perform the functions of receiving and transmitting signals.
The controller provided in this embodiment may be used to execute the above-mentioned method for expelling the target object, and its implementation manner and technical effects are similar, and this embodiment will not be described herein.
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 aligning the target area under the control of the controller and transmitting laser to the target area so as to expel targets in the target area.
In some embodiments, the aiming apparatus further comprises a linear motor coupled to the controller and a thermal beacon coupled to the laser transmitter, the linear motor configured to move the thermal beacon and the laser transmitter. As shown in fig. 10 and 11, fig. 10 is a schematic diagram of a partial side view structure of the pointing device, fig. 11 is a schematic diagram of a partial top view structure of the pointing 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 heat beacon 105 and the laser transmitter 104 to move left and right, and the second linear motor 106 is used for driving the heat beacon 105 and the laser transmitter 104 to move up and down.
In some embodiments, as shown in fig. 6, the thermal beacon 105 includes a heating filament 603 and an enclosure 601 surrounding the heating filament 603, a slit 602 is formed on the enclosure 601, the heating filament 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 slit 602.
The present application also provides a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the methods provided by the various embodiments described above.
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 from a computer-readable storage medium by at least one processor of the device, and executed by the at least one processor, cause the device to implement the methods provided by the various embodiments described above.
The embodiment of the application also provides a chip, which comprises a memory and a processor, wherein the memory is used for storing computer instructions, and the processor is used for calling and running the computer instructions from the memory, so that a device provided with the chip executes the method in various possible implementation manners.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limited thereto. 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: the technical scheme described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with equivalents. Such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. A method of expelling a target, wherein a targeting device includes a controller and a laser transmitter, the method for the controller comprising:
acquiring a first thermal image of an initial area, and screening 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 an obstacle-free sensing instruction sent by a sensor is received, controlling a laser emitter to aim at the target areas and emit laser so as to expel the target objects;
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 emitter to emit laser for preset times and stopping emitting the laser;
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 comprises:
taking an axis which passes through the center point of the polarizer and is parallel to the imaging surface of the thermal imaging lens as a first axis, taking an axis which is perpendicular to the imaging surface as a second axis, and enabling the first axis, the second axis and a third thermal image of the thermal beacon to be 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; wherein the first point is a point on the boundary of the second target image or a point within the boundary of the second target 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 positioned at the 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 axis;
Controlling the included angle between the laser emitter and the horizontal plane to be the first included angle so as to align with the target area;
the second slope of the third thermal image controlling the thermal beacon is equal to the first slope, and specifically comprises:
controlling a first linear motor to rotate, wherein the first linear motor rotates to drive the thermal beacon to perform first movement so that a second slope of a third thermal image of the thermal beacon is equal to the first slope;
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 of the thermal imaging lens and the pixel length, 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.
2. The method according to claim 1, wherein the screening of the target area comprising the target object from the initial area based on the first thermal image comprises:
converting a temperature matrix corresponding to the first thermal image into a binarization matrix, and dividing the binarization matrix into a plurality of submatrices, wherein each element in the binarization matrix is a first value or a second value;
Screening target submatrices from the plurality of submatrices, 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 submatrix 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.
3. The method according to claim 2, wherein the converting the temperature matrix corresponding to the first thermal image into a binarization matrix specifically includes:
and marking a temperature value in a preset temperature range in a temperature matrix corresponding to the first thermal image as a first value, and marking a temperature value out of the preset temperature range in the temperature matrix corresponding to the first thermal image as a second value to obtain the binarization matrix.
4. The method according to claim 1, wherein controlling the angle between the laser emitter and the horizontal plane to be the first angle specifically comprises:
and controlling a second linear motor to rotate, wherein the second linear motor rotates to drive the laser transmitter to perform second movement so as to control the included angle between the laser transmitter and the horizontal plane to be the first included angle.
5. The method according to claim 1, wherein the controlling the laser transmitter to emit the laser light for a preset number of times and then stop emitting the laser light specifically comprises:
and controlling the laser emitter to continuously emit laser once, judging whether the target object exists in the target area, if so, controlling the laser emitter to continuously emit laser once, and stopping emitting the laser after controlling the laser emitter to emit laser for preset times.
6. 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 in the memory to implement the method of evicting an object as claimed in any of claims 1 to 5.
7. A targeting device comprising the controller of claim 6, a thermal imaging lens and a laser emitter coupled to the controller, the controller implementing the method of expelling the target of any one of claims 1-5;
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 aligning a target area under the control of the controller and transmitting laser to the target area so as to expel a target object in the target area.
8. The aiming device of claim 7, further comprising: a linear motor connected to the controller and a thermal beacon connected to the laser transmitter;
the linear motor is used for driving the thermal beacon and the laser transmitter to move.
9. The aiming device of claim 8, wherein the thermal beacon comprises a heating wire and an inclusion surrounding the heating wire, a slit is formed on the inclusion, 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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Address after: 518100 Guangdong Shenzhen Baoan District Xixiang street, Wutong Development Zone, Taihua Indus Industrial Park 8, 3 floor. Patentee after: Shenzhen Haiqing Zhiyuan Technology Co.,Ltd. Address before: 518100 Guangdong Shenzhen Baoan District Xixiang street, Wutong Development Zone, Taihua Indus Industrial Park 8, 3 floor. Patentee before: SHENZHEN HIVT TECHNOLOGY Co.,Ltd. |