CN115471895A - Face temperature measurement method and face temperature measurement system based on robot holder - Google Patents
Face temperature measurement method and face temperature measurement system based on robot holder Download PDFInfo
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- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 74
- 238000001931 thermography Methods 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000015654 memory Effects 0.000 claims description 31
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- 230000009467 reduction Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 238000004861 thermometry Methods 0.000 claims 2
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- 238000012545 processing Methods 0.000 description 6
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/80—Calibration
Abstract
The invention discloses a human face temperature measurement method and a human face temperature measurement system based on a robot holder, wherein the method comprises the following steps: carrying out image calibration on a visible light high-definition camera and an infrared thermal imaging camera according to the on-site temperature measurement distance, and obtaining a corresponding calibration area and a calibration coordinate; acquiring a video frame of a visible light high-definition camera and temperature frame data of an infrared thermal imaging camera; carrying out face detection according to the latest video frame and obtaining face frame coordinates; carrying out frame synchronization on the video frame and the temperature frame, and obtaining a corresponding temperature frame according to the latest video frame; and calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and obtaining a face temperature value by combining the corresponding temperature frame. The face temperature measurement method can realize the mobile temperature measurement function, ensure that the temperature measurement distance can be adjusted at any time according to the actual situation on site, and improve the temperature measurement precision.
Description
Technical Field
The invention relates to the technical field of robot temperature measurement, in particular to a human face temperature measurement method and a human face temperature measurement system based on a robot holder.
Background
In the face temperature measurement method in the prior art, the face temperature measurement equipment needs to be fixedly installed at key places such as an inlet and an outlet and does not have the function of movable temperature measurement. And the human face temperature measuring equipment cannot adjust the effective temperature measuring distance according to the field environment. In addition, most of the existing human face temperature measurement equipment is basically installed by adopting a visible light camera and an infrared camera in a close manner, and the visual angle ranges of the two cameras are basically consistent, so that the problem of temperature measurement inaccuracy caused by inconsistent visual angles of the two cameras is solved, and the equipment is not suitable for some existing visible light cameras and infrared cameras, but has a longer distance between the two cameras.
Disclosure of Invention
The invention aims to provide a new technical scheme of a human face temperature measurement method based on a robot holder, which can at least solve the problems that the human face temperature measurement equipment in the prior art cannot move, the temperature measurement distance cannot be adjusted, the visual angle ranges of two cameras need to be consistent, and the like.
The invention provides a human face temperature measurement method based on a robot holder, which comprises the following steps:
carrying out image calibration on a visible light high-definition camera and an infrared thermal imaging camera according to the on-site temperature measurement distance, and obtaining a corresponding calibration area and a calibration coordinate;
acquiring a video frame of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera;
carrying out face detection according to the latest video frame and obtaining face frame coordinates;
carrying out frame synchronization on the video frame and the temperature frame, and obtaining the corresponding temperature frame according to the latest video frame;
and calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and combining the corresponding temperature frame to obtain a face temperature value.
Optionally, the step before acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera includes:
and setting parameters of the infrared thermal imaging camera.
Optionally, the step of acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera includes:
simultaneously acquiring a video frame of the visible light high-definition camera and a temperature frame of the infrared thermal imaging camera, wherein each video frame and each temperature frame have synchronous timestamp information;
and storing the acquired video frames into a video frame queue, and storing the acquired temperature frames into a temperature frame queue.
Optionally, the step of performing face detection according to the latest video frame and obtaining face frame coordinates includes:
acquiring the latest video frame;
and carrying out image calibration on the visible light high-definition camera and the infrared thermal imaging camera according to the on-site temperature measurement distance to obtain the calibration area, and carrying out face detection in the calibration area.
Optionally, the step of calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and obtaining a face temperature value by combining the corresponding temperature frame includes:
calculating the reduction ratio of a high-definition image and an infrared image according to the calibration coordinates and the width and height parameters of the infrared thermal imaging image in the infrared thermal imaging camera;
calculating the corresponding image position of the face coordinate information in the infrared image according to the reduction proportion and the face coordinate information;
and obtaining the temperature value of the face according to the corresponding image position of the calculated face coordinate information in the infrared image and by combining the corresponding temperature frame.
Optionally, the robot pan-tilt-based face temperature measurement method further includes:
and carrying out face temperature statistics, and generating face temperature abnormal alarm when the temperature value at the statistical position exceeds the threshold temperature.
Optionally, the method for measuring a human face temperature based on the robot pan-tilt further includes:
acquiring temperature information of all human faces;
and packaging the temperature information of the human face into a self-defined format according to the video frame queue data and transmitting the self-defined format to a display terminal.
In a second aspect of the present invention, a face temperature measurement system based on a robot pan-tilt is provided, which is applied to the face temperature measurement method based on the robot pan-tilt in the above embodiments, and the face temperature measurement system includes:
the image calibration module is used for carrying out image calibration on the visible light high-definition camera and the infrared thermal imaging camera according to the on-site temperature measurement distance and obtaining a corresponding calibration area and a corresponding calibration coordinate;
the acquisition module is connected with the image calibration module and is used for acquiring video frames of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera;
the face detection module is connected with the acquisition module and is used for carrying out face detection according to the latest video frame and obtaining face frame coordinates;
the frame synchronization module is connected with the acquisition module and is used for carrying out frame synchronization on the video frame and the temperature frame;
and the computing module is connected with the frame synchronization module and is used for computing face coordinate information according to the calibration coordinates and the face frame coordinates.
In a third aspect of the present invention, there is provided a robot comprising: the human face temperature measuring method comprises a processor and a memory, wherein computer program instructions are stored in the memory, and when the computer program instructions are executed by the processor, the processor is enabled to execute the steps of the human face temperature measuring method based on the robot holder.
In a fourth aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the steps of the method for measuring human face temperature based on a robot pan-tilt according to the foregoing embodiment.
According to the human face temperature measurement method based on the robot holder, the human face temperature measurement is realized through the visible light high-definition camera and the infrared thermal imaging camera on the robot holder, and the movable temperature measurement function can be realized. An effective temperature measuring distance is set by an image calibration method, so that the temperature measuring distance can be adjusted at any time according to the actual situation of the site, and the temperature measuring precision is improved. The human face temperature measurement method can solve the problem that the visual angle of a visible light high-definition camera and the visual angle of an infrared thermal imaging camera need to be consistent through an image calibration method, and is high in degree of freedom and wide in applicability.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of a human face temperature measurement method based on a robot pan-tilt according to an embodiment of the invention;
FIG. 2 is an image calibration effect diagram in a robot holder-based face temperature measurement method according to an embodiment of the present invention;
fig. 3 is a distant view of a robot according to an embodiment of the present invention.
Reference numerals:
a high definition camera image 1010;
a calibration area 2020;
a processor 201;
a memory 202; an operating system 2021; application programs 2022;
a network interface 203;
an input device 204;
a hard disk 205;
a display device 206.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Features of the invention in the description and claims, where the terms first and second are used in relation to each other, may explicitly or implicitly include one or more of those features. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
In the description of the present invention, it should be understood that, if the terms "central", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "mounted," "connected," and "connected" are used in a generic sense unless otherwise specifically defined or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
The following describes a human face temperature measurement method based on a robot holder according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the human face temperature measurement method based on the robot holder according to the embodiment of the invention includes the following steps:
s1, carrying out image calibration on a visible light high-definition camera and an infrared thermal imaging camera according to the temperature measurement distance on site, and obtaining a corresponding calibration area 20 and a calibration coordinate;
s2, acquiring a video frame of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera;
s3, carrying out face detection according to the latest video frame and obtaining face frame coordinates;
s4, carrying out frame synchronization on the video frame and the temperature frame, and obtaining a corresponding temperature frame according to the latest video frame;
and S5, calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and combining the corresponding temperature frame to obtain a face temperature value.
In other words, in the human face temperature measurement method based on the robot pan-tilt of the present invention, referring to fig. 1, firstly, the image calibration can be performed on the visible light high-definition camera and the infrared thermal imaging camera according to the on-site temperature measurement distance, and the corresponding calibration area 20 and the calibration coordinates are obtained.
In the invention, because a certain distance exists between the visible light high-definition camera (high-definition camera) and the infrared thermal imaging camera (infrared camera) in the robot holder and the visual angle ranges of the high-definition camera and the infrared camera are different, the image area corresponding to the image visual angle range of the infrared camera in the image of the high-definition camera can be found out by an image calibration method.
In the image calibration method, a person stands in front of a camera by a distance of x meters (for example, within 10 meters, the distance is far away from the camera, the temperature measurement precision is reduced), a computer can be used for observing a video image of a high-definition camera and a video image of an infrared camera, a finger is lifted and simultaneously observes an infrared image, the finger is positioned at the upper left corner in the infrared image, the high-definition camera image 10 is observed at the moment, the image coordinate position (bx 1, by 1) of the current finger is marked, and the coordinate is the calibrated upper left corner coordinate; and similarly, acquiring calibrated lower right-hand corner coordinates (bx 2, by 2).
After the image calibration is completed, the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera can be obtained, face detection is carried out according to the latest video frame, and face frame coordinates are obtained. And performing frame synchronization on the video frame and the temperature frame, and obtaining the corresponding temperature frame with the same timestamp according to the latest video frame. And finally, calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and combining the corresponding temperature frame to obtain a face temperature value so as to complete the temperature measurement of the face.
It should be noted that the face temperature measurement method based on the robot holder of the invention can realize the patrol temperature measurement function by combining the patrol robot, and is suitable for various scenes such as static, moving and the like.
Therefore, according to the robot holder-based face temperature measurement method, the visible light high-definition camera and the infrared thermal imaging camera on the robot holder are used for realizing face temperature measurement, and a movable temperature measurement function can be realized. An effective temperature measuring distance is set by an image calibration method, so that the temperature measuring distance can be adjusted at any time according to the actual situation of the site, and the temperature measuring precision is improved. The human face temperature measurement method can solve the problem that the visual angle of a visible light high-definition camera and the visual angle of an infrared thermal imaging camera need to be consistent through an image calibration method, and is high in degree of freedom and wide in applicability.
According to one embodiment of the invention, the step before acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera comprises the following steps:
and setting parameters of the infrared thermal imaging camera.
That is to say, to obtain accurate temperature measurement accuracy, the infrared thermal imaging camera needs to be set according to key parameters such as ambient temperature and temperature measurement distance, where the temperature measurement distance is x meters in the time of calibration in the image calibration method.
According to one embodiment of the invention, the step of acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera comprises the following steps:
simultaneously acquiring a video frame of a visible light high-definition camera and a temperature frame of an infrared thermal imaging camera, wherein each video frame and each temperature frame have synchronous timestamp information;
and storing the acquired video frames into a video frame queue, and storing the acquired temperature frames into a temperature frame queue.
In other words, in the step of acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera, the video frame of the high-definition camera and the temperature frame of the infrared thermal imaging camera can be acquired simultaneously and saved as a video frame queue and a temperature frame queue. Wherein each video frame and temperature frame has synchronized time stamp information for matching the video frame and the temperature frame at a time.
In some embodiments of the present invention, the step of performing face detection according to the latest video frame and obtaining the coordinates of the face frame includes:
acquiring a latest video frame;
and carrying out image calibration on the visible light high-definition camera and the infrared thermal imaging camera according to the on-site temperature measurement distance to obtain a calibration area 20, and carrying out face detection in the calibration area 20.
That is, the latest stored video frame is acquired from the video frame data stored in the above-described steps, and referring to fig. 2, face detection is performed in the calibration area 20 based on the calibration area 20 acquired in the image calibration. If no face is detected in the region, repeating the operation of face detection; and if the human face is detected to exist in the area, performing frame synchronization operation to acquire a corresponding temperature frame.
The detected face information has 4 corresponding coordinate parameters in the high-definition image: coordinates (faceX, faceY) of the upper left corner of the face, a width faceWidth of the face, and a height faceHeight of the face.
In the process of frame synchronization and acquisition of corresponding temperature frames, high-definition video frame queue data and infrared temperature frame queue data can be stored in the steps, each frame of data is provided with timestamp information for synchronization, temperature frame data with the same timestamp as the video frame is found from the temperature frame queue according to the timestamp information of the video frame with the detected face, and then the temperature of the face is acquired.
According to an embodiment of the present invention, the step of calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and obtaining the face temperature value by combining the corresponding temperature frame includes:
calculating the reduction ratio of the high-definition image and the infrared image according to the calibration coordinates and the width and height parameters of the infrared thermal imaging image in the infrared thermal imaging camera;
calculating the corresponding image position of the face coordinate information in the infrared image according to the reduction ratio and the face coordinate information;
and obtaining the temperature value of the face according to the corresponding image position of the calculated face coordinate information in the infrared image and by combining the corresponding temperature frame.
In other words, in the process of obtaining the temperature value of the face according to the calibration coordinates and the face frame coordinates,
firstly, the coordinate information of a face frame detected by a high-definition camera is converted into corresponding coordinate information of the face frame in an infrared camera image according to calibrated coordinate information, and the specific conversion method comprises the following steps:
first, as shown in fig. 2, based on the calibrated coordinate information (the upper left calibration coordinates (bx 1, by 1), the lower right calibration coordinates (bx 2, by 2)), and the image width and height parameters (inWidth, inHeight) of the infrared thermal imaging, the reduction ratios (kx, ky) in the X-axis direction and the Y-axis direction of the high-definition image (high-definition camera image 10) and the infrared image (infrared camera image) are calculated, and the formula is as follows:
kx＝(bx2-bx1)/inWidth
ky＝(by2-by1)/inHeight
wherein inWidth is the image width of infrared thermal imaging, and inHeight is the image height of infrared thermal imaging.
Then, according to the above scaling kx and ky and face coordinate information (faceX, faceY, faceWidth, faceHeight) detected by the high-definition image, calculating the corresponding image position of the face coordinate information in the infrared image, and the formula is as follows:
infaceX＝(faceX-bx1)/kx
infaceY＝(faceY-by1)/ky
infaceWidth＝faceWidth/kx
infaceHeight＝faceHeight/ky
wherein, the calculated inflaceX is an X value of a coordinate at the upper left corner of the human face in the infrared image, the inflaceY is a Y value of the coordinate at the upper left corner of the human face in the infrared image, the inflaceWidth is the width of the human face in the infrared image, and the inflaceHeight is the height of the human face in the infrared image.
And finally, directly reading the highest temperature value of the face coordinate area in the temperature frame according to the face coordinate information (innovative x, innovative y, innovative width, innovative height) in the calculated infrared image and the acquired corresponding temperature frame data, namely the temperature value of the face.
According to the human face temperature measurement method based on the robot holder, the problem of visual angle matching of all high-definition cameras and infrared cameras which are installed in any same direction can be solved by adopting an image labeling method and a formula corresponding to coordinate conversion, the installation distance between any high-definition camera and any infrared camera is supported, and the problem of consistency of visual angles is not required to be ensured by using high-definition cameras and infrared cameras with any visual angles;
in some specific embodiments of the present invention, the method for measuring a human face temperature based on a robot pan-tilt further includes:
and carrying out face temperature statistics, and generating face temperature abnormal alarm when the temperature value at the statistical position exceeds the threshold temperature.
That is to say, the invention obtains the temperature information of all the faces in one frame of high-definition image, and performs statistical judgment on the obtained temperature information, if the face temperature is greater than the threshold temperature (37.3 ℃) and less than 42 ℃, the face temperature is considered to be abnormal, and a face temperature abnormal alarm needs to be generated.
According to an embodiment of the invention, the human face temperature measurement method based on the robot holder further comprises the following steps:
acquiring temperature information of all human faces;
and packing the temperature information of the human face into a self-defined format according to the video frame queue data and transmitting the self-defined format to the display terminal.
In other words, the invention can acquire the temperature information of all human faces in one frame of high-definition image, and the human face temperature information can be packaged into a self-defined format by combining with the stored high-definition camera video frame queue data, and is transmitted to the display terminal through the network by combining with the high-definition video frame queue data, so that the video with the dynamic human face temperature measurement effect can be seen on the terminal.
In summary, the robot holder-based face temperature measurement method of the present invention realizes face temperature measurement through the visible light high definition camera and the infrared thermal imaging camera on the robot holder, and can realize a mobile temperature measurement function. An effective temperature measuring distance is set by an image calibration method, so that the temperature measuring distance can be adjusted at any time according to the actual conditions on site, and the temperature measuring precision is improved. The human face temperature measurement method can solve the problem that the visual angle of a visible light high-definition camera and the visual angle of an infrared thermal imaging camera need to be consistent through an image calibration method, and is high in degree of freedom and wide in applicability.
According to a second aspect of the present invention, a face temperature measurement system based on a robot pan-tilt is provided, which is applied to the face temperature measurement method based on the robot pan-tilt of the above embodiments, and the face temperature measurement system includes an image calibration module, an acquisition module, a face detection module, a frame synchronization module, and a calculation module.
The image calibration module is used for calibrating images of the visible light high-definition camera and the infrared thermal imaging camera according to the temperature measurement distance on site, and obtaining a corresponding calibration area 20 and calibration coordinates. The acquisition module is connected with the image calibration module and is used for acquiring video frames of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera. The face detection module is connected with the acquisition module and used for detecting faces according to the latest video frames and obtaining face frame coordinates. The frame synchronization module is connected with the acquisition module and is used for carrying out frame synchronization on the video frame and the temperature frame. The calculation module is connected with the frame synchronization module and is used for calculating face coordinate information according to the calibration coordinates and the face frame coordinates.
According to the human face temperature measurement system based on the robot holder, the human face temperature measurement is realized through the visible light high-definition camera and the infrared thermal imaging camera on the robot holder, and the movable temperature measurement function can be realized. An effective temperature measuring distance is set by an image calibration method, so that the temperature measuring distance can be adjusted at any time according to the actual situation of the site, and the temperature measuring precision is improved. The human face temperature measurement method can solve the problem that the visual angle of a visible light high-definition camera and the visual angle of an infrared thermal imaging camera need to be consistent through an image calibration method, and is high in degree of freedom and wide in applicability.
According to a third aspect of the present invention, there is also provided a robot comprising: a processor 201 and a memory 202, wherein the memory 202 stores computer program instructions, and when the computer program instructions are executed by the processor 201, the processor 201 is enabled to execute the steps of the human face temperature measurement method based on the robot platform in the above embodiment.
Further, as shown in fig. 3, the robot wireless further includes a network interface 203, an input device 204, a hard disk 205, and a display device 206.
The various interfaces and devices described above may be interconnected by a bus architecture. A bus architecture may include any number of interconnected buses and bridges. One or more central processing units 201 (CPUs), represented in particular by processor 201, and one or more memories 202, represented by memory 202, are connected together. The bus architecture may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like. It will be appreciated that a bus architecture is used to enable communications among the components. The bus architecture includes a power bus, a control bus, and a status signal bus, in addition to a data bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 203 may be connected to a network (e.g., the internet, a local area network, etc.), obtain relevant data from the network, and store the relevant data in the hard disk 205.
The input device 204 may receive various commands input by the operator and send the commands to the processor 201 for execution. The input device 204 may include a keyboard or pointing device (e.g., a mouse, trackball, touch pad, touch screen, or the like).
The display device 206 may display the result obtained by the processor 201 executing the instructions.
The memory 202 is used for storing programs and data necessary for the operation of the operating system 2021, and data such as intermediate results in the calculation process of the processor 201.
It will be appreciated that memory 202 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory, among others. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 202 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory 202.
In some embodiments, memory 202 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 2021 and application programs 2022.
The operating system 2021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs 2022 include various application programs 2022 such as a Browser (Browser) and the like, and are used to implement various application services. A program implementing the method of an embodiment of the invention may be included in application 2022.
The processor 201 executes the steps of the method for measuring the temperature of the human face based on the robot holder according to the above embodiment when calling and executing the application 2022 and the data stored in the memory 202, specifically, the application 2022 may be a program or an instruction stored in the application 2022.
The method disclosed by the above embodiment of the present invention can be applied to the processor 201, or implemented by the processor 201. The processor 201 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 201. The processor 201 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or the processor 201 may be any conventional processor 201 or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 202, and the processor 201 reads the information in the memory 202 and completes the steps of the method in combination with the hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions of the present application, or a combination thereof.
For a software implementation, the techniques herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions herein. The software codes may be stored in memory 202 and executed by processor 201. The memory 202 may be implemented within the processor 201 or external to the processor 201.
In particular, the processor 201 is also adapted to read the computer program and perform the steps of predicting and outputting answers to questions asked by the user for the pile charging method.
In the fourth embodiment of the present invention, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor 201, the processor 201 is enabled to execute the steps of the robot holder-based face temperature measurement method according to the foregoing embodiment.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately and physically included, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A human face temperature measurement method based on a robot holder is characterized by comprising the following steps:
carrying out image calibration on a visible light high-definition camera and an infrared thermal imaging camera according to the on-site temperature measurement distance, and obtaining a corresponding calibration area and a calibration coordinate;
acquiring a video frame of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera;
carrying out face detection according to the latest video frame and obtaining face frame coordinates;
carrying out frame synchronization on the video frame and the temperature frame, and obtaining the corresponding temperature frame according to the latest video frame;
and calculating face coordinate information according to the calibration coordinates and the face frame coordinates, and combining the corresponding temperature frame to obtain a face temperature value.
2. The robot holder-based face temperature measurement method according to claim 1, wherein the step before acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera comprises:
and setting parameters of the infrared thermal imaging camera.
3. The robot holder-based face temperature measurement method according to claim 1, wherein the step of acquiring the video frame of the visible light high-definition camera and the temperature frame data of the infrared thermal imaging camera comprises:
simultaneously acquiring a video frame of the visible light high-definition camera and a temperature frame of the infrared thermal imaging camera, wherein each video frame and each temperature frame have synchronous timestamp information;
and storing the acquired video frames into a video frame queue, and storing the acquired temperature frames into a temperature frame queue.
4. The human face temperature measurement method based on the robot holder according to claim 3, wherein the step of performing human face detection according to the latest video frame and obtaining the coordinates of the human face frame comprises:
acquiring the latest video frame;
and carrying out image calibration on the visible light high-definition camera and the infrared thermal imaging camera according to the on-site temperature measurement distance to obtain the calibration area, and carrying out face detection in the calibration area.
5. The robot holder-based face temperature measurement method according to claim 4, wherein the step of calculating face coordinate information according to the calibration coordinates and the face frame coordinates and obtaining a face temperature value by combining the corresponding temperature frame comprises:
calculating the reduction ratio of a high-definition image and an infrared image according to the calibration coordinates and the width and height parameters of the infrared thermal imaging image in the infrared thermal imaging camera;
calculating the corresponding image position of the face coordinate information in the infrared image according to the reduction proportion and the face coordinate information;
and obtaining a temperature value of the face according to the corresponding image position of the calculated face coordinate information in the infrared image and by combining the corresponding temperature frame.
6. The human face temperature measurement method based on the robot holder according to claim 1, further comprising:
and carrying out face temperature statistics, and generating face temperature abnormal alarm when the temperature value at the statistical position exceeds the threshold temperature.
7. The human face temperature measurement method based on the robot holder according to claim 3, further comprising:
acquiring temperature information of all human faces;
and packaging the temperature information of the human face into a self-defined format according to the video frame queue data and transmitting the self-defined format to a display terminal.
8. A human face temperature measurement system based on a robot holder is applied to the human face temperature measurement method based on the robot holder in any one of claims 1 to 7, and is characterized in that the human face temperature measurement system comprises:
the image calibration module is used for carrying out image calibration on the visible light high-definition camera and the infrared thermal imaging camera according to the temperature measurement distance on site and obtaining a corresponding calibration area and a calibration coordinate;
the acquisition module is connected with the image calibration module and is used for acquiring video frames of the visible light high-definition camera and temperature frame data of the infrared thermal imaging camera;
the face detection module is connected with the acquisition module and is used for detecting a face according to the latest video frame and obtaining face frame coordinates;
the frame synchronization module is connected with the acquisition module and is used for carrying out frame synchronization on the video frame and the temperature frame;
and the computing module is connected with the frame synchronization module and is used for computing face coordinate information according to the calibration coordinates and the face frame coordinates.
9. A robot, comprising: a processor and a memory, in which computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor to perform the steps of the robot-pan-tilt-based face thermometry method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the robot-pan-tilt-based face thermometry method according to any one of claims 1-7.
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| CN202211158800.7A CN115471895A (en) | 2022-09-22 | 2022-09-22 | Face temperature measurement method and face temperature measurement system based on robot holder |
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| CN202211158800.7A CN115471895A (en) | 2022-09-22 | 2022-09-22 | Face temperature measurement method and face temperature measurement system based on robot holder |
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| CN202211158800.7A Pending CN115471895A (en) | 2022-09-22 | 2022-09-22 | Face temperature measurement method and face temperature measurement system based on robot holder |
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