CN115937979A - Object behavior detection method and device, electronic equipment and storage medium - Google Patents
Object behavior detection method and device, electronic equipment and storage medium Download PDFInfo
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- CN115937979A CN115937979A CN202211623938.XA CN202211623938A CN115937979A CN 115937979 A CN115937979 A CN 115937979A CN 202211623938 A CN202211623938 A CN 202211623938A CN 115937979 A CN115937979 A CN 115937979A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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Abstract
The invention discloses a method and a device for detecting object behaviors, electronic equipment and a storage medium, wherein the method comprises the following steps: when a car of an elevator reaches a target floor and a door is opened, acquiring an image of a detection area, wherein the detection area comprises the car; performing object detection tracking on the image to determine state information and motion trend of the object in the car; when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item or not according to the state information; if not, determining that the behavior of the object is intended to leave the car. When the movement trend of the object is detected to be close to the elevator door, the possibility that the object leaves the elevator car can be shown, in order to further determine the action intention of the object, the detection interference item can be eliminated through the state information of the object, the action intention of the object is determined through the method of eliminating the detection interference item, the accuracy of detecting the action intention of the object leaving the elevator car can be improved, the elevator can be conveniently controlled, and the operation efficiency and the safety of the elevator are improved.
Description
Technical Field
The present invention relates to the field of object behavior detection technologies, and in particular, to an object behavior detection method and apparatus, an electronic device, and a storage medium.
Background
With the development of elevator intellectualization, a technology of sensing the movement trend of passengers in a waiting hall through a sensor and controlling the closing or opening of elevator doors of an elevator according to the movement trend of the passengers appears.
In the prior art, after multi-frame images in a waiting hall and a car are collected through a sensor, the moving speed of passengers in the car is analyzed through the multi-frame images, whether the passengers leave is predicted through the moving speed, and therefore the elevator door is controlled according to the intention.
Disclosure of Invention
The invention provides an object behavior detection method, which aims to solve the problems that prediction is not accurate and control of a door is not facilitated when the intention of a passenger to leave a car is predicted through the moving speed, and further the operation efficiency of the door is reduced.
In a first aspect, the present invention provides a method for detecting an object behavior, including:
when a car of an elevator reaches a destination floor and a door is opened, acquiring an image of a detection area, wherein the detection area comprises the car;
performing object detection tracking on the image to determine state information and a motion trend of an object in the car;
when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item according to the state information;
if not, determining that the behavior intention of the object is to leave the car.
In a second aspect, the present invention provides an object behavior detection apparatus, including:
the system comprises an image acquisition module, a detection module and a control module, wherein the image acquisition module is used for acquiring an image of a detection area when a car of an elevator reaches a target floor and a door of the elevator is opened, and the detection area comprises the car;
the object information acquisition module is used for carrying out object detection tracking on the image so as to determine the state information and the motion trend of the object in the car;
the detection interference item judging module is used for judging whether the motion trend of the object is a detection interference item according to the state information when the motion trend of the object is close to the door;
and the behavior intention determining module is used for determining that the behavior intention of the object is leaving the car when the motion trend of the object is not a detection interference item.
In a third aspect, the present invention provides an electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of object behavior detection according to the first aspect of the invention.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to implement the object behavior detection method according to the first aspect of the present invention when executed.
The object behavior detection method provided by the embodiment of the invention comprises the steps of collecting images of a detection area when a car of an elevator reaches a target floor and a door of the elevator is opened, wherein the detection area comprises the car; carrying out object detection tracking on the image to determine state information and motion trend of the object in the car; when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item according to the state information; if not, determining that the behavior of the object is intended to leave the car. When the movement trend of the object is detected to be close to the door, the possibility that the object leaves the car can be shown, in order to further determine the action intention of the object, whether the movement trend of the object is a detection interference item can be judged through the state information of the object, if so, the object does not leave the car, otherwise, the action intention of the object is determined to be leaving the car by excluding the detection interference item, and whether the action intention of the object is leaving the car can be determined, so that the accuracy of the action intention of the detection object leaving the car can be improved, further, the elevator can be conveniently controlled, and the operation efficiency and the safety of the elevator can be improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an object behavior detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a detection range of a sensor according to an embodiment of the present invention;
fig. 3 is a flowchart of an object behavior detection method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an object behavior detection apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a flowchart of an object behavior detection method according to an embodiment of the present invention, where the present embodiment is applicable to a case of object behavior detection, and the method may be executed by an object behavior detection apparatus, where the object behavior detection apparatus may be implemented in a form of hardware and/or software, and the object behavior detection apparatus may be configured in an electronic device. As shown in fig. 1, the object behavior detection method includes:
s101, when a car of the elevator reaches a target floor and a door is opened, acquiring an image of a detection area, wherein the detection area comprises the car.
The elevator can be provided with the sensor that is used for gathering the image in detection area, the sensor can be 2 at least, then the sensor can be located regional and car region outside the hall respectively, when the sensor is 2, as shown in fig. 2, two sensors 2 can be located sedan-chair door 1 top, one sensor 2 is regional outside the hall, another sensor 2 is regional towards the car, in order to gather different regional images respectively, when sedan-chair door 1 is closed simultaneously, towards regional sensor 2 of car and sedan-chair door 1 between contained angle, the distance is great, can avoid receiving the influence of sedan-chair door high reflectance, guarantee the quality of image. Of course, the number of the sensors may also be 1, the viewing angle of the sensor may be determined according to the door state of the car door, as shown in fig. 2, when the door state of the car door 1 is the open door state, the viewing angle of the sensor 2 faces the area outside the hall, and when the door state of the car door 1 is the open door state, the viewing angle of the sensor 2 faces the car area. It is noted that the detection area of the sensor may include an inter-door area where the doors include a hall door of the elevator and a car door of the car, so as to collect status information of objects entering and exiting the car while passing through the inter-door area.
And S102, carrying out object detection tracking on the image to determine state information and motion trend of the object in the car.
The object is generally a passenger, but may be a robot, a pet, or the like. The status information of the objects may include at least one of boarding floors, number of objects, motion amplitude and speed, motion orientation, behavior information, location points. By performing object detection tracking on the image, the above-mentioned state information of the object can be acquired. After the images are acquired, the image sequence may be generated according to the acquisition time of the images, and the image sequence is input into a pre-trained object detection and tracking model, so that each object located in the elevator waiting hall and the state information of each object are identified by the object detection and tracking model.
The object detection tracking model may be a neural network such as RNN, CNN, DNN, etc., when the object detection tracking model is trained, the image labeled with the direction, position, volume, and moving speed of the object in the image may be used as training data, the image sequence after labeling is input into the object detection tracking model, the direction, position, volume, and moving speed of each object in the image sequence are predicted, the loss rate is calculated by predicting the direction, position, volume, and moving speed of each object in the image sequence and the predicted data and the labeled data, and the model parameter is adjusted by the loss rate until the loss rate is smaller than a preset value, so as to obtain the trained object detection tracking model
The motion trend of the object is the motion direction of the object, and can also be detected by object detection tracking, where the motion direction refers to a predicted motion direction with a certain degree of confidence, but not to a determined motion direction.
And S103, judging whether the motion trend of the object is a detection interference item according to the state information when the motion trend of the object is close to the door.
The object moves towards the elevator door, namely the object moves from a certain position in the car to the area where the elevator door is located, if the object wants to leave the car, the object necessarily moves towards the area where the elevator door is located, but on the contrary, when the object moves towards the area where the elevator door is located, the action intention of the object cannot be determined to be leaving the car, so that the action intention of the object can only be described to be leaving the car when the movement trend of the object is approaching the elevator door. For example, an operation box of an elevator is generally located near a door (car door), an object in the car leaves the car after the elevator reaches a destination floor, and in order to accelerate the closing of the elevator, an object located at the rear side of the car (generally, a passenger) pushes a door-closing button before going to the operation box in a zone where the door is located, and the object is not intended to leave the car.
When the moving trend of the object is approaching to the door, in order to further judge whether the behavior intention of the object is leaving the car, the detection interference item needs to be eliminated. Therefore, it is possible to determine whether the movement tendency of the object is a detection interference item from the state information. If not, executing S104.
The detection interference item refers to the movement trend of the object approaching the door, which is presented by the movement of the object when the object is not away from the car. For example, the movement tendency of the object approaching the door, which is presented when the object goes to the operation box and presses the door closing key; but also the tendency of the object to move closer to the door when moving in order to improve the comfort of riding the ladder.
And S104, determining that the behavior intention of the object is to leave the car.
When the movement trend of the object is a detection interference item, determining that the action intention of the object is not to leave the car, but to stay in the car to continue taking the elevator; when the motion trend of the object is not the detection interference item, the behavior of the object is determined to be the departure of the car.
After the action intention of the object is determined, the elevator door of the elevator can be controlled according to the action intention of the object, for example, when the action intention of the object is detected to be leaving the car, the door can be opened in a delayed manner, so that the object can be ensured to safely and timely leave the car, and the situation that the object misses the target floor due to door closing clamping injury and door closing error is avoided; when the behavior intention that the object does not leave the car is detected, the door opening time can be shortened, the door can be closed in advance, and the operation efficiency of the elevator can be improved.
According to the object behavior detection method provided by the embodiment of the invention, when the elevator car of the elevator reaches a target floor and a door is opened, an image of a detection area is collected, wherein the detection area comprises the elevator car; carrying out object detection tracking on the image to determine state information and motion trend of the object in the car; when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item according to the state information; if not, determining that the behavior of the object is intended to leave the car. When the movement trend of the object is detected to be close to the door, the possibility that the object leaves the car can be shown, in order to further determine the action intention of the object, whether the movement trend of the object is a detection interference item can be judged through the state information of the object, if so, the object does not leave the car, otherwise, the action intention of the object is determined to be leaving the car by excluding the detection interference item, the action intention of the object is determined to be leaving the car, the accuracy of the action intention of the detection object leaving the car can be improved, further, the elevator can be conveniently controlled, and the operation efficiency and the safety of the elevator are improved.
Example two
Fig. 3 is a flowchart of an object behavior detection method provided in the second embodiment of the present invention, and the first embodiment of the present invention is optimized based on the foregoing embodiment, as shown in fig. 3, the object behavior detection method includes:
s301, when the car of the elevator reaches a target floor and a door is opened, acquiring an image of a detection area, wherein the detection area comprises the car.
S302, carrying out object detection tracking on the image to determine state information and motion trend of the object in the car.
S301 to S302 are similar to S101 to S102 of the first embodiment, and reference may be made to S101 to S102 of the first embodiment, which will not be described here.
And S303, judging whether the motion trend of the object is a detection interference item according to the state information when the motion trend of the object is close to the door.
If not, go to step S304.
Specifically, in an optional embodiment of the present invention, the state information includes elevator-boarding floors, and the determining whether the movement trend of the object is the detection interference item according to the state information includes:
judging whether the elevator taking floor in the state information of the object is the current floor; and if so, determining the motion trend of the object as a detection interference item.
The tracking queue can be established for the object entering the elevator until the object leaves the elevator, when the movement trend of the object is close to the elevator door, the elevator taking floor of the object can be identified, and the elevator taking floor is the floor where the object enters the elevator car from the elevator waiting hall. If the elevator taking floor is the current floor and the elevator taking floor is close to the elevator door after entering the elevator car, the object with the motion trend close to the elevator door can be determined to be the object which is close to the elevator door and is moved to the front of the operation box to press the target floor or to adjust the position of the object in the elevator car, and the motion trend of the object can be determined as a detection interference item. If the elevator-taking floor is not the current floor, the current car door is close to the elevator door when opened, and the object is considered to leave the car.
It should be noted here that, for an object that leaves the elevator temporarily because another object leaves the car by courtesy, the boarding floor may or may not be updated, and the determination of whether the movement trend of the object is the detection interference item is not affected.
When the movement trend of the object is close to the door, the elevator-taking floor of the object is compared with the current floor to judge whether the movement trend of the object is an interference item.
In an optional embodiment of the present invention, the state information includes the number, the motion amplitude and the speed of the object, and the determining whether the motion trend of the object is the detection interference item according to the state information includes:
when the object moves, acquiring the action amplitude and speed of the object; determining a first number of objects in the car before the object moves; determining a second number of objects in the car after the object movement; and when the second quantity is smaller than the first quantity, the action amplitude is smaller than a preset amplitude threshold value and the speed is smaller than a preset speed threshold value, determining the motion trend of the object as a detection interference item.
As a public transport means, the number of objects in an elevator is usually dynamically changed, when the number of the objects is large, the objects (mainly passengers) can actively compress the occupied space and the area of the objects, so that more passengers can enter a car, and when the number of the objects is small, the occupied space of the objects cannot be compressed or enlarged, so that the comfort of taking the elevator is ensured. Therefore, if the number of objects in the car is changed from variable to small, that is, the space available for the people in the car is increased, the objects can move to adjust the occupied space of the objects.
The action amplitude of the object is the expansion degree of the body of the object during movement, and the action amplitude of the object can be the ratio of the step length of the object during movement to the height of the object. The motion width of the object may be a combined motion width of a plurality of specific portions of the object, and when the object is a passenger, the specific portions may be the hand and the foot of the passenger, and the motion widths of the hand and the foot may be combined to obtain a combined motion width as the motion width of the object. Specifically, the three-dimensional coordinates of the plurality of specific portions of the object before and after the movement may be recorded with one corner of the car as the origin of the three-dimensional coordinates, and the operation width of each specific portion may be obtained from the three-dimensional coordinates before and after the movement, so that the comprehensive operation width may be obtained. When the action amplitude of the object is smaller than a preset amplitude threshold value, the possibility that the motion trend of the object is used for detecting the interference item is high; when the motion amplitude of the object is larger than the preset amplitude threshold value, the possibility that the motion trend of the object is used for detecting the interference item is low.
The speed of the object, i.e. the displacement of the object in unit time, and the moving speed of the object leaving the car are generally greater than the moving speed of the object moving only in the car, so that the speed of the object can be used as one of the factors for measuring whether the motion trend of the object is a detection disturbance term. When the speed is less than the preset speed threshold, the possibility that the movement trend of the object is used for detecting the interference item is high, and when the speed is greater than the preset speed threshold, the possibility that the movement trend of the object is used for detecting the interference item is low.
And when the second number is smaller than the first number, the action amplitude is smaller than a preset amplitude threshold value and the speed is smaller than a preset speed threshold value, determining the motion trend of the object as a detection interference item. When the second number is smaller than the first number, the object is possible to move to improve the riding comfort, on the basis, if the motion amplitude of the object is smaller than the preset amplitude threshold and the speed is smaller than the preset speed threshold, the object motion trend is high in possibility of detecting the interference item, and therefore on the basis that the object is possible to improve the riding comfort through moving, the motion trend of the object can be determined to be the detection interference item.
According to the embodiment, the change situation of the number of the objects in the car is combined with the action amplitude and the speed of the objects, so that the actual use situation of the car is more fit, and the accuracy of the estimation of the motion trend of the objects can be improved.
In an optional embodiment of the present invention, the state information includes location points and behavior information, and determining whether a motion trend of the object is a detection interference item according to the state information includes:
when the object moves, acquiring position points and behavior information of the object from the state information; and determining the motion direction of the object according to the position point of the object, and determining the motion trend of the object as a detection interference item when the motion direction is towards an operation box of the car and the behavior information is the hand-lifting behavior.
The operation box of the elevator is generally located beside a door (car door), and a door opening and closing button is located at a specific position of the operation box. It should be noted that the moving direction of the object, which can be indicated by the moving trend, is large, and when the object moves toward the operation box, since the operation box is near the door, it can also be determined to be close to the door. Therefore, the present embodiment finds the moving direction of the object by further refining the moving direction when the object moves. When an object is to operate a button on the operation box to select a floor or close a door, a hand-raising action is usually performed, that is, a raising arm extends to the operation box, so that when the behavior information of the object is the hand-raising behavior, the motion trend of the object may be a detection interference item.
Wherein determining the motion orientation of the object from the location points of the object comprises:
acquiring position points of the object in each acquisition period from the state information; calculating a first distance from each position point to an operation box of the car; calculating a distance difference value of two adjacent first distances; when the distance difference value of the continuous preset first number is larger than the preset difference value, the movement direction of the object is determined to be towards the operation box of the car.
When an object is ready to go to the operation box, the object usually directly goes to the operation box, and the distance difference between two adjacent first distances is larger; when the object is ready to go to the door, i.e. leave the car, the object does not go straight to the console box, and the difference between the two adjacent first distances is small. The preset difference value may be set according to the position of the operation box in the car, and the like, and this embodiment does not limit this.
Of course, if a base point can be provided in the car, the direction of movement of the object can be determined from the angle between the object and the operating box at each position point and the base point. The invention is not limited in this regard.
The embodiment judges whether the movement trend of the object is a detection interference item by combining the movement direction and the behavior information of the object, and more accords with the use habit of people when taking a ladder, so that the accuracy of the detection result is higher.
And S304, determining that the behavior intention of the object is to leave the car.
And when the movement trend of the object is determined to be the detection interference item, determining that the behavior intention of the object is not to leave the car, and when the movement trend of the object is determined not to be the detection interference item, determining that the behavior intention of the object is to leave the car.
And S305, judging whether the elevator car has an object which is supposed to be separated from the elevator car according to the current image when no elevator waiting object exists in the elevator waiting hall.
When no object is waiting in the elevator waiting hall, the door state of the elevator door is controlled according to the elevator taking state of the object in the elevator car. For example, in the office building with a high floor during working hours, passengers are usually loaded only in the waiting hall of the first floor or the lobby and then transported to each destination floor, and when the elevator is stopped at each destination floor, there is usually no object to wait, and in this case, it is only necessary to give attention to whether or not the object having the action intention of leaving the car leaves the car.
When the car of the elevator arrives at a waiting hall and the doors are opened, the objects with the intention of leaving the car leave the car in sequence, in the step, whether the behavior intention is the object of leaving the car is judged, namely whether all the objects with the behavior intention of leaving the car leave the car are judged, if yes, S306 is executed, and if not, S307 is executed.
Specifically, the judgment of whether the car has the behavior intention of being an object leaving the car comprises the following steps: carrying out target detection tracking on the object to obtain a position point of the current target object; when the position points of the objects are located outside the elevator door, determining that no target object with action intention of leaving the elevator car exists in the elevator car; when the position point where the target object exists is located in the car, it is determined that the target object whose action is intended to be away from the car exists in the car.
And S306, controlling the elevator door according to the position point of the target object.
In an alternative embodiment, it may be determined whether a target object located in a preset interdoor region is detected in the current image; if so, controlling the elevator door to be kept open, starting a countdown timer to count down, acquiring a next frame of image as a current image, and returning to the step of judging whether a target object located in a preset inter-door area is detected in the current image; if not, judging whether a target object in a preset near door area at the side of the elevator waiting hall is detected in the current image; when a target object located in the door approaching area is detected, acquiring a second distance from the target object to the door area; adjusting the timing time of the countdown timer according to the second distance, and controlling the elevator door according to the timing time; and when the target object in the near door area is not detected, acquiring the next frame of image as a current image, and returning to the step of judging whether the target object which is supposed to leave the car exists in the car according to the current image.
The door-to-door area of the ladder door is an area with the ladder door as the center, and the area can be any one of square, fan-shaped and round or the combination of any two. The near door region is the region near the landing door, and the near door region does not include the interdoor region. The specific size and position of the near door area and the inter-door area can be set according to actual conditions.
When the second distance is less than or equal to the preset distance threshold, the first value (for example, 1 second time) is subtracted from the timing time of the countdown timer, and when the second distance is greater than the preset distance threshold, the second value (for example, 2 second time) is subtracted from the timing time of the countdown timer.
When the elevator door is controlled according to the timing time of the timer, whether the timing time of the countdown timer is greater than 0 or not can be judged, if yes, the elevator door is controlled to be kept open, the next frame of image is obtained to serve as the current image, the step of judging whether the target object located in the door approaching area preset on the elevator waiting hall side is detected in the current image is returned, and if not, the step of judging whether the target object which is supposed to leave the elevator car exists in the elevator car according to the current image is returned. That is, when a target object located in a near-door area preset on the side of the lobby is detected, that is, when it is detected that the target object has exited the car, the count-down time of the count-down timer may be reduced. It should be noted that, when it is detected that the latest target object moves out of the car, the counting down time of the countdown timer is restarted, and the counting down time of the countdown timer is finally counted down based on the corresponding second distance of the last target object away from the car.
And S307, controlling the ladder door to be closed.
When no elevator waiting object exists in the elevator waiting hall, the door state of the elevator door can be controlled only according to the elevator taking state of the object in the elevator car, when no object which acts as an intention and leaves the elevator car exists in the elevator car, the object which shows the intention of leaving the elevator car leaves the elevator car, the elevator door can be controlled to be closed, the preset door closing time does not need to be waited for, the operation efficiency of the elevator is improved, particularly, in the early peak of elevator taking, more floors stay, and the operation efficiency of the elevator can be obviously improved by the control method of the embodiment.
The object behavior detection method provided by the embodiment of the invention comprises the steps of collecting images of a detection area when a car of an elevator reaches a target floor and a door of the elevator is opened, wherein the detection area comprises the car; carrying out object detection tracking on the image to determine state information and motion trend of the object in the car; when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item according to the state information; if not, determining that the behavior of the object is intended to leave the car. When the movement trend of the object is detected to be close to the door, the possibility that the object leaves the car can be shown, in order to further determine the action intention of the object, whether the movement trend of the object is a detection interference item can be judged through the state information of the object, if so, the object does not leave the car, otherwise, the action intention of the object is determined to be the leaving car through a method for excluding the detection interference item, whether the action intention of the object is the leaving car can be determined, the accuracy of the action intention of the detection object leaving the car can be improved, the elevator can be conveniently controlled, and the operation efficiency and the safety of the elevator can be improved.
Furthermore, whether the movement trend of the object is a detection interference item or not is determined by combining at least one item of elevator taking floors, the number of the objects, the action amplitude and speed, the movement direction, the behavior information and the position points, and the accuracy of detection of the behavior intention of the object can be improved.
Furthermore, when no elevator waiting object exists in the elevator waiting hall, the timer is started to count down when the target object is in the door zone and is shortened when the target object moves from the door zone to the near door zone at the elevator waiting hall side according to the judgment of the existence of the target object which is separated from the elevator car according to the current image, so that the timing time of the timer is dynamically adjusted according to each position of the target object moving from the elevator car to the elevator waiting hall, and finally the elevator door is controlled to be closed when the timer is equal to 0, the door opening time can be shortened, and the operation efficiency of the elevator door can be improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of an object behavior detection apparatus according to a third embodiment of the present invention. As shown in fig. 4, the object behavior detection apparatus includes:
the image acquisition module 401 is used for acquiring an image of a detection area when a car of an elevator reaches a target floor and a door of the elevator is opened, wherein the detection area comprises the car;
an object information obtaining module 402, configured to perform object detection tracking on the image to determine state information and a motion trend of an object in the car;
a detection interference item determining module 403, configured to determine, according to the state information, whether the motion trend of the object is a detection interference item when the motion trend of the object is approaching the landing door;
a behavior intention determining module 404, configured to determine that the behavior intention of the object is to leave the car when the motion trend of the object is not the detected distracter.
In an optional embodiment of the invention, the status information comprises boarding floors; the interference item detection determining module 403 includes:
the elevator taking floor judging submodule is used for judging whether the elevator taking floor in the state information of the object is the current floor or not;
and the first detection interference item determining submodule is used for determining the motion trend of the object as a detection interference item when the elevator taking floor in the state information of the object is the current floor.
In an optional embodiment of the present invention, the status information includes the number of the objects, the action amplitude, and the speed, and the module 403 for determining the detected interference item includes:
the object motion information acquisition submodule is used for acquiring the action amplitude and the speed of the object when the object moves;
a first number submodule for determining a first number of objects in the car before the objects move;
a second number sub-module to determine a second number of objects in the car after the object moves;
and the second detection interference item determining submodule is used for determining the motion trend of the object as a detection interference item when the second number is smaller than the first number, the action amplitude is smaller than a preset amplitude threshold value and the speed is smaller than a preset speed threshold value.
In an optional embodiment of the present invention, the status information includes location point and behavior information, and the module 403 for determining a detection interference item includes:
the position point and behavior information acquisition submodule is used for acquiring the position point and behavior information of the object from the state information when the object moves;
a motion orientation determination submodule for determining a motion orientation of the object from the location points of the object;
and the third detection interference item determining submodule is used for determining the motion trend of the object as a detection interference item when the motion direction is towards the operation box of the car and the behavior information is the hand-lifting behavior.
In an optional embodiment of the invention, the motion direction determination submodule comprises:
the position point acquisition unit is used for acquiring the position points of the object in each acquisition cycle;
a first distance calculation unit for calculating a first distance from each of the position points to an operation box of the car;
the distance difference calculation unit is used for calculating the distance difference of two adjacent first distances;
and the movement direction determining unit is used for determining the movement direction of the object to be towards the operation box of the car when the distance difference value continuously preset to the first number is larger than the preset difference value.
In an optional embodiment of the present invention, the object behavior detection apparatus further includes:
the target object determining module is used for judging whether a target object which is supposed to leave the elevator car exists in the elevator car according to the current image when no elevator waiting object exists in the elevator waiting hall; if so, executing the content executed by the elevator door control module, otherwise, executing the content executed by the elevator door closing module;
the ladder door control module is used for controlling the ladder door according to the position point of the target object;
and the ladder door closing module is used for controlling the ladder door to be closed.
In an optional embodiment of the present invention, the landing door control module includes:
the target object detection sub-module is used for judging whether a target object positioned in a preset door area is detected in the current image; if yes, executing the content executed by the next frame of image acquisition sub-module, and otherwise, executing the content executed by the near door area detection sub-module;
the next frame image acquisition sub-module is used for controlling the ladder door to be kept open, starting a countdown timer to count down, acquiring the next frame image as a current image, and returning to the content executed by the execution target object detection sub-module;
the near door area detection submodule is used for judging whether a target object in a preset near door area located on the side of the elevator waiting hall is detected in the current image;
the second distance detection submodule is used for acquiring a second distance from the target object to the interdoor area when the target object located in the near door area is detected;
the timing time calculation submodule is used for adjusting the timing time of the countdown timer according to the second distance and controlling the ladder door according to the timing time;
and the next frame image acquisition sub-module is used for acquiring a next frame image as a current image and returning to the content executed by the execution target object determination module when the target object positioned in the near door area is not detected.
In an optional embodiment of the present invention, the timing calculation sub-module includes:
a second distance judgment unit, configured to judge whether the second distance is greater than a preset distance threshold;
a first time reduction unit, configured to subtract a preset first value from the timing time of the countdown timer when the second distance is smaller than or equal to the preset distance threshold;
and the second time reduction unit is used for subtracting a preset second numerical value from the timing time of the countdown timer when the second distance is greater than the preset distance threshold.
In an optional embodiment of the present invention, the timing calculation sub-module includes:
a timing time judging unit for judging whether the timing time of the countdown timer is greater than 0; if yes, executing the content executed by the first door control unit, and if not, executing the content executed by the second door control unit;
the first door control unit is used for controlling the doors to be kept open, acquiring a next frame of image as a current image, and returning to the step of judging whether a target object located in a door approaching area preset at the side of the elevator waiting hall is detected in the current image;
and the second door control unit is used for acquiring the next frame of image and returning the content executed by the execution target object determining module.
The object behavior detection device provided by the embodiment of the invention can execute the object behavior detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 5 illustrates a schematic diagram of an electronic device 40 that may be used to implement an embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data necessary for the operation of the electronic apparatus 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to the bus 44.
A plurality of components in the electronic device 40 are connected to the I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, or the like; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the object behavior detection method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the object behavior detection method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the object behavior detection method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An object behavior detection method, comprising:
when a car of an elevator reaches a target floor and a door of the elevator is opened, acquiring an image of a detection area, wherein the detection area comprises the car;
performing object detection tracking on the image to determine state information and a motion trend of an object in the car;
when the motion trend of the object is close to the door, judging whether the motion trend of the object is a detection interference item according to the state information;
if not, determining that the behavior of the object is intended to leave the car.
2. The method of claim 1, wherein the status information includes landing floors; the judging whether the motion trend of the object is a detection interference item according to the state information comprises the following steps:
judging whether the elevator taking floor in the state information of the object is the current floor or not;
and if so, determining the motion trend of the object as a detection interference item.
3. The method of claim 1, wherein the status information includes the number, motion amplitude and speed of the object, and determining whether the motion trend of the object is a detection interference item according to the status information comprises:
when the object moves, acquiring the action amplitude and speed of the object;
determining a first number of objects in the car before the object moves;
determining a second number of objects in the car after the object moves;
and when the second number is smaller than the first number, the action amplitude is smaller than a preset amplitude threshold value, and the speed is smaller than a preset speed threshold value, determining the motion trend of the object as a detection interference item.
4. The method of claim 1, wherein the status information includes location point and behavior information, and the determining whether the motion trend of the object is a detection interference item according to the status information includes:
when the object moves, acquiring the position point and the behavior information of the object from the state information;
determining a motion direction of the object according to the position point of the object;
when the motion direction is towards an operation box of the car and the behavior information is a hand-lifting behavior, determining that the motion trend of the object is a detection interference item.
5. The method of claim 4, wherein determining the orientation of motion of the object from the location points of the object comprises:
acquiring position points of the object in each acquisition period;
calculating a first distance from each of the location points to an operating box of the car;
calculating a distance difference value of two adjacent first distances;
and when the distance difference value of the continuous preset first quantity is larger than a preset difference value, determining the movement direction of the object to be towards the operation box of the car.
6. The method of any of claims 1-5, wherein the status information includes a location point of the object, further comprising, after the determining that the behavior of the object is intended to leave the car:
when no elevator waiting object exists in the elevator waiting hall, judging whether a target object with action intention of leaving the elevator car exists in the elevator car according to the current image;
if so, controlling the ladder door according to the position point of the target object;
if not, controlling the ladder door to close.
7. The method of claim 6, wherein said controlling the landing doors based on the location point of the target object comprises:
judging whether a target object located in a preset interdoor area is detected in the current image;
if yes, controlling the ladder door to be kept open, starting a countdown timer to count down, acquiring a next frame of image as a current image, and returning to the step of judging whether a target object located in a preset inter-door area is detected in the current image;
if not, judging whether a target object in a preset near door area at the side of the elevator waiting hall is detected in the current image;
when a target object located in the near door area is detected, acquiring a second distance from the target object to the inter-door area;
adjusting the timing time of the countdown timer according to the second distance, and controlling the ladder door according to the timing time;
and when the target object positioned in the door approaching area is not detected, acquiring the next frame of image as a current image, and returning to the step of judging whether the target object which is supposed to leave the car exists in the car according to the current image.
8. The method of claim 7, wherein said adjusting the count-down timer timing based on said second distance comprises:
judging whether the second distance is greater than a preset distance threshold value or not;
when the second distance is smaller than or equal to the preset distance threshold, subtracting a preset first numerical value from the timing time of the countdown timer;
and when the second distance is greater than the preset distance threshold, subtracting a preset second numerical value from the timing time of the countdown timer.
9. The method of claim 7, the controlling the door according to the timing, comprising:
judging whether the timing time of the countdown timer is greater than 0;
if yes, controlling the elevator door to be kept open, acquiring a next frame of image as a current image, and returning to the step of judging whether a target object located in a preset near door area on the elevator waiting hall side is detected in the current image;
if not, acquiring a next frame of image, and returning to the step of judging whether the car has a target object with the behavior intention of going out of the car according to the current image.
10. An object behavior detection apparatus, comprising:
the system comprises an image acquisition module, a detection module and a control module, wherein the image acquisition module is used for acquiring an image of a detection area when a car of an elevator reaches a target floor and a door of the elevator is opened, and the detection area comprises the car;
the object information acquisition module is used for carrying out object detection tracking on the image so as to determine the state information and the motion trend of the object in the car;
the detection interference item judging module is used for judging whether the motion trend of the object is a detection interference item according to the state information when the motion trend of the object is close to the door;
and the behavior intention determining module is used for determining that the behavior intention of the object is to leave the car when the motion trend of the object is not the detected interference item.
11. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the object behavior detection method of any one of claims 1-9.
12. A computer-readable storage medium storing computer instructions for causing a processor to implement the object behavior detection method of any one of claims 1-9 when executed.
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