WO2022007112A1 - 安全防护软垫推送系统以及相应终端 - Google Patents

安全防护软垫推送系统以及相应终端 Download PDF

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Publication number
WO2022007112A1
WO2022007112A1 PCT/CN2020/109737 CN2020109737W WO2022007112A1 WO 2022007112 A1 WO2022007112 A1 WO 2022007112A1 CN 2020109737 W CN2020109737 W CN 2020109737W WO 2022007112 A1 WO2022007112 A1 WO 2022007112A1
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Prior art keywords
safety protection
cushion
chandelier
received
image
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PCT/CN2020/109737
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English (en)
French (fr)
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宁波汇纳机械有限公司
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宁波汇纳机械有限公司
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Priority to US17/295,293 priority Critical patent/US20220307674A1/en
Publication of WO2022007112A1 publication Critical patent/WO2022007112A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V15/00—Protecting lighting devices from damage
    • F21V15/04—Resilient mountings, e.g. shock absorbers 
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/34—Smoothing or thinning of the pattern; Morphological operations; Skeletonisation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S8/00—Lighting devices intended for fixed installation
    • F21S8/04—Lighting devices intended for fixed installation intended only for mounting on a ceiling or the like overhead structures
    • F21S8/06—Lighting devices intended for fixed installation intended only for mounting on a ceiling or the like overhead structures by suspension
    • F21S8/061—Lighting devices intended for fixed installation intended only for mounting on a ceiling or the like overhead structures by suspension with a non-rigid pendant, i.e. a cable, wire or chain

Definitions

  • the invention relates to the field of self-adaptive control, in particular to a safety protection cushion push system and a corresponding terminal.
  • an adaptive controller should be one that modifies its properties to adapt to changes in the dynamic properties of objects and disturbances.
  • adaptive control is also a control method based on mathematical models.
  • the difference is that adaptive control is based on less prior knowledge of models and disturbances, and needs to be used in the operation of the system.
  • the information about the model is continuously extracted, so that the model is gradually improved.
  • the model parameters can be continuously identified according to the input and output data of the object. This process is called online identification of the system.
  • the model will become more and more accurate and closer to reality. Since the model is constantly improving, obviously, the control effect synthesized based on this model will also be continuously improved. In this sense, the control system has a certain adaptability.
  • the performance of the system may not be ideal when it is put into operation at the beginning, but after a period of operation, after online identification and control, the control system gradually adapts. Eventually adjust itself to a satisfactory working state.
  • Another example is some control objects, whose characteristics may change greatly during the running process, but the system can gradually adapt to it by identifying and changing the controller parameters online.
  • the present invention provides a safety protection cushion push system, which can trigger the protection operation for the scene where the chandelier collides with the ground in time when it is recognized that the chandelier is too close to the ground, thereby effectively protecting the chandelier facilities to avoid the loss of economic interests of chandelier users.
  • the present invention needs to have at least the following two important invention points:
  • a high-precision detection mechanism is used to trigger the cushion push mechanism when it is detected that the chandelier is too close to the ground to open the flat cushion structure near the chandelier and push the opened flat cushion structure to the chandelier directly below;
  • a customized cushion push mechanism including a signal receiving device, an automatic opening device and a field push device to realize automatic expansion and push control of the cushion
  • the automatic opening device includes a first drive motor and a A deployment structure connected with a drive motor
  • the field pushing device includes a second drive motor and a robotic arm connected with the second drive motor.
  • a safety protection cushion pushing system comprising:
  • a cushion pushing mechanism used to open the flat cushion structure near the chandelier and push the opened plane cushion structure to the right under the chandelier when the first driving signal is received;
  • the cushion pushing mechanism includes a signal receiving device, an automatic opening device and a field pushing device, the automatic opening device includes a first drive motor and a deployment structure connected to the first drive motor, and the field push device includes a second drive motor. a drive motor and a robotic arm connected to the second drive motor;
  • the soft cushion pushing mechanism is also used for not performing the opening operation and the pushing operation of the flat cushion structure near the chandelier when the second driving signal is received;
  • the real-time sensing mechanism is arranged on the bottom plane of the chandelier, and is used to perform a real-time image sensing action on the scene below the chandelier to obtain the corresponding on-site sensing image;
  • a smoothing space filtering device which is encapsulated in the bottom of the chandelier, is connected to the real-time sensing mechanism, and is used for performing smoothing space filtering processing on the received scene sensing image, so as to obtain and output a corresponding smoothing space filtering image;
  • an edge sharpening device connected to the smooth spatial filtering device, for performing edge sharpening processing on the received smooth spatial filtering image to obtain and output a corresponding edge sharpening image
  • a data enhancement device connected to the edge sharpening device, for performing density function-based histogram equalization processing on the received edge sharpening image, so as to obtain and output a corresponding data enhanced image
  • a content recognition mechanism connected to the data enhancement device, is used to identify each pixel point in the data enhancement image that matches the ground color imaging feature as each target pixel point, and obtain each target pixel point in the data enhancement the depth of field of the image;
  • the numerical conversion device is respectively connected with the cushion pushing mechanism and the content identification mechanism, and is used for sending a first driving signal when the received median value of each depth of field of each target pixel point is shallower than a preset depth of field threshold.
  • a safety protection cushion push terminal is also provided, characterized in that the terminal includes: a memory and a processor, the processor is connected to the memory; the memory is used for Store executable instructions of the processor; the processor is used to call the executable instructions in the memory, so as to realize the use of the above-mentioned safety protection cushion pushing system to the chandelier based on a targeted visual detection mechanism A method for recognizing scenes that are too close to the ground to realize adaptive safety protection operations.
  • the safety protection soft pad pushing system and the corresponding terminal of the invention are simple in structure, convenient and practical.
  • the protective operation for the scene where the chandelier collides with the ground can be triggered in time, thereby effectively protecting the chandelier facilities and avoiding the loss of economic interests of the chandelier users.
  • FIG. 1 is an outline structure diagram of a chandelier to which a safety protection soft cushion push system is applied according to an embodiment of the present invention.
  • Motor control refers to the control of starting, accelerating, running, decelerating, and stopping the motor. There are different requirements and purposes according to the type of motor and the application of the motor.
  • step-down startup it mainly includes: autotransformer startup, star-delta startup, and variable voltage startup.
  • the method of increasing the rotor circuit startup is applicable to wound rotors, deep groove rotors and double-cage rotors. This method cannot be used for squirrel-cage rotors.
  • the maximum torque of the motor When increasing the rotor resistance of the asynchronous motor, the maximum torque of the motor will not be affected, but the point of occurrence of the maximum torque will move, and the motor torque-slip curve will be compressed along the slip axis. Since the motor curve shows a trend of rising first and then falling with respect to the slip rate, the starting torque of the motor will increase. However, its value is affected by the maximum torque of the motor.
  • the starting methods of single-phase asynchronous motors include: capacitor starting, resistance starting, PTC starting, etc., shaded pole starting, etc.
  • an asynchronous motor with only a single-phase winding cannot self-start.
  • an auxiliary winding formed by 90° from the main winding on the single-phase asynchronous motor The winding is mainly used for starting the motor. After the motor starts, the winding can be cut off or used for the operation of the motor.
  • the chandelier may fall off its upper hook and rush to the ground. Once it hits the ground with strong rigidity, the chandelier will be broken. On the one hand, It brings the trouble of cleaning and processing to the user of the chandelier facility, and on the other hand, also brings economic losses to the user of the chandelier facility.
  • the present invention builds a safety protection cushion push system and a corresponding terminal, which can effectively solve the corresponding technical problems.
  • FIG. 1 is an outline structure diagram of a chandelier to which a safety protection soft cushion push system is applied according to an embodiment of the present invention.
  • a cushion pushing mechanism used to open the flat cushion structure near the chandelier and push the opened plane cushion structure to the right under the chandelier when the first driving signal is received;
  • the cushion pushing mechanism includes a signal receiving device, an automatic opening device and a field pushing device, the automatic opening device includes a first drive motor and a deployment structure connected to the first drive motor, and the field push device includes a second drive motor. a drive motor and a robotic arm connected to the second drive motor;
  • the soft cushion pushing mechanism is also used for not performing the opening operation and the pushing operation of the flat cushion structure near the chandelier when the second driving signal is received;
  • the real-time sensing mechanism is arranged on the bottom plane of the chandelier, and is used to perform a real-time image sensing action on the scene below the chandelier to obtain the corresponding on-site sensing image;
  • a smoothing space filtering device which is encapsulated in the bottom of the chandelier, is connected to the real-time sensing mechanism, and is used for performing smoothing space filtering processing on the received scene sensing image, so as to obtain and output a corresponding smoothing space filtering image;
  • an edge sharpening device connected to the smooth spatial filtering device, for performing edge sharpening processing on the received smooth spatial filtering image to obtain and output a corresponding edge sharpening image
  • a data enhancement device connected to the edge sharpening device, for performing density function-based histogram equalization processing on the received edge sharpening image, so as to obtain and output a corresponding data enhanced image
  • a content recognition mechanism connected to the data enhancement device, is used to identify each pixel point in the data enhancement image that matches the ground color imaging feature as each target pixel point, and obtain each target pixel point in the data enhancement the depth of field of the image;
  • the numerical conversion device is respectively connected with the cushion pushing mechanism and the content identification mechanism, and is used for sending a first driving signal when the received median value of each depth of field of each target pixel point is shallower than a preset depth of field threshold.
  • the numerical conversion device is further configured to send a second drive signal when the received median value of each depth of field of each target pixel point is not shallower than a preset depth of field threshold.
  • the safety protection cushion push system may also include:
  • a FLASH storage device connected with the content identification mechanism, for storing the ground color imaging features
  • the ground color imaging features are the distribution range of the red channel on the ground, the distribution range of the green channel on the ground, and the distribution range of the blue channel on the ground.
  • the safety protection cushion push system may also include:
  • a user input interface connected to the FLASH storage device, for inputting the ground color imaging feature according to a user's operation to send the ground color imaging feature to the FLASH storage device.
  • the edge sharpening device, the data enhancement device, the content recognition mechanism, and the numerical value conversion device are all housed in the bottom of the pendant lamp.
  • the safety protection cushion push system may also include:
  • a pressure detection device arranged on the casing of the content identification mechanism, and used for measuring the immediate pressure currently borne by the casing of the content identification mechanism;
  • a pressure analysis device connected to the pressure detection device, for issuing a pressure alarm command when the received instant pressure exceeds the limit
  • the pressure analysis device is further configured to issue a normal pressure command when the received instant pressure does not exceed the limit.
  • the safety protection cushion push system may also include:
  • the alarm execution device is connected with the pressure analysis device, and is used for executing the corresponding alarm operation when the pressure alarm instruction is received.
  • the alarm execution device is a buzzer, which is used to emit a buzzer with a preset frequency when a corresponding alarm operation is performed.
  • the alarm execution device is a voice playback chip, which is used to play the corresponding alarm file when the corresponding alarm operation is performed;
  • the alarm execution device is a display device, which is used to display the corresponding alarm text when the corresponding alarm operation is performed;
  • the alarm execution device is further configured to stop executing the corresponding alarm operation when receiving the normal pressure instruction.
  • the present invention also builds a safety protection cushion push terminal, the terminal includes: a memory and a processor, and the processor is connected to the memory;
  • the memory is used to store executable instructions of the processor
  • the processor is used to call the executable instructions in the memory, so as to realize the recognition of the scene where the chandelier is too close to the ground based on the targeted visual detection mechanism using the above-mentioned safety protection cushion push system In order to realize the method of adaptive security protection operation.
  • FLASH memory chips are non-volatile memory that can be erased, written and reprogrammed in blocks of memory cells called blocks. Writing to any FLASH device can only be done in empty or erased cells, so in most cases, erasing must be performed before writing. NAND devices are very simple to perform erasing operations, while NOR requires that all bits in the target block be written to 0 before erasing.
  • erasing NOR devices Since erasing NOR devices is performed in blocks of 64-128KB, the time to perform a write/erase operation is 5s. On the contrary, erasing NAND devices is performed in blocks of 8-32KB. The operation only takes up to 4ms.
  • various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof.
  • various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
  • the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

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Abstract

本发明涉及一种安全防护软垫推送系统以及相应终端，所述系统包括：软垫推送机构，用于在接收到第一驱动信号时，打开吊灯附近的平面软垫结构并将打开后的平面软垫结构推送到所述吊灯的正下方；所述软垫推送机构包括信号接收设备、自动打开设备和现场推送设备，所述自动打开设备包括第一驱动电机和与所述第一驱动电机连接的展开结构，所述现场推送设备包括第二驱动电机和与所述第二驱动电机连接的机械手臂。本发明的安全防护软垫推送系统以及相应终端结构简单、方便实用。由于能够在辨识到吊灯距离地面过近时，及时触发对吊灯碰撞地面场景的防护操作，从而有效保护吊灯设施，避免吊灯用户的经济利益受到损失。

Description

安全防护软垫推送系统以及相应终端 技术领域
本发明涉及自适应控制领域，尤其涉及一种安全防护软垫推送系统以及相应终端。
背景技术
在日常生活中，所谓自适应是指生物能改变自己的习性以适应新的环境的一种特征。因此，直观地说，自适应控制器应当是这样一种控制器，它能修正自己的特性以适应对象和扰动的动态特性的变化。
自适应控制和常规的反馈控制和最优控制一样，也是一种基于数学模型的控制方法，所不同的只是自适应控制所依据的关于模型和扰动的先验知识比较少，需要在系统的运行过程中去不断提取有关模型的信息，使模型逐步完善。具体地说，可以依据对象的输入输出数据，不断地辨识模型参数，这个过程称为系统的在线辨识。随着生产过程的不断进行，通过在线辨识，模型会变得越来越准确，越来越接近于实际。既然模型在不断的改进，显然，基于这种模型综合出来的控制作用也将随之不断的改进。在这个意义下，控制系统具有一定的适应能力。比如说，当系统在设计阶段，由于对象特性的初始信息比较缺乏，系统在刚开始投入运行时可能性能不理想，但是只要经过一段时间的运行，通过在线辨识和控制以后，控制系统逐渐适应，最终将自身调整到一个满意的工作状态。再比如某些控制对象，其特性可能在运行过程中要发生较大的变化，但通过在线辨识和改变控制器参数，系统也能逐渐适应。
发明内容
为了解决现有技术中的相关技术问题，本发明提供了一种安全防护软垫推送系统，能够在辨识到吊灯距离地面过近时，及时触发对吊灯碰撞地 面场景的防护操作，从而有效保护吊灯设施，避免吊灯用户的经济利益受到损失。
为此，本发明至少需要具备以下两处重要的发明点：
(1)采用高精度的检测机制用于在检测到吊灯距离地面过近时，触发软垫推送机构用于打开吊灯附近的平面软垫结构并将打开后的平面软垫结构推送到所述吊灯的正下方；
(2)引入定制的包括信号接收设备、自动打开设备和现场推送设备的软垫推送机构用于实现软垫的自动展开和推送控制，所述自动打开设备包括第一驱动电机和与所述第一驱动电机连接的展开结构，所述现场推送设备包括第二驱动电机和与所述第二驱动电机连接的机械手臂。
根据本发明的一方面，提供了一种安全防护软垫推送系统，所述系统包括：
软垫推送机构，用于在接收到第一驱动信号时，打开吊灯附近的平面软垫结构并将打开后的平面软垫结构推送到所述吊灯的正下方；
所述软垫推送机构包括信号接收设备、自动打开设备和现场推送设备，所述自动打开设备包括第一驱动电机和与所述第一驱动电机连接的展开结构，所述现场推送设备包括第二驱动电机和与所述第二驱动电机连接的机械手臂；
所述软垫推送机构还用于在接收到第二驱动信号时，不执行吊灯附近的平面软垫结构的打开操作以及推送操作；
实时传感机构，设置在吊灯的底部平面，用于对吊灯的下方场景执行实时图像感应动作，以获得对应的现场感应图像；
平滑空间滤波设备，被封装在所述吊灯的底部内，与所述实时传感机构连接，用于对接收到的现场感应图像执行平滑空间滤波处理，以获得并输出相应的平滑空间滤波图像；
边缘锐化设备，与所述平滑空间滤波设备连接，用于对接收到的平滑空间滤波图像执行边缘锐化处理，以获得并输出相应的边缘锐化图像；
数据增强设备，与所述边缘锐化设备连接，用于对接收到的边缘锐化图像执行基于密度函数的直方图均衡处理，以获得并输出相应的数据增强图像；
内容辨识机构，与所述数据增强设备连接，用于识别所述数据增强图像中与地面颜色成像特征匹配的各个像素点以作为各个目标像素点，并获取每一个目标像素点在所述数据增强图像的景深；
数值转换设备，分别与所述软垫推送机构和所述内容辨识机构连接，用于在接收到的各个目标像素点的各个景深的中间值浅于预设景深阈值时，发出第一驱动信号。
根据本发明的另一方面，还提供了一种安全防护软垫推送终端，其特征在于，所述终端包括：存储器和处理器，所述处理器与所述存储器连接；所述存储器，用于存储所述处理器的可执行指令；所述处理器，用于调用所述存储器中的可执行指令，以实现使用如上所述的安全防护软垫推送系统以基于针对性的视觉检测机制对吊灯距离地面过近的场景进行识别以实现自适应的安全防护操作的方法。
本发明的安全防护软垫推送系统以及相应终端结构简单、方便实用。由于能够在辨识到吊灯距离地面过近时，及时触发对吊灯碰撞地面场景的防护操作，从而有效保护吊灯设施，避免吊灯用户的经济利益受到损失。
附图说明
以下将结合附图对本发明的实施方案进行描述，其中：
图1为根据本发明实施方案示出的安全防护软垫推送系统所应用的吊灯的外形结构图。
具体实施方式
下面将参照附图对本发明的安全防护软垫推送系统以及相应终端的实施方案进行详细说明。
电机控制是指，对电机的启动、加速、运转、减速及停止进行的控制。根据不同电机的类型及电机的使用场合有不同的要求及目的。
对于降压启动，主要包括：自耦变压器启动、星-三角变化启动、变电压启动。异步电机启动时，转子处于静止状态，其转差率s＝1。此时，T型等效电路的转子侧阻值很低，因此启动电流的大小较大，通过降压启动可以降低启动电流。由于异步电机的启动转矩与电压平方成正比，因此对于降压启动需要保证电机具有一定的启动能力。
增加转子回路启动的方法适用于绕线式转子、深槽转子及双笼式转子。对于鼠笼式转子无法使用该方法。
增加异步电机转子电阻时，电机的最大转矩将不会受到影响，但最大转矩的出现点将发生移动，电机转矩-转差率曲线将沿转差率轴压缩。由于电机曲线关于转差率呈现先上升后下降的趋势，因此电机的启动转矩将增大。但其数值受电机最大转矩的影响。
单相异步电机的启动方式包括：电容启动、电阻启动、PTC启动等、罩极启动等。
由于感应电机单相绕组在转子静止时，无法产生旋转磁势，因此只有单相绕组的异步电机无法自启动。对此，需要在单相异步电机上安装有于主绕组成90°的辅助绕组。该绕组主要用于电机的启动，当电机启动完成后可以切断该绕组或用于电机的运转。
现有技术中，由于吊灯设施本身问题或者安装问题，有可能出现吊灯设施脱落其上方挂钩而冲向地面的可能，一旦击中刚性较强的地面则会导致吊灯破碎的情况发生，一方面，给吊灯设施的用户带来打扫处理的麻烦，另一方面，也给吊灯设施的用户带来经济损失。
为了克服上述不足，本发明搭建了一种安全防护软垫推送系统以及相应终端，能够有效解决相应的技术问题。
图1为根据本发明实施方案示出的安全防护软垫推送系统所应用的吊灯的外形结构图。
根据本发明实施方案示出的安全防护软垫推送系统包括：
软垫推送机构，用于在接收到第一驱动信号时，打开吊灯附近的平面软垫结构并将打开后的平面软垫结构推送到所述吊灯的正下方；
所述软垫推送机构包括信号接收设备、自动打开设备和现场推送设备，所述自动打开设备包括第一驱动电机和与所述第一驱动电机连接的展开结构，所述现场推送设备包括第二驱动电机和与所述第二驱动电机连接的机械手臂；
所述软垫推送机构还用于在接收到第二驱动信号时，不执行吊灯附近的平面软垫结构的打开操作以及推送操作；
实时传感机构，设置在吊灯的底部平面，用于对吊灯的下方场景执行实时图像感应动作，以获得对应的现场感应图像；
平滑空间滤波设备，被封装在所述吊灯的底部内，与所述实时传感机构连接，用于对接收到的现场感应图像执行平滑空间滤波处理，以获得并输出相应的平滑空间滤波图像；
边缘锐化设备，与所述平滑空间滤波设备连接，用于对接收到的平滑空间滤波图像执行边缘锐化处理，以获得并输出相应的边缘锐化图像；
数据增强设备，与所述边缘锐化设备连接，用于对接收到的边缘锐化图像执行基于密度函数的直方图均衡处理，以获得并输出相应的数据增强图像；
内容辨识机构，与所述数据增强设备连接，用于识别所述数据增强图 像中与地面颜色成像特征匹配的各个像素点以作为各个目标像素点，并获取每一个目标像素点在所述数据增强图像的景深；
数值转换设备，分别与所述软垫推送机构和所述内容辨识机构连接，用于在接收到的各个目标像素点的各个景深的中间值浅于预设景深阈值时，发出第一驱动信号。
接着，继续对本发明的安全防护软垫推送系统的具体结构进行进一步的说明。
所述安全防护软垫推送系统中：
所述数值转换设备还用于在接收到的各个目标像素点的各个景深的中间值不浅于预设景深阈值时，发出第二驱动信号。
所述安全防护软垫推送系统中还可以包括：
FLASH存储设备，与所述内容辨识机构连接，用于存储所述地面颜色成像特征；
其中，所述地面颜色成像特征为地面红色通道分布范围、地面绿色通道分布范围和地面蓝色通道分布范围。
所述安全防护软垫推送系统中还可以包括：
用户输入接口，与所述FLASH存储设备连接，用于根据用户的操作，输入所述地面颜色成像特征以将所述地面颜色成像特征发送给所述FLASH存储设备。
所述安全防护软垫推送系统中：
所述边缘锐化设备、所述数据增强设备、所述内容辨识机构和所述数值转换设备都被封装在所述吊灯的底部内。
所述安全防护软垫推送系统中还可以包括：
压力检测设备，设置在所述内容辨识机构的外壳上，用于测量所述内容辨识机构的外壳当前所承受的即时压力；
压力分析设备，与所述压力检测设备连接，用于在接收到的即时压力超限时，发出压力报警指令；
其中，所述压力分析设备还用于在接收到的即时压力未超限时，发出压力正常指令。
所述安全防护软垫推送系统中还可以包括：
报警执行设备，与所述压力分析设备连接，用于在接收到压力报警指令时，执行相应的报警操作。
所述安全防护软垫推送系统中：
所述报警执行设备为蜂鸣器，用于在执行相应的报警操作时，发出预设频率的蜂鸣声。
所述安全防护软垫推送系统中：
所述报警执行设备为语音播放芯片，用于在执行相应的报警操作时，播放相应的报警文件；
其中，所述报警执行设备为显示设备，用于在执行相应的报警操作时，显示相应的报警文字；
其中，所述报警执行设备还用于在接收到所述压力正常指令时，停止执行相应的报警操作。
同时，为了克服上述不足，本发明还搭建了一种安全防护软垫推送终端，所述终端包括：存储器和处理器，所述处理器与所述存储器连接；
其中，所述存储器，用于存储所述处理器的可执行指令；
其中，所述处理器，用于调用所述存储器中的可执行指令，以实现使 用如上所述的安全防护软垫推送系统以基于针对性的视觉检测机制对吊灯距离地面过近的场景进行识别以实现自适应的安全防护操作的方法。
另外，FLASH存储芯片是非易失存储器，可以对称为块的存储器单元块进行擦写和再编程。任何FLASH器件的写入操作只能在空或已擦除的单元内进行，所以大多数情况下，在进行写入操作之前必须先执行擦除。NAND器件执行擦除操作是十分简单的，而NOR则要求在进行擦除前先要将目标块内所有的位都写为0。
由于擦除NOR器件时是以64～128KB的块进行的，执行一个写入/擦除操作的时间为5s，与此相反，擦除NAND器件是以8～32KB的块进行的，执行相同的操作最多只需要4ms。
执行擦除时块尺寸的不同进一步拉大了NOR和NADN之间的性能差距，统计表明，对于给定的一套写入操作(尤其是更新小文件时)，更多的擦除操作必须在基于NOR的单元中进行。
应当理解，本发明的各部分可以用硬件、软件、固件或他们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的， 不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种安全防护软垫推送系统，其特征在于，所述系统包括：
    软垫推送机构，用于在接收到第一驱动信号时，打开吊灯附近的平面软垫结构并将打开后的平面软垫结构推送到所述吊灯的正下方；
    所述软垫推送机构包括信号接收设备、自动打开设备和现场推送设备，所述自动打开设备包括第一驱动电机和与所述第一驱动电机连接的展开结构，所述现场推送设备包括第二驱动电机和与所述第二驱动电机连接的机械手臂；
    所述软垫推送机构还用于在接收到第二驱动信号时，不执行吊灯附近的平面软垫结构的打开操作以及推送操作；
    实时传感机构，设置在吊灯的底部平面，用于对吊灯的下方场景执行实时图像感应动作，以获得对应的现场感应图像；
    平滑空间滤波设备，被封装在所述吊灯的底部内，与所述实时传感机构连接，用于对接收到的现场感应图像执行平滑空间滤波处理，以获得并输出相应的平滑空间滤波图像；
    边缘锐化设备，与所述平滑空间滤波设备连接，用于对接收到的平滑空间滤波图像执行边缘锐化处理，以获得并输出相应的边缘锐化图像；
    数据增强设备，与所述边缘锐化设备连接，用于对接收到的边缘锐化图像执行基于密度函数的直方图均衡处理，以获得并输出相应的数据增强图像；
    内容辨识机构，与所述数据增强设备连接，用于识别所述数据增强图像中与地面颜色成像特征匹配的各个像素点以作为各个目标像素点，并获取每一个目标像素点在所述数据增强图像的景深；
    数值转换设备，分别与所述软垫推送机构和所述内容辨识机构连接， 用于在接收到的各个目标像素点的各个景深的中间值浅于预设景深阈值时，发出第一驱动信号。
  2. 如权利要求1所述的安全防护软垫推送系统，其特征在于：
    所述数值转换设备还用于在接收到的各个目标像素点的各个景深的中间值不浅于预设景深阈值时，发出第二驱动信号。
  3. 如权利要求2所述的安全防护软垫推送系统，其特征在于，所述系统还包括：
    FLASH存储设备，与所述内容辨识机构连接，用于存储所述地面颜色成像特征；
    其中，所述地面颜色成像特征为地面红色通道分布范围、地面绿色通道分布范围和地面蓝色通道分布范围。
  4. 如权利要求3所述的安全防护软垫推送系统，其特征在于，所述系统还包括：
    用户输入接口，与所述FLASH存储设备连接，用于根据用户的操作，输入所述地面颜色成像特征以将所述地面颜色成像特征发送给所述FLASH存储设备。
  5. 如权利要求4所述的安全防护软垫推送系统，其特征在于：
    所述边缘锐化设备、所述数据增强设备、所述内容辨识机构和所述数值转换设备都被封装在所述吊灯的底部内。
  6. 如权利要求5所述的安全防护软垫推送系统，其特征在于，所述系统还包括：
    压力检测设备，设置在所述内容辨识机构的外壳上，用于测量所述内容辨识机构的外壳当前所承受的即时压力；
    压力分析设备，与所述压力检测设备连接，用于在接收到的即时压力超限时，发出压力报警指令；
    其中，所述压力分析设备还用于在接收到的即时压力未超限时，发出压力正常指令。
  7. 如权利要求6所述的安全防护软垫推送系统，其特征在于，所述系统还包括：
    报警执行设备，与所述压力分析设备连接，用于在接收到压力报警指令时，执行相应的报警操作。
  8. 如权利要求7所述的安全防护软垫推送系统，其特征在于：
    所述报警执行设备为蜂鸣器，用于在执行相应的报警操作时，发出预设频率的蜂鸣声。
  9. 如权利要求8所述的安全防护软垫推送系统，其特征在于：
    所述报警执行设备为语音播放芯片，用于在执行相应的报警操作时，播放相应的报警文件；
    其中，所述报警执行设备为显示设备，用于在执行相应的报警操作时， 显示相应的报警文字；
    其中，所述报警执行设备还用于在接收到所述压力正常指令时，停止执行相应的报警操作。
  10. 一种安全防护软垫推送终端，其特征在于，所述终端包括：存储器和处理器，所述处理器与所述存储器连接；
    所述存储器，用于存储所述处理器的可执行指令；
    所述处理器，用于调用所述存储器中的可执行指令，以实现使用如权利要求1-9任一所述的安全防护软垫推送系统以基于针对性的视觉检测机制对吊灯距离地面过近的场景进行识别以实现自适应的安全防护操作的方法。
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