Automatic control robot based on light ray detection

[0023] The implementation of the automated control robot based on light detection of the present invention will be described in detail below.

[0024] The window lattices are nothing more than several styles, either horizontal or vertical. The horizontal strips are the prototypes of the shutters. Strictly speaking, there is a little difference between the loft window and the shutter, that is, the loft window is parallel and the gap is transparent. The blinds and window lattices are made oblique, invisible in the horizontal direction, and can only be seen when viewed obliquely. The wooden window lattices made by people in ancient times were mainly used to achieve ventilation and air circulation. However, the modern shutters have undergone various improvements to integrate many functions and are suitable for various buildings.

[0025] However, the modern blinds were invented by Americans, named John Hampson, and obtained the patent for the invention on August 21, 1841.

[0026] Blinds are generally relatively wide, and are generally used for indoor and outdoor shading and ventilation. The shutter curtain wall that more and more people agree with also evolved from the shutter. The shutter curtain wall has many functions and advantages, and it is very beautiful. It is generally used in high-rise buildings.

[0027] Blinds have the following functions:

[0028] 1. Beautiful and energy-saving, simple and neat, the blinds can be completely retracted, the scenery outside the window is unobstructed, and the windows are simple and generous. The curtains occupy part of the window space, which affects the width of the visual window of the house and appears cumbersome.

[0029] 2. Protect privacy. Use the convex and concave direction of the blades to block the outside sight. While lighting, it also blocks the outside sight from top to bottom. At night, if the convex of the blade faces indoors, the shadow will not be reflected outside. It is clean, rest assured, and easy to clean. , You only need to wipe with a rag at ordinary times, and use a neutral lotion when cleaning, so you don’t have to worry about fading. The color-changing waterproof shutters can also be washed completely.

[0030] 3. Warm in winter and cool in summer. It uses materials with good heat insulation properties to effectively maintain the indoor temperature and achieves the purpose of saving energy. It is simple and free to adjust the angle to control the incident light, and adjust the blade angle to control the incident light. Adjust the blade to the most suitable position.

[0031] 4. Blocking ultraviolet rays, blinds can effectively block the penetration of ultraviolet rays and protect furniture from fading due to ultraviolet rays. Compared with curtains, blinds have flexible adjustable blades that have functions that curtains lack. In terms of shading, in addition to resisting ultraviolet radiation, blinds can also adjust indoor light; in terms of ventilation, the fixed installation and thick texture of blinds can comfortably enjoy the cool breeze without other worries; the floating of curtains The indoor life is hidden from time to time, and the laminated blinds ensure the privacy of the home; in addition, when the blinds are completely closed, it is like an extra window, which can play the role of sound insulation.

[0032] At present, the control scheme for windows including shutters is still biased to manual methods, that is, people go to control the opening mode of the windows according to their own somatosensory sense. For example, when people feel stuffy, they open windows for ventilation. The window is opened manually when the brightness of the indoor environment is far lower than the brightness of the outdoor environment, and the window is manually closed when people feel that the outdoor temperature is high. This manual control method is too inefficient and inaccurate.

[0033] At the same time, the existing window opening control scheme lacks an effective linkage mechanism with other electronic equipment, and cannot meet people's environmental requirements to the greatest extent. In addition, the existing window opening control scheme lacks some necessary parameter detection equipment, resulting in Some people's needs are difficult to meet through the control of the window.

[0034] There is currently no solution to the above problems. In order to overcome the above shortcomings, the present invention builds an automated control robot based on light detection, optimizes the existing window structure, adds necessary parameter detection equipment, and enriches and improves the existing The control mechanism of the window, thereby improving the precision and efficiency of the window control.

[0035] According to the embodiment of the present invention, the automated control robot based on light detection includes flash memory, PM2.5 concentration detection equipment, light detector and Freescale MC9S12 chip. Freescale MC9S12 chip and flash memory, PM2.5 concentration detection equipment respectively It is connected with the light detector to send different control signals based on the output of the PM2.5 concentration detection device and the output of the light detector.

[0036] Next, the specific structure of the automated control robot based on light detection of the present invention will be further described.

[0037] The robot includes: PM2.5 concentration detection equipment for detecting and outputting real-time PM2.5 concentration in the air.

[0038] The robot includes: a light detector, including a photodiode, a signal amplifier, and a signal measurement circuit. The photodiode has no reverse current when there is no light. When there is light, the carriers are excited and participate in conduction to form a reverse current. , The reverse current is proportional to the light intensity, the signal amplifier is connected with the photodiode to amplify the reverse current, and the signal measuring circuit is connected with the signal amplifier to receive the amplified reverse current and based on the amplified reverse current. Determine and output the corresponding real-time light intensity to the current.

[0039] The robot includes: Freescale MC9S12 chip, respectively connected with sweat drop detection equipment, PM2.5 concentration detection equipment, DC motor and light detector, for receiving real-time light intensity, sweat drop percentage and real-time PM2.5 concentration, When the real-time PM2.5 concentration is less than or equal to the preset PM2.5 concentration threshold, enter the window mode, and adjust the opening angle of the external window in the external window control signal according to the real-time PM2.5 concentration. The lower the real-time PM2.5 concentration, the external window The larger the opening angle is, when the real-time PM2.5 concentration is greater than the preset PM2.5 concentration threshold, the window close mode is entered, and the opening angle of the external window in the external window control signal is set to zero; Freescale MC9S12 chip is in the window mode Perform the following operations: When the real-time light intensity is greater than the light intensity threshold and the percentage of sweat drops is greater than the percentage threshold, send an upward tilt control signal including an upward tilt angle. The larger the percentage of sweat drops, the smaller the upward tilt angle; when the percentage of sweat drops is less than or equal to Percentage threshold and real-time light intensity is greater than the light intensity threshold, send a downward tilt control signal including the downward tilt angle, the larger the percentage of sweat drops, the smaller the downward tilt angle; when the real-time light intensity is less than or equal to the light intensity threshold and sweat drops When the percentage is less than or equal to the percentage threshold, a horizontal placement control signal is sent.

[0040] The robot includes: an integrated window structure, including a window, a window frame, a groove, a worm gear driven connecting rod, a DC motor, a motor driver, and a plurality of blades. The window is arranged outside the plurality of blades and connected to the DC motor , The groove is arranged around the window frame, and the groove is embedded with a sealing strip. The worm gear drive connecting rod is used to drive multiple blades to tilt synchronously according to the inclination angle. The DC motor is connected with the worm gear drive connecting rod to control the worm gear to drive the connecting rod. The motor driver is connected to the DC motor and is used to send an upward tilt control signal, a downward tilt control signal or a horizontal placement control signal to the DC motor. The upward tilt control signal includes an upward tilt angle, and the downward tilt control signal includes a downward tilt angle. When the motor receives the horizontal placement control signal, it controls the worm gear to drive the connecting rod to drive multiple blades to be placed horizontally. The window adjusts the window opening mode according to the window control signal sent to the DC motor. The window control signal includes window opening angle.

[0041] The robot includes: a spherical high-definition camera, including a flash controller, a lens, an environmental brightness sensor, a CMOS image sensor, an RS485 communication interface and a metal shell. The environmental brightness sensor is used to detect the real-time brightness of the surrounding environment, the flash controller and the environmental brightness sensor Connection, used to determine whether to turn on the flash when the CMOS image sensor is working based on the real-time brightness. The RS485 communication interface is used to transmit the high-definition images taken by the CMOS image sensor of the human body to external devices. The metal shell is used to control the various electronics in the spherical high-definition camera. The equipment dissipates heat, and the CMOS image sensor is used to collect and output high-definition images with a resolution of 3840×2160.

[0042] The robot includes: an image feature detection device connected to a spherical high-definition camera to receive high-definition images, and perform image feature detection on the high-definition image to obtain the shape of the object therein and output it as the object shape. The object shape includes edge corners and diagonals. Lines, horizontal thin lines, vertical thin lines, and sharply changing shapes.

[0043] The robot includes: a filter selection device connected to the image feature detection device, and is used to activate the square median filter device, turn off the cross-shaped median filter device and the diagonal cross-shaped median when the received object shape is an edge corner point Filter device and distance template median filter device, when the received object shape is diagonal, start the cross-shaped median filter device, turn off the diagonal cross-shaped median filter device, square median filter device and distance template median filter Device, when the received object shape is a horizontal thin line or a vertical thin line, the diagonal cross-shaped median filter device is activated, and the cross-shaped median filter device, square median filter device, and distance template median filter device are turned off. When the obtained object shape is a drastically changing shape, start the distance template median filter device, and turn off the cross-shaped median filter device, square median filter device, and diagonal cross-shaped median filter device.

[0044] The robot includes: a square median filter device, connected to the filter selection device, and used to perform median filtering on the high-definition image using a square filter window to obtain a denoised image. The specific operation of the median filter includes: refer to all filtering of the square filter window The pixel values ​​of the pixels are arranged in order of size to obtain a one-dimensional signal sequence, and the pixel value at the middle position in the one-dimensional signal sequence is taken as the pixel value of the filtered pixel.

[0045] The robot includes: a cross-shaped median filter device, connected to the filter selection device, and configured to use a cross-shaped filter window to perform median filtering on a high-definition image to obtain a denoised image. The specific operation of the median filter includes: The pixel values ​​of all filtered reference pixels are arranged in order of magnitude to obtain a one-dimensional signal sequence, and the pixel value at the middle position in the one-dimensional signal sequence is taken as the pixel value of the filtered pixel.

[0046] The robot includes: an oblique cross-shaped median filter device, connected to the filter selection device, and configured to use the oblique cross-shaped filter window to perform median filtering on the high-definition image to obtain a denoised image. The specific operation of the median filter includes: The pixel values ​​of all filter reference pixels of the font filter window are arranged in order of size to obtain a one-dimensional signal sequence, and the pixel value at the middle position in the one-dimensional signal sequence is taken as the pixel value of the filtered pixel.

[0047] The robot includes: a distance template median filter device, connected to the filter selection device, and configured to use the distance template filter window to perform median filtering on the high-definition image to obtain a denoised image. The specific operation of the median filter includes: the distance template filter window The pixel values ​​of all filtered reference pixels are arranged in order of magnitude to obtain a one-dimensional signal sequence, and the pixel value at the middle position in the one-dimensional signal sequence is taken as the pixel value of the filtered pixel; wherein the distance template filter window is determined as follows: The pixels in the high-definition image that are the same distance from the filtered pixel are used as the filtering reference pixels. All the filtered reference pixels form the distance template filter window. The selection value of the equivalent distance is 2, 4 or 6, and the equivalent distance is determined based on the SNR of the high-definition image. The size of the distance.

[0048] The robot includes: a face detection device for receiving a denoised image, matching a face area from the denoising image based on a preset reference face pattern, and segmenting the face area from the denoising image as a person Face image output.

[0049] The robot includes: a sweat drop detection device connected to the face detection device, and is used to receive a face image and set the gray value in the face image to fall within a preset sweat drop gray scale upper threshold and a preset sweat drop gray scale lower limit The pixels between the thresholds are determined as sweat drop pixels, and all sweat drop pixels in the face sub-image are formed into one or more sweat drop sub-images, based on the face sub-image size, the number of sweat drop sub-images and each sweat drop sub-image The size determines the percentage of the area occupied by sweat drops on the face and is output as the percentage of sweat drops.

[0050] The robot includes a flash memory, which is respectively connected to a face detection device and a sweat drop detection device, and is used to store a preset reference face pattern, a preset sweat drop gray scale upper threshold and a preset sweat drop gray scale lower threshold.

[0051] The determination of the equivalent distance based on the signal-to-noise ratio of the high-definition image includes: the larger the signal-to-noise ratio of the high-definition image, the smaller the determined equivalent distance, and the smaller the signal-to-noise ratio of the high-definition image, the larger the determined equivalent distance.

[0052] Optionally, in the control platform: the spherical high-definition camera is located directly above the integrated window structure; the spherical high-definition camera further includes a built-in storage unit for storing high-definition images; the voice playback device is set near the spherical high-definition camera; The voice playback device includes a voice playback chip and a storage chip. The voice playback chip is connected to the storage chip for playing the voice alarm file stored in the storage chip; and the voice playback device is a multi-channel speaker.

[0053] In addition, face recognition is mainly used for identity recognition. Due to the rapid spread of video surveillance, many video surveillance applications urgently need a fast identification technology in a long-distance, user-uncooperative state, in order to quickly confirm the identity of a person from a distance and realize intelligent early warning. Face recognition technology is undoubtedly the best choice. Using fast face detection technology can find faces from surveillance video images in real time and compare them with the face database in real time to achieve fast identity recognition.

[0054] Biometrics has been widely used in government, military, banking, social welfare, e-commerce, security and defense and other fields. For example, a depositor walks into a bank, and he does not bring a bank card, and he does not recall the password to withdraw money. When he withdraws money at the cash machine, a camera scans the user’s eyes and then quickly and accurately Locally completed the user identification and completed the business. This is a real scene that happened in a sales department of Union Bank of Texas, USA. What this business department uses is the "iris recognition system" in modern biometric technology. In addition, after the "9.11" incident in the United States, anti-terrorism activities have become the consensus of governments of all countries, and it is very important to strengthen airport security and defense. The facial recognition technology of the US Visag company has shown its magic in two airports in the United States. It can pick out a certain face in a crowded crowd to determine if he is a wanted criminal.

[0055] The frequent occurrence of burglary, robbery, wounding and other cases in the current society are constantly occurring. For this reason, security doors have begun to enter thousands of households and bring peace to families; however, with the development of society, technological advancement With the acceleration of the pace of life and the improvement of consumption levels, people’s expectations for home furnishings are also increasing, and the requirements for convenience are becoming more and more urgent. The anti-theft door based on traditional purely mechanical design is difficult to fast except for its sturdiness and durability. Meet these emerging needs: convenience, door opening record and other functions. Face recognition technology has been widely recognized, but its application threshold is still high: high technical threshold (long development cycle), high economic threshold (high price).

[0056] Face recognition products have been widely used in the fields of finance, justice, military, public security, border inspection, government, aerospace, electric power, factories, education, medical treatment and many enterprises and institutions. With the further maturity of technology and the improvement of social recognition, face recognition technology will be applied in more fields.

[0057] Using the automatic control robot based on light detection of the present invention, in view of the technical problem that the existing technology cannot meet the requirements of people for the refinement of environmental parameters, the internal structure of the existing window is modified, and some controlled components are added to facilitate the window Controlled, by enriching the existing parameter detection equipment, correspondingly, the existing window control mode is improved to improve the automation and versatility of the window control, and some linkage mechanisms are added to communicate with other electronic devices. The equipment is linked to improve the automatic control scheme of the window, which reduces the manual operation and improves the comfort of the enclosed space of the window.

[0058] It can be understood that although the present invention has been disclosed as above in preferred embodiments, the above-mentioned embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or modified into equivalent changes, etc. Efficacies. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solutions of the present invention still fall within the protection scope of the technical solutions of the present invention.