Camera-based door control method, device and system

Abstract

The invention discloses a camera-based door control method, a camera-based door control device and a camera-based door control system. The method comprises the following steps: acquiring video data through a camera; detecting the video data, and judging whether a robot appears or not; when the robot appears, transmitting a door opening command to a door to control the door to open. According to the camera-based door control method, the camera-based door control device and the camera-based door control system, the camera is introduced into an internal network of a control door system, and the robot and non-robot in the video data are effectively distinguished through an algorithm, so that the control device only transmits a door opening signal to the door when the robot appears, and the door cannot be opened when the non-robot appears in front of the door; the video data are not required to be transmitted, and only a door opening and closing command is required to be transmitted, so that the door opening and closing timeliness is ensured; when the method, the device and the system are applied to a charging room, a new camera is not required to be installed, original equipment is notdamaged, and the cost is reduced. Preferably, an optimal target detection model can also be acquired through SSD model training, the intention of the robot is detected by using the model, and the door is controlled more reasonably.

Description

technical field

[0001] The invention relates to the technical field of robot detection, in particular to a camera-based door control method, device and system. Background technique

[0002] At present, most power inspection robots detect whether the robot is in front of the door by installing a direct-fire or scattering sensor switch.

[0003] This method has advantages in terms of cost, but there are also some problems: unintentional passing of people or small animals may cause the sensor to detect the signal and open or close the door; it is difficult to detect the intention of the robot, whether it is entering or exiting, or Accidentally stopped at the door and waited.

[0004] In addition, there are also some existing technologies where a wifi module is installed on the robot, and the robot sends control commands through the wifi module to control the opening and closing of the door. This method will cause the problem of control failure when the wifi is not available. ...

Examples

specific Embodiment 1

[0050] Such as figure 1 As shown, the embodiment of the present invention provides a camera-based door control method, including:

[0051] Collecting step S101, collecting video data through a camera;

[0052] Detection step S102, detecting the video data, and judging whether there is a robot;

[0053] Door opening step S103, when a robot appears, send a door opening command to the door to control the door to open.

[0054] The embodiment of the present invention does not limit the type of the door, which may be a swing door, a spring door, a sliding door, a folding door, a revolving door, a rolling door, and an ecological door. Preferably, the door can be a rolling door.

[0055] In the embodiment of the present invention, after the door is opened, the door can be automatically controlled to close after a predetermined closing time, or the door can be controlled to close as long as no robot appears in front of the door within the predetermined observation time. Preferably...

specific Embodiment 2

[0060] Such as figure 2 As shown, the embodiment of the present invention provides a camera-based door control device, including:

[0061] Acquisition module 201, for collecting video data by camera;

[0062] The detection module 202 is used to detect the video data and judge whether there is a robot;

[0063] The door opening module 203 is configured to send a door opening command to the door when a robot appears, and control the door to open.

[0064] Preferably, the embodiment of the present invention may also include a door closing module 204, which is used to: send a door closing instruction to the door after a predetermined closing time after sending the door opening instruction to the door, and control the door to close; or, after sending the door opening instruction to the door, Detect the video data within the predetermined observation time, as long as no robot appears within the predetermined observation time, send a door closing command to the door to control the...

specific Embodiment 3

[0068] Such as image 3 As shown, the embodiment of the present invention provides a camera-based door control system, including:

[0069] The camera-based door control device 301 in the second embodiment;

[0070] Camera 302 is arranged on the top of the door, and the camera is used to collect video data;

[0071] The door 303 is used to open or close under the action of the control device.

[0072] Such as Figure 4 As shown, the door 303 may include a door body, a control unit, an execution unit, and a communication unit; the control unit receives the control instruction sent by the control device 301 through the communication unit, and issues an operation instruction corresponding to the control instruction to the execution unit, The execution unit controls the opening and closing of the door body according to the operation instruction.

[0073] The embodiment of the present invention does not limit the communication mode between the control device 301 and the door 303...

technical field

[0001] The invention relates to the technical field of robot detection, in particular to a camera-based door control method, device and system. Background technique

[0002] At present, most power inspection robots detect whether the robot is in front of the door by installing a direct-fire or scattering sensor switch.

[0003] This method has advantages in terms of cost, but there are also some problems: unintentional passing of people or small animals may cause the sensor to detect the signal and open or close the door; it is difficult to detect the intention of the robot, whether it is entering or exiting, or Accidentally stopped at the door and waited.

[0004] In addition, there are also some existing technologies where a wifi module is installed on the robot, and the robot sends control commands through the wifi module to control the opening and closing of the door. This method will cause the problem of control failure when the wifi is not available. ...

Examples

specific Embodiment 1

[0050] Such as figure 1 As shown, the embodiment of the present invention provides a camera-based door control method, including:

[0051] Collecting step S101, collecting video data through a camera;

[0052] Detection step S102, detecting the video data, and judging whether there is a robot;

[0053] Door opening step S103, when a robot appears, send a door opening command to the door to control the door to open.

[0054] The embodiment of the present invention does not limit the type of the door, which may be a swing door, a spring door, a sliding door, a folding door, a revolving door, a rolling door, and an ecological door. Preferably, the door can be a rolling door.

[0055] In the embodiment of the present invention, after the door is opened, the door can be automatically controlled to close after a predetermined closing time, or the door can be controlled to close as long as no robot appears in front of the door within the predetermined observation time. Preferably...

specific Embodiment 2

[0060] Such as figure 2 As shown, the embodiment of the present invention provides a camera-based door control device, including:

[0061] Acquisition module 201, for collecting video data by camera;

[0062] The detection module 202 is used to detect the video data and judge whether there is a robot;

[0063] The door opening module 203 is configured to send a door opening command to the door when a robot appears, and control the door to open.

[0064] Preferably, the embodiment of the present invention may also include a door closing module 204, which is used to: send a door closing instruction to the door after a predetermined closing time after sending the door opening instruction to the door, and control the door to close; or, after sending the door opening instruction to the door, Detect the video data within the predetermined observation time, as long as no robot appears within the predetermined observation time, send a door closing command to the door to control the...

specific Embodiment 3

[0068] Such as image 3 As shown, the embodiment of the present invention provides a camera-based door control system, including:

[0069] The camera-based door control device 301 in the second embodiment;

[0070] Camera 302 is arranged on the top of the door, and the camera is used to collect video data;

[0071] The door 303 is used to open or close under the action of the control device.

[0072] Such as Figure 4 As shown, the door 303 may include a door body, a control unit, an execution unit, and a communication unit; the control unit receives the control instruction sent by the control device 301 through the communication unit, and issues an operation instruction corresponding to the control instruction to the execution unit, The execution unit controls the opening and closing of the door body according to the operation instruction.

[0073] The embodiment of the present invention does not limit the communication mode between the control device 301 and the door 303...

Images