Light supplement lamp control method and device, electronic equipment and computer readable storage medium

Abstract

The invention relates to a light supplement lamp control method and device, electronic equipment and a computer readable storage medium. The light supplement lamp control method is applied to the self-moving device, the self-moving device is provided with a light supplement lamp and an image acquisition module, the self-moving device is configured to run and / or work in a working area, and the image acquisition module is configured to shoot an image of the working area. The light supplement lamp control method comprises the following steps: acquiring a first scene image, and dividing the first scene image into a plurality of candidate area units; determining the environment brightness state of the first scene image based on the brightness information of the plurality of candidate area units; and correspondingly controlling the on or off of the light supplement lamp according to the ambient brightness state of the first scene image. According to the scheme of the invention, more accurate environment brightness state information can be obtained, so that the error of environment brightness state information identification is reduced.

Description

Technical Field

[0001] The present application relates to the field of fill light technology, and in particular to a fill light control method, device, electronic device and computer-readable storage medium. Background Art

[0002] At present, with the development of digital image technology and automation technology, self-mobile devices are often equipped with image acquisition modules. The image acquisition module can obtain information about the working environment in real time, store and analyze this information, and thus control the movement and work of the self-mobile device. This self-mobile device equipped with an image acquisition module can not only obtain information about the working environment in real time, but also save a large number of various sensors that were previously configured to obtain information about the working environment. Therefore, its application fields are becoming more and more extensive, such as automatic house cleaning, lawn mowing and other fields. Summary of the invention

[0003] In view of this, the embodiments of the present application are committed to providing a fill light control method, device, electronic device and computer-readable storage medium, which are used to solve the technical problem in the prior art that when a self-mobile device with an image acquisition module operates in a dimly lit environment, the fill light cannot be turned on when fill light is needed, and the fill light is turned on when fill light is not needed.

[0004] In a first aspect, the present invention provides a fill light control method, which is applied to a self-moving device, wherein the self-moving device is provided with a fill light and an image acquisition module, the self-moving device is configured to travel and / or work in a working area, the image acquisition module is configured to capture an image of the working area, and the fill light control method comprises the following steps:

[0005] Acquire a first scene image, and divide the first scene image into a plurality of candidate area units;

[0006] Determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units;

[0007] The fill light is controlled to be turned on or off according to the ambient brightness state of the first scene image.

[0008] In one embodiment, dividing the first scene image into a plurality of candidate area units includes:

[0009] The illumination boundary of the fill light is determined according to the illumination range of the fill light, and the first scene image is divided based on the illumination boundary to obtain a plurality of candidate area units.

[0010] In one of the embodiments, the illumination range of the fill light is adjustable.

[0011] In one embodiment, the determining the environment brightness state of the first scene image based on the brightness information of the plurality of candidate area units comprises:

[0012] Filtering out a target area from the plurality of candidate area units according to the on / off status of the fill light;

[0013] Based on the brightness information of the target area, the ambient brightness state of the first scene image is determined.

[0014] In one embodiment, the step of selecting a target area from a plurality of candidate area units according to the on / off state of the fill light includes:

[0015] When the fill light is turned on, the set of candidate area units not covered by the illumination range of the fill light is taken as the target area.

[0016] In one of the embodiments, the step of selecting a target area from a plurality of candidate area units according to the on / off status of the fill light further includes:

[0017] When the fill light is in an off state, a set of all the candidate area units is taken as a target area.

[0018] In one of the embodiments, the target area includes at least one target area unit, and each of the target area units corresponds to one candidate area unit;

[0019] Determining the ambient brightness state of the first scene image based on the brightness information of the target area includes:

[0020] Determine the average brightness value of each target area unit;

[0021] Determining a unit state of each of the target area units based on the average brightness value; the unit state includes a first state corresponding to a need for fill light and a second state corresponding to a need for fill light;

[0022] Based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units, the ambient brightness state of the first scene image is determined.

[0023] In one embodiment, determining the ambient brightness state of the first scene image based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units includes:

[0024] Determine the proportion of the number of first target area units in the number of target area units as a first proportion; wherein the first target area unit is a target area unit corresponding to the first state;

[0025] When the first proportion is greater than a first proportion threshold, it is determined that the environment brightness state of the first scene image is a state requiring fill light.

[0026] In one embodiment, the determining the ambient brightness state of the first scene image based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units further includes:

[0027] Determine the proportion of the number of the second target area units in the number of the target area units as a second proportion; wherein the second target area units are target area units corresponding to the second state;

[0028] When the second proportion is greater than a second proportion threshold, it is determined that the environment brightness state of the first scene image is a state where fill light is not required.

[0029] In one embodiment, the ambient brightness state of the first scene image includes: a fill light required state and a fill light not required state; and controlling the fill light to be turned on or off according to the ambient brightness state of the first scene image includes:

[0030] When the ambient brightness state of the first scene image is a state where fill light is not required, controlling the fill light to be in a closed state;

[0031] In one embodiment, the ambient brightness state of the first scene image includes: a fill light required state and a fill light not required state; and the control of turning on or off the fill light corresponding to the ambient brightness state of the first scene image further includes:

[0032] When the environment brightness state of the first scene image is a state requiring fill light, the fill light is controlled to be in an on state.

[0033] In one embodiment, after determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units, the method further comprises:

[0034] Determining the duration of the ambient brightness state of the first scene image;

[0035] When the duration is longer than the time threshold, the fill light is controlled to be turned on or off accordingly.

[0036] In a second aspect, a fill light control method is provided, which is applied to a self-moving device, wherein the self-moving device is provided with a fill light and an image acquisition module, the self-moving device is configured to travel and / or work in a working area, and the image acquisition module is configured to capture an image of the working area, and the fill light control method comprises the following steps:

[0037] Acquire a second scene image;

[0038] Determine the illumination boundary of the fill light according to the illumination range of the fill light, and divide the second scene image based on the illumination boundary to obtain a first area and a second area; wherein the first area corresponds to an area not covered by the illumination range of the fill light in the second scene image;

[0039] determining a regional brightness state of the first area based on brightness information of the first area;

[0040] Based on the regional brightness state of the first area, the fill light is controlled to be turned on or off accordingly.

[0041] In a third aspect, a fill light control method is provided, which is applied to a device having a brightness sensor, wherein the brightness sensor is arranged in a non-fill light area that cannot be covered by the illumination range of the fill light, and the fill light control method comprises the following steps:

[0042] Obtaining the brightness value of the non-fill light area;

[0043] Determine the ambient brightness state of the target scene based on the brightness value of the non-fill light area;

[0044] The fill light is controlled to be turned on or off according to the environmental state.

[0045] In one of the embodiments, the duration of the environment brightness state is timed, and when the duration is greater than a preset time threshold, the fill light is turned on and off accordingly based on the environment brightness state.

[0046] In a fourth aspect, a fill light control device is provided, comprising:

[0047] An image acquisition device, used to acquire an image of the working area;

[0048] A fill light, arranged opposite to the image acquisition device;

[0049] The controller is connected to the image acquisition device and the fill light, and is used to control the fill light to be turned on or off according to the ambient brightness state corresponding to the image.

[0050] In a fifth aspect, a fill light control device is provided, comprising:

[0051] Fill light;

[0052] A brightness sensor is arranged in a non-fill light area that cannot be covered by the irradiation range of the fill light;

[0053] A controller is connected to both the fill light and the brightness sensor, and is used to control the fill light to be turned on or off according to the environmental state determined based on the brightness value of the non-fill light area.

[0054] In a sixth aspect, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus;

[0055] The processor, the communication interface and the memory communicate with each other via the communication bus;

[0056] The memory is used to store computer programs;

[0057] The processor is used to implement the steps of the aforementioned fill light control method when executing the program stored in the memory.

[0058] In a seventh aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the aforementioned fill light control method are implemented.

[0059] In one embodiment, by dividing the first scene image into a plurality of candidate area units of equal size, the ambient brightness state of the first scene image can be determined based on the brightness of the candidate area units. Compared with the scheme in the prior art that does not perform unit division, more accurate ambient brightness state information can be obtained, thereby reducing the error in identifying the ambient brightness state information.

[0060] Furthermore, by dividing the first scene image based on the illumination boundary, a plurality of candidate area units are obtained. That is, the first scene image is divided into an inner boundary area and an outer boundary area based on the illumination boundary, and then the inner boundary area is divided into a plurality of candidate area units, and the outer boundary area is divided into a plurality of candidate area units. Thus, more accurate ambient brightness state information can be obtained, thereby further reducing the error in identifying the ambient brightness state information.

[0061] Furthermore, by introducing the concepts of proportion and / or duration, calculation errors caused by accidental errors can be avoided, interference items in image brightness detection can be further reduced, errors in image brightness recognition results can be reduced, and the intelligence of the fill light on and off can be improved.

[0062] In one embodiment, since the brightness sensor is set in the non-fill light area, the ambient brightness state can be directly determined based on the value collected by the brightness sensor. Compared with the prior art in which the brightness sensor is set in a specific position (possibly in the fill light area) without division, the accuracy of the ambient brightness state determination can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram showing a flow chart of a fill light control method according to an embodiment of the present invention;

[0064] Figure 2 A schematic diagram showing a plurality of candidate area units selected in the step of determining the ambient brightness state of a first scene image based on brightness information of a plurality of candidate area units according to an embodiment of the present invention;

[0065] Figure 3 A schematic diagram showing a plurality of candidate area units selected in the step of determining the ambient brightness state of the first scene image based on brightness information of the plurality of candidate area units according to another embodiment of the present invention;

[0066] Figure 4 A schematic flow chart showing the steps of determining the ambient brightness state of a first scene image based on brightness information of a target area according to an embodiment of the present invention;

[0067] Figure 5 A schematic flow chart of a fill light control method according to an embodiment of the present invention is shown;

[0068] Figure 6 A schematic flow chart of a fill light control method according to another embodiment of the present invention is shown;

[0069] Figure 7 A schematic structural diagram of a fill light control device according to an embodiment of the present invention is shown;

[0070] Figure 8 A schematic structural diagram of a fill light control device according to another embodiment of the present invention is shown;

[0071] Fig. 9 A schematic structural diagram of an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0072] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0073] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0074] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] Traditional self-moving devices can obtain images of the working area in the forward direction through the image acquisition module, and can perform corresponding driving and / or work tasks by identifying the scenes in the working area. For example, when the self-moving device is a garden mowing device such as an automatic lawn mower or an automatic lawn mower, the self-moving device can perform mowing tasks. When the self-moving device is a cleaning robot such as an automatic sweeper or an automatic mopping machine, the self-moving device can perform indoor cleaning tasks. When the self-moving device is an automatic leaf sweeper or an automatic snow sweeper, the self-moving device can perform outdoor cleaning tasks.

[0076] However, when the self-moving device works in a dark environment such as at night, additional light is often needed, so the self-moving device is equipped with a fill light. However, due to interference factors in the working environment (such as shadows in the working environment, distant lighting, etc.), it is easy to make errors in the recognition of the environmental status, which leads to the problem that the fill light is not turned on when fill light is needed, and is turned on when fill light is not needed.

[0077] Based on the above problems, the present application provides a variety of embodiments, which are described in detail below using specific embodiments as examples.

[0078] In some embodiments, the fill light control method is applied to the aforementioned self-moving device. Figure 1 As shown, the above fill light control method includes:

[0079] Step S100: acquiring a first scene image, and dividing the first scene image into a plurality of candidate area units.

[0080] Step S200, determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units.

[0081] Step S300, controlling the fill light to be turned on or off according to the ambient brightness state of the first scene image.

[0082] In step S100, the first scene image is an image of the working area acquired by the image acquisition module. The sizes of the multiple candidate area units may be the same or different, and the present application does not limit this.

[0083] Figure 2 FIG. 2 is a schematic diagram showing a plurality of candidate area units 2 selected in the step of determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units 2 according to an embodiment of the present invention. Figure 2 As shown, the first scene image 1 has candidate area units 2 of equal size, and the illumination boundary 3 of the fill light is determined according to the illumination range of the fill light. It should be understood that the illumination range of the fill light is the inherent illumination range of the fill light device, which corresponds to the illumination area that the fill light can cover when the fill light is turned on. When the fill light parameters of the fill light device are not adjusted, no matter whether the fill light is in the on state or in the off state, the inherent illumination range of the fill light is the same.

[0084] In one embodiment, the illumination range of the fill light can be changed based on the adjustment of fill light parameters, wherein the fill light parameters may include but are not limited to: the number of fill lights, the power of the fill lights, the installation angle of the fill lights, etc.

[0085] In this embodiment, if Figure 2 As shown, the candidate area unit 2 is divided into two types, one is a candidate area unit filled with a section line, and the other is a candidate area unit without filling.

[0086] In some embodiments, Figure 2 As shown, the sizes of all candidate area units 2 are the same. On this basis, the candidate area units used to determine the ambient brightness state in step S200 are the set of all candidate area units or the set of other candidate area units except the candidate area units filled with cutting lines.

[0087] In this embodiment, determining the ambient brightness state of the first scene image based on the brightness information of multiple candidate area units may include: selecting a target area from multiple candidate area units according to the on / off state of the fill light; and determining the ambient brightness state of the first scene image based on the brightness information of the target area. When the fill light is off, the set of all candidate area units is taken as the target area. When the fill light is on, the set of candidate area units that are not covered or partially covered by the fill light's illumination range is taken as the target area. That is, when the fill light is on, Figure 2The set of other candidate area units except the candidate area units filled with the cutting line is used as the set of candidate area units for determining the ambient brightness state.

[0088] According to the solution of the embodiment of the present invention, by dividing the first scene image into a plurality of candidate area units of equal size, the ambient brightness state of the first scene image 1 can be determined based on the brightness of the candidate area units. Compared with the solution without unit division in the prior art, more accurate ambient brightness state information can be obtained, thereby reducing the error in identifying the ambient brightness state information. However, the inventor of the present application has found that there are still some areas that can be improved in the above method of determining the target area.

[0089] See also Figure 2 , most of the candidate area units marked with letters aj in the figure are within the illumination boundary 3, that is, most of the areas will be affected by the light source of the fill light, thereby affecting the brightness judgment of the corresponding candidate area units. Therefore, when selecting or determining the target area, the inventors think of discarding some of the candidate area units that are partially covered by the illumination range of the fill light.

[0090] For example, the candidate area unit that can be discarded meets the following condition: the area covered by the fill light irradiation range accounts for 50% or more of the entire area of ​​the candidate area unit. Figure 2 In the embodiment, the candidate area unit marked with letters aj (the area covered by the fill light accounts for 50% or more of the entire area of ​​the candidate area unit) can be discarded, that is, the candidate area unit marked with letters aj is not considered as part of the target area. In this way, more accurate ambient brightness status information can be obtained compared with the previous embodiment, thereby further reducing the error in identifying the ambient brightness status information.

[0091] In another embodiment, the first scene image 1 may be a regular image, such as a circle, an ellipse, a rectangle, etc., or may be an irregular area image, which is not limited in the present application.

[0092] Exemplarily, when the first scene image 1 is a rectangle, Figure 3 As shown, some of the candidate area units 2 in the first scene image 1 are the same size, and some are different sizes. The illumination boundary 3 of the fill light is determined according to the illumination range of the fill light. It should be understood that the illumination range of the above-mentioned fill light is the illumination range inherent in the fill light device, which corresponds to the illumination area that the fill light can cover when the fill light is turned on. When the fill light parameters of the fill light device are not adjusted, whether the fill light is in the on state or in the off state, the inherent illumination range of the fill light is the same.

[0093] In one embodiment, the illumination range of the fill light can be changed based on the adjustment of fill light parameters, wherein the fill light parameters may include but are not limited to: the number of fill lights, the power of the fill lights, the installation angle of the fill lights, etc.

[0094] In some embodiments, dividing the first scene image 1 based on the illumination boundary 3 to obtain a plurality of candidate area units may include: dividing the first scene image 1 into an inner boundary area and an outer boundary area based on the illumination boundary 3, then dividing the inner boundary area into a plurality of candidate area units, and dividing the outer boundary area into a plurality of candidate area units. Figure 3 As shown, multiple candidate area units in the inner region of the boundary are filled with cutting lines, and multiple candidate area units in the outer region of the boundary are not filled. The multiple candidate area units divided are partially the same size and partially different in size. Of course, in other embodiments, all sizes may be different or the same, and can be set as needed, which is not limited in this application.

[0095] In this embodiment, if Figure 3 As shown, the candidate area units used to determine the ambient brightness state are the set of all candidate area units or the set of all candidate area units in the outer boundary area.

[0096] In this embodiment, determining the ambient brightness state of the first scene image based on the brightness information of multiple candidate area units may include: selecting a target area from multiple candidate area units according to the on / off state of the fill light; and determining the ambient brightness state of the first scene image based on the brightness information of the target area. When the fill light is off, the set of all candidate area units is used as the target area. When the fill light is on, the set of all candidate area units in the outer boundary area is used as the target area. That is, when the fill light is on, Figure 3 The set of all candidate area units except the candidate area units filled with the cutting line is used as the set of candidate area units for determining the ambient brightness state.

[0097] Figure 3 The solution of the embodiment shown is compared with Figure 2 The illustrated embodiment and its extended embodiments can obtain more accurate ambient brightness status information, thereby further reducing the error in identifying the ambient brightness status information.

[0098] In the above embodiments, the target area includes at least one target area unit, and each target area unit corresponds to a candidate area unit. All the above embodiments are applicable to the specific embodiments of the following step S300. Figure 4 FIG. 2 is a schematic flow chart showing the steps of determining the ambient brightness state of a first scene image based on the brightness information of a target area according to an embodiment of the present invention. Figure 4As shown, step S300 includes:

[0099] Step S310, determining the average brightness value of each target area unit.

[0100] Step S320, determining the unit state of each target area unit based on the average brightness value; the unit state includes a first state corresponding to the need for fill light and a second state corresponding to the need for fill light.

[0101] Step S330, determining the ambient brightness state of the first scene image based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of target area units.

[0102] In step S310, grayscale value calculation or HLS (hue, saturation, and lightness) calculation can be performed (take the HLS channel map of each target area and take the average value of the L channel as the brightness value of each target area) to obtain the average brightness value of each target area unit.

[0103] In step S320, after calculating and obtaining the average brightness value of each target area unit, the unit state of each target area unit can be determined. The first state is considered to be a night state, and fill light is required. The second state is considered to be a daytime state, and fill light is not required.

[0104] The step S330 may include the following steps: determining the proportion of the number of the first target area units in the number of target area units as a first proportion; wherein the first target area unit is the target area unit corresponding to the first state; when the first proportion is greater than a first proportion threshold, determining that the ambient brightness state of the first scene image is a fill light state. The first proportion threshold may be, for example, 0.7, 0.8 or 0.9, or any value between 0.7 and 0.9.

[0105] The step S330 may further include the following steps: determining the proportion of the number of the second target area units in the number of target area units as a second proportion; wherein the second target area units are target area units corresponding to the second state; when the second proportion is greater than a second proportion threshold, determining that the ambient brightness state of the first scene image is a state where fill light is not required. The second proportion threshold may be, for example, 0.4, 0.5 or 0.6, or any value between 0.4 and 0.6.

[0106] In another embodiment, after step S300, the following steps are further included: when the ambient brightness state of the first scene image is a state where fill light is not needed, the fill light is controlled to be in an off state; when the ambient brightness state of the first scene image is a state where fill light is needed, the fill light is controlled to be in an on state. It is understandable that when the fill light is in an on state, if the ambient brightness of the first scene image is a state where fill light is not needed, the fill light is controlled to be off.

[0107] In another embodiment, the step S200 is followed by the following steps: determining the duration of the ambient brightness state of the first scene image; when the duration is greater than the time threshold, correspondingly controlling the fill light to turn on or off. The duration of the ambient brightness state refers to maintaining stability without change in a certain state. The time threshold may be, for example, 5s, 6s, 10s, etc. The time threshold is not limited and may be set as needed. The timing start time may be when the second proportion is greater than the second proportion threshold and the fill light state is on, or when the first proportion is greater than the first proportion threshold and the fill light state is off. After the timing starts, the duration is calculated, and when the duration is greater than the time threshold, the fill light is controlled to be on or off.

[0108] For example, when the second proportion is greater than the second proportion threshold and the fill light state is on, and the duration is greater than the time threshold and does not change, it is considered that the environment does not need fill light at this time, and the fill light is turned off. When the duration is less than or equal to the duration threshold, the duration is cleared.

[0109] For another example, when the first proportion is greater than the first proportion threshold and the fill light state is off, and the duration is greater than the time threshold and does not change, it is considered that the environment needs fill light at this time, and the fill light is turned on. When the duration is less than or equal to the duration threshold, the duration is cleared.

[0110] According to the solution of the embodiment of the present invention, by introducing the concepts of proportion and / or duration, calculation errors caused by accidental errors can be avoided, interference items in image brightness detection can be further reduced, errors in image brightness recognition results can be reduced, and the intelligence of the fill light on and off can be improved.

[0111] In some embodiments, the fill light control method is applied to a self-mobile device having an image acquisition module. Figure 5 As shown, the fill light control method includes:

[0112] Step S201, acquiring a second scene image.

[0113] Step S202, determining the illumination boundary of the fill light according to the illumination range of the fill light, and dividing the second scene image based on the illumination boundary to obtain a first area and a second area; wherein the first area corresponds to an area not covered by the illumination range of the fill light in the second scene image.

[0114] Step S203: determining a regional brightness state of the first region based on the brightness information of the first region.

[0115] Step S204: Based on the regional brightness state of the first region, the fill light is controlled to be turned on or off accordingly.

[0116] It should be understood that the illumination range of the above-mentioned fill light is the inherent illumination range of the fill light device, which corresponds to the illumination area that the fill light can cover when the fill light is turned on. When the fill light parameters of the fill light device are not adjusted, no matter whether the fill light is in the on state or in the off state, the inherent illumination range of the fill light is the same.

[0117] In one embodiment, the illumination range of the fill light can be changed based on the adjustment of fill light parameters, wherein the fill light parameters may include but are not limited to: the number of fill lights, the power of the fill lights, the installation angle of the fill lights, etc.

[0118] In this embodiment, the calculation of the regional brightness state in step S203 can be based on grayscale value calculation, or HLS calculation (take the HLS channel map of each target area, and take the average value of the L channel as the brightness value of each target area). In step S204, the corresponding control of the on and off of the fill light based on the brightness state is the same as in the above embodiment, that is, when the regional brightness state of the first area is that fill light is not needed, the fill light is turned off, and when the regional brightness state of the first area is that fill light is needed, the fill light is turned on, which will not be repeated here.

[0119] In the above embodiment, the first area actually used for determining the regional brightness state is first determined based on the on / off state of the fill light, so that the area disturbed by the fill light can be removed, and the on / off of the fill light can be accurately controlled based on the actual environmental state of the second scene (regional brightness state of the first area), thereby improving the accuracy of the control of the fill light.

[0120] Further, it can be understood that in the present embodiment, the first area can also be divided into a plurality of target area units, and the unit state of each target area unit can be determined based on the average brightness of each target area unit. Among them, the unit state includes a first state corresponding to the need for fill light and a second state corresponding to the need for no fill light. Then, based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of target area units, the regional brightness state of the first area is determined. Specifically, in the present embodiment, the understanding of determining the unit state of each target area unit based on the average brightness of each target area unit, and determining the regional brightness state of the first area based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of target area units can refer to the above embodiments.

[0121] Furthermore, in this embodiment, a technical solution such as the duration in the above embodiment can be introduced to reduce interference items in image brightness detection, reduce the error of image brightness recognition results, and improve the intelligence of the filling light on and off.

[0122] In some embodiments, the fill light control method is applied to a device with a brightness sensor, and at least one brightness sensor is provided in a non-fill light area that cannot be covered by the fill light illumination range. The understanding of the illumination range in this embodiment refers to the above embodiment. Figure 6 As shown, the fill light control method includes:

[0123] Step S301, obtaining the brightness value of the non-fill light area;

[0124] Step S302, determining the ambient brightness state of the target scene based on the brightness value of the non-fill light area;

[0125] Step S303, controlling the fill light to be turned on or off according to the environmental status.

[0126] In one embodiment, the duration of the ambient brightness state is timed, and when the duration is greater than a preset time threshold, the fill light is turned on and off based on the ambient brightness state. The principle is the same as the above embodiments, and will not be repeated here.

[0127] In the solution of the embodiment of the present invention, since the brightness sensor is set in the non-fill light area, the ambient brightness state can be directly judged based on the value collected by the brightness sensor. Compared with the prior art that sets the brightness sensor in a specific position (possibly in the fill light area) without division, the accuracy of judging the ambient brightness state can be significantly improved.

[0128] In one of the embodiments, a brightness sensor is provided in a non-fill light area that is not covered by the illumination range of the fill light, and the ambient brightness state can be directly determined based on the value collected by the brightness sensor.

[0129] In another embodiment, a plurality of brightness sensors are arranged in a non-fill light area that cannot be covered by the illumination range of the fill light, and the brightness state corresponding to each brightness sensor can be determined as a fill light requiring state or a fill light not requiring state according to the brightness value of each brightness sensor.

[0130] Furthermore, in this embodiment, a technical solution such as the proportion and / or duration in the above embodiment can be introduced to avoid calculation errors caused by environmental interference, further reduce interference items in image brightness detection, reduce errors in image brightness recognition results, and improve the intelligence of the fill light on and off.

[0131] The embodiment of the present invention provides a fill light control device, such as Figure 7 As shown, the fill light control device includes an image acquisition device 4, a fill light 5 and a controller 6. The image acquisition device 4 is used to acquire an image of the working area. The fill light 5 is arranged opposite to the image acquisition device 4. The controller 6 is connected to both the image acquisition device 4 and the fill light 5, and is used to control the filling light 5 to be turned on or off according to the ambient brightness state corresponding to the image of the working area. The controller 6 is used to execute a control program according to the fill light control method of the above-mentioned multiple embodiments applied to a self-mobile device with an image acquisition module.

[0132] The embodiment of the present invention provides a fill light control device, such as Figure 8 As shown, the fill light control device includes a fill light 5, a brightness sensor 7 and a controller 6. The brightness sensor 7 is arranged in a non-fill light area that cannot be covered by the irradiation range of the fill light 5. The controller 6 is connected to both the fill light 5 and the brightness sensor 7, and is used to control the on or off of the fill light 5 according to the environmental state determined based on the brightness value of the non-fill light area. The controller 6 is used to execute a control program according to the fill light control method of the above-mentioned multiple embodiments applied to a self-mobile device with a brightness sensor.

[0133] The present application embodiment provides an electronic device, such as Fig. 9 As shown, the electronic device includes a processor 10, a communication interface, a memory 8 and a communication bus 9. The processor 10, the communication interface and the memory 8 communicate with each other via the communication bus 9.

[0134] The memory is used to store computer programs. The processor is used to implement the steps of the aforementioned fill light control method when executing the program stored in the memory.

[0135] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0136] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the movement trajectory adjustment method in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor, namely, the movement trajectory adjustment method, by running the non-transitory software programs, instructions and modules stored in the memory.

[0137] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0139] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the steps of the fill light control method of the above method embodiment.

[0140] Optionally, the present application also provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the steps of the fill light control method of the above method embodiment.

[0141] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A fill light control method, applied to a self-moving device, wherein the self-moving device is provided with a fill light and an image acquisition module, the self-moving device is configured to travel and / or work in a working area, and the image acquisition module is configured to capture an image of the working area. It is characterized in that The fill light control method comprises the following steps: Acquire a first scene image, and divide the first scene image into a plurality of candidate area units; Determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units; The fill light is controlled to be turned on or off according to the ambient brightness state of the first scene image.

2. The fill light control method according to claim 1, It is characterized in that The step of dividing the first scene image into a plurality of candidate area units comprises: The illumination boundary of the fill light is determined according to the illumination range of the fill light, and the first scene image is divided based on the illumination boundary to obtain a plurality of candidate area units.

3. The fill light control method according to claim 2, It is characterized in that The irradiation range of the fill light is adjustable.

4. The fill light control method according to claim 1, It is characterized in that The step of determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units comprises: Filtering out a target area from the plurality of candidate area units according to the on / off status of the fill light; Based on the brightness information of the target area, the ambient brightness state of the first scene image is determined.

5. The fill light control method according to claim 4, It is characterized in that The step of selecting a target area from a plurality of candidate area units according to the on / off state of the fill light comprises: When the fill light is turned on, the set of candidate area units not covered by the illumination range of the fill light is taken as the target area.

6. The fill light control method according to claim 4, It is characterized in that The method of selecting a target area from a plurality of candidate area units according to the on / off status of the fill light further includes: When the fill light is in an off state, a set of all the candidate area units is taken as a target area.

7. The fill light control method according to claim 5 or 6, It is characterized in that The target area includes at least one target area unit, and each of the target area units corresponds to one candidate area unit; Determining the ambient brightness state of the first scene image based on the brightness information of the target area includes: Determine the average brightness value of each target area unit; Determining a unit state of each of the target area units based on the average brightness value; the unit state includes a first state corresponding to a need for fill light and a second state corresponding to a need for fill light; Based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units, the ambient brightness state of the first scene image is determined.

8. The fill light control method according to claim 7, It is characterized in that The step of determining the ambient brightness state of the first scene image based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units comprises: Determine the proportion of the number of first target area units in the number of target area units as a first proportion; wherein the first target area unit is a target area unit corresponding to the first state; When the first proportion is greater than a first proportion threshold, it is determined that the environment brightness state of the first scene image is a state requiring fill light.

9. The fill light control method according to claim 7, It is characterized in that The determining of the ambient brightness state of the first scene image based on the number of target area units corresponding to the first state, the number of target area units corresponding to the second state, and the quantitative relationship between the numbers of the target area units further includes: Determine the proportion of the number of the second target area units in the number of the target area units as a second proportion; wherein the second target area units are target area units corresponding to the second state; When the second proportion is greater than a second proportion threshold, it is determined that the environment brightness state of the first scene image is a state where fill light is not required.

10. The fill light control method according to claim 1, It is characterized in that The ambient brightness state of the first scene image includes: a fill light required state and a fill light not required state; and controlling the fill light to be turned on or off according to the ambient brightness state of the first scene image includes: When the environment brightness state of the first scene image is a state where fill light is not required, the fill light is controlled to be in a closed state.

11. The fill light control method according to claim 1, It is characterized in that The ambient brightness state of the first scene image includes: a fill light required state and a fill light not required state; and the control of turning on or off the fill light corresponding to the ambient brightness state of the first scene image also includes: When the environment brightness state of the first scene image is a state requiring fill light, the fill light is controlled to be in an on state.

12. The fill light control method according to claim 1, It is characterized in that After determining the ambient brightness state of the first scene image based on the brightness information of the plurality of candidate area units, the fill light control method further comprises: Determining the duration of the ambient brightness state of the first scene image; When the duration is longer than the time threshold, the fill light is controlled to be turned on or off accordingly.

13. Fill light control method, It is characterized in that Applied to a self-moving device, the self-moving device is provided with a fill light and an image acquisition module, the self-moving device is configured to travel and / or work in a working area, the image acquisition module is configured to capture an image of the working area, and the fill light control method comprises the following steps: Acquire a second scene image; Determine the illumination boundary of the fill light according to the illumination range of the fill light, and divide the second scene image based on the illumination boundary to obtain a first area and a second area; wherein the first area corresponds to an area not covered by the illumination range of the fill light in the second scene image; determining a regional brightness state of the first area based on brightness information of the first area; Based on the regional brightness state of the first area, the fill light is controlled to be turned on or off accordingly.

14. Fill light control method, It is characterized in that Applied to a device having a brightness sensor, the brightness sensor is arranged in a non-fill light area that cannot be covered by the irradiation range of the fill light, and the fill light control method comprises the following steps: Obtaining the brightness value of the non-fill light area; Determine the ambient brightness state of the target scene based on the brightness value of the non-fill light area; The fill light is controlled to be turned on or off according to the environmental state.

15. The fill light control method according to claim 14, It is characterized in that The maintenance duration of the ambient brightness state is timed, and when the maintenance duration is greater than a preset time threshold, the fill light is turned on and off accordingly based on the ambient brightness state.

16. A fill light control device, It is characterized in that include: An image acquisition device, used to acquire an image of the working area; A fill light, arranged opposite to the image acquisition device; The controller is connected to the image acquisition device and the fill light, and is used to control the fill light to be turned on or off according to the ambient brightness state corresponding to the image.

17. A fill light control device, It is characterized in that include: Fill light; A brightness sensor is arranged in a non-fill light area that cannot be covered by the irradiation range of the fill light; A controller is connected to both the fill light and the brightness sensor, and is used to control the fill light to be turned on or off according to the environmental state determined based on the brightness value of the non-fill light area.

18. An electronic device, It is characterized in that including a processor, a communication interface, a memory and a communication bus; The processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store computer programs; The processor is used to implement the steps of the fill light control method described in any one of claims 1-15 when executing the program stored in the memory.

19. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the fill light control method described in any one of claims 1-15 are implemented.

Images