A welcoming system, welcoming method and target vehicle

Abstract

The embodiment of the present invention discloses a welcoming system, a welcoming method and a target vehicle, the system comprising: a controller, an image acquisition device and a welcoming data projection device, the welcoming system is arranged on the target vehicle; wherein the image acquisition device is used to capture the target foot of the passenger of the target vehicle, and send the captured foot image to the controller; the controller is used to analyze the received foot image, obtain the foot position of the target foot, and send the projection position including the foot position to the welcoming data projection device; the welcoming data projection device is used to project the welcoming data at the received projection position. The effect of projecting the welcoming data following the foot position of the passenger can be achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic control technology, and in particular to a welcoming system, a welcoming method and a target vehicle. Background Art

[0002] Nowadays, many vehicles are equipped with welcome lights, which can light up when the car door is opened or pushed open, thereby illuminating the road in front of the car door for the passengers of the vehicle, making the passengers feel at home.

[0003] However, the current welcoming effect is average and needs to be improved. Summary of the invention

[0004] The embodiments of the present invention provide a welcoming system, a welcoming method and a target vehicle, so as to achieve the effect of projecting welcoming data by following the foot position of the passenger.

[0005] In a first aspect, an embodiment of the present invention provides a welcoming system, including:

[0006] An image acquisition device is used to acquire target feet of passengers in a target vehicle and send the acquired foot images to a controller;

[0007] A controller, configured to analyze the received foot image, obtain the foot position of the target foot, and send the projection position including the foot position to the welcoming data projection device;

[0008] The welcoming data projection device is used to project the welcoming data at the received projection position.

[0009] In a second aspect, an embodiment of the present invention further provides a welcoming method, comprising:

[0010] Receiving a foot image obtained by capturing a target foot of a passenger in a target vehicle, wherein the foot image is captured by an image capture device disposed on the target vehicle;

[0011] Analyze the foot image to obtain the foot position of the target foot;

[0012] A projection position including a foot position is determined, and the projection position is sent to a welcome data projection device disposed on the target vehicle, so that the welcome data projection device projects the welcome data at the received projection position.

[0013] In a third aspect, an embodiment of the present invention further provides a target vehicle, on which is provided any welcoming system provided by any embodiment of the present invention.

[0014] The embodiment of the present invention provides a welcoming system, a welcoming method and a target vehicle. The welcoming system includes: a controller, an image acquisition device and a welcoming data projection device. The welcoming system is arranged on the target vehicle; wherein the image acquisition device is used to capture the target feet of the passengers in the target vehicle and send the captured foot images to the controller; the controller is used to analyze the received foot images to obtain the foot positions of the target feet and send the projection positions including the foot positions to the welcoming data projection device; the welcoming data projection device is used to project the welcoming data at the received projection positions. The effect of projecting the welcoming data by following the foot positions of the passengers can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural schematic diagram of a welcoming system provided by Embodiment 1 of the present invention;

[0016] Figure 2 This is a schematic diagram of a first welcoming effect of an optional example of a welcoming system provided in Embodiment 1 of the present invention;

[0017] Figure 3 is a schematic diagram of a second welcoming effect of an optional example of a welcoming system provided in the first embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of the installation positions of a rotatable camera and a welcoming data projection device in a welcoming system provided by Embodiment 1 of the present invention;

[0019] Figure 5 is a schematic diagram of a welcome effect of an optional example in a welcome system provided in Embodiment 2 of the present invention;

[0020] Figure 6 It is a flowchart of a welcoming method provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through implementation methods with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the following embodiments, each embodiment provides optional features and examples at the same time. The various features recorded in the embodiments can be combined to form multiple optional solutions. Each numbered embodiment should not be regarded as only one technical solution.

[0022] Embodiment 1

[0023] Figure 1 1 is a schematic diagram of a welcoming system provided by the first embodiment of the present invention. The welcoming system can be installed on a target vehicle. This embodiment is applicable to the case where the welcoming data is projected for the passengers of the target vehicle, and is particularly applicable to the case where the welcoming data is projected according to the foot position of the passengers. Figure 1 The welcoming system provided in this embodiment may include: an image acquisition device 110, a controller 120 and a welcoming data projection device 130. Specifically,

[0024] The image acquisition device 110 is used to acquire target feet of passengers in the target vehicle and send the acquired foot images to the controller.

[0025] Among them, the target vehicle can be understood as a vehicle equipped with a welcoming system that can present a welcoming effect to the passengers. The passengers can be understood as the object to be or already riding on the target vehicle, such as the driver of the target vehicle, etc. The target foot can be understood as the foot of the passenger, such as the left foot and / or the right foot. Based on the image acquisition device 110, the target footsteps are imaged to obtain a foot image of the target foot. In actual applications, the image acquisition device 110 can optionally be a camera, a scanner, or a camera, etc., which is not specifically limited here. After acquiring the foot image, the image acquisition device 110 can send it to the controller 120 so that the controller 120 analyzes the received foot image.

[0026] In practical applications, the number of passengers can be one or more. For example, if the number of passengers is one, the person closest to the target vehicle or the person closest to the key that can open the door of the target vehicle can be selected as the passenger; it is also possible to add a face recognition device to the welcome system, and for each face that can be successfully recognized by the face recognition device, according to a pre-set face priority order, the person corresponding to the face with the highest priority is selected as the passenger; and so on. If the number of passengers is multiple, each person within a preset range near the target vehicle can be selected as the passenger, or each person within a preset range near the key that can open the door of the target vehicle can be selected as the passenger, or a face recognition device can be added to the welcome system, and each person corresponding to each face that can be successfully recognized by the face recognition device can be selected as the passenger.

[0027] The controller 120 is used to analyze the received foot image, obtain the foot position of the target foot, and send the projection position including the foot position to the welcoming data projection device.

[0028] Among them, based on the controller 120 analyzing the received foot image, the foot position is obtained, and the foot position can reflect the position of the target foot, which can be the position of the target foot relative to the target vehicle, or the position in the world coordinate system, the plane coordinate system or the space coordinate system, etc., which is not specifically limited here. In practical applications, optionally, since the closer the target foot is to the target vehicle, the larger the size of the target foot in the foot image may be, and the farther the target foot is from the target vehicle, the smaller the size of the target foot in the foot image may be, therefore, the relationship between the size of the target foot and the distance between the target foot and the target vehicle can be pre-set. When analyzing the foot image, the distance between the target foot and the target vehicle can be determined according to the foot size of the target foot in the foot image and the relationship between the pre-set size of the target foot and the distance between the target foot and the target vehicle, and then the foot position of the target foot relative to the target vehicle is determined according to the distance between the target foot and the target vehicle and the angle at which the image acquisition device 110 acquires the image. In the embodiment of the present invention, the method for obtaining the foot position is not specifically limited.

[0029] After obtaining the foot position, the controller 120 can determine the projection position including the foot position, and the projection position can be understood as the position for projecting the welcome data. In practical applications, optionally, the projection position is not necessarily equal to the foot position. For example, the projection position may overlap with the foot position, so as to provide the passenger with a similar effect to the stage spotlight; it can also be a projection position including the foot position but with a large area located on one side of the foot position, for example, one-tenth of the left side of the projection position may overlap with the foot position, and the other nine-tenths of the projection position may be located on the right side of the foot position, so as to project the direction indicating the passenger to move toward the target vehicle for the passenger. The relationship between the foot position and the projection position can be pre-set or can be set by the user as needed. Based on the controller 120, the projection position is sent to the welcome data projection device 130 to project the welcome data.

[0030] The welcoming data projection device 130 is used to project the welcoming data at the received projection position.

[0031] Among them, the welcoming data can be understood as the data projected by the welcoming data projection device. In practical applications, optionally, the data type of the welcoming data can be image data or video data, and the image data can be text image data or pattern image data. Optionally, the display shape of the welcoming data can be square, circular or a welcoming light carpet. The welcoming light carpet can be a light carpet from the door position to the projection position. The length of the light carpet and the end position can change according to the change of the projection position. Optionally, the data content of the welcoming data can be one, two or more. When multiple data contents are pre-set, the projection methods of these data contents can be rotation projection, random projection, matching projection or simultaneous projection, etc. Among them, the matching projection method can be understood as a method of determining the data content to be projected according to the current situation, and then projecting the determined data content. On this basis, the data content to be projected can be determined based on a variety of methods. For example, see Figure 2 , the distance between the passenger and the target vehicle can be reminded in real time according to the foot position; if the foot position is a position in the world coordinate system, the regional information of the foot position can be determined according to the foot position, and the weather, time, temperature or humidity and other information of the area where the foot position is located can be determined according to the regional information, and the weather, time, temperature or humidity and other information of the area where the foot position is located can be used as the data content to be projected; the projection of the welcome data can also be controlled according to the gestures or facial expressions of the passenger, or the content of the welcome data can be changed, for example, the passenger waves three times within the preset time to turn off the welcome effect, and for example, when the facial expression of the passenger is recognized as a smile, the content of the welcome data is changed. In the embodiment of the present invention, there is no specific limitation on the method of recognizing the gestures or facial expressions of the passenger.

[0032] An embodiment of the present invention provides a welcoming system, including an image acquisition device, a controller, and a welcoming data projection device, wherein the image acquisition device is used to capture the target foot of the passenger of the target vehicle, and the captured foot image is sent to the controller; the controller analyzes the received foot image to obtain the foot position of the target foot, and sends the projection position including the foot position to the welcoming data projection device; the welcoming data is projected at the received projection position by the welcoming data projection device. The above technical solution can project the welcoming data at the projection position including the foot position of the passenger, thereby achieving the effect of projecting the welcoming data following the foot position.

[0033] An optional technical solution, a controller, specifically used to: analyze the received foot image, obtain the foot position of the target foot on the ground plane and the foot height of the target foot, and determine the projection height based on the foot height, and send the projection height and the projection position including the foot position to the welcome data projection device; the welcome data projection device, specifically used to: project the welcome data at the received projection height and projection position.

[0034] The foot position of the target foot on the ground plane can be understood as the position of the target foot on the plane coordinate system with the horizontal plane of the earth as the plane coordinate system. The foot height can be understood as the height of the target foot from the ground plane. The projection height can be understood as the height of the projected welcome data.

[0035] Specifically, the controller can analyze the received foot image to obtain the foot position of the target foot on the ground plane and the foot height of the target foot relative to the ground plane, determine the projection height based on the foot height, and send the projection height and the projection position including the foot position to the welcome data projection device. It should be noted that the projection height can be equal to the foot height or not. For example, if the welcome data is a flower, the projection height can be 2 cm lower than the foot height, so that a flower can be added to the foot and a projection effect of blooming on the sole of the foot can be achieved.

[0036] Accordingly, the welcoming data projection device can project the welcoming data at the received projection height and projection position. The welcoming data can be fixed and can also change in real time according to the foot position and foot height. For example, when the foot height is high and the foot position is close to the target vehicle, the passenger may be in the state of getting on or off the vehicle, and the projected welcoming data can be text to remind the passengers to pay attention to the safety of getting on and off the vehicle.

[0037] The advantage of setting the projection height according to the foot height is that it can increase the diversity of the welcoming effects and improve the passenger's welcoming experience.

[0038] Based on the above optional technical solutions, another optional technical solution is provided, wherein the target foot includes a left foot and a right foot, the foot position includes the left foot position of the left foot on the ground plane, and the right foot position of the right foot on the ground plane, and the foot height includes the left foot height of the left foot and the right foot height of the right foot, and the controller is specifically used to: analyze the received foot image to obtain the left foot position, the right foot position, the left foot height and the right foot height, and determine the projection height based on the numerical relationship between the left foot height and the right foot height, and send the projection height and the projection position including the left foot position and the right foot position to the welcome data projection device.

[0039] The left foot position can be understood as the position of the left foot of the target foot in the plane coordinate system with the horizontal plane of the earth as the plane coordinate system. The right foot position can be understood as the position of the right foot of the target foot in the plane coordinate system. The left foot height can be understood as the height of the left foot from the ground plane. The right foot height can be understood as the height of the right foot from the ground plane.

[0040] Specifically, the controller can analyze the received foot image to obtain the left foot position, the right foot position, the left foot height and the right foot height, and determine the projection height based on the numerical relationship between the left foot height and the right foot height. For example, when the left foot height is higher than the right foot height, the projection height can be relatively high, and when the right foot height is higher than the left foot height, the projection height can be relatively low, so that the projection data can achieve a rhythmic effect of height change as the passenger walks.

[0041] Correspondingly, the controller may also send the projection height and the projection position including the left foot position and the right foot position to the welcoming data projection device. When the welcoming data is subsequently projected at the projection position, the projection data may be determined based on the left foot position, the right foot position, the left foot height, and the right foot height. The number of projection devices may be one or more. When there are multiple projection devices, in an embodiment of the present invention, different welcoming data may also be obtained for each projection device based on the left foot position, the right foot position, the left foot height, and the right foot height.

[0042] For example, different projection data can be determined according to the height of the left foot and the right foot, so as to set different welcoming data for the left foot and the right foot of the passenger. For details, see Figure 3 When the passenger lifts the right foot, a flower projection effect is applied under the right foot, and a crushed flower effect is applied under the left foot that is not lifted; when the passenger lifts the left foot, a checkerboard projection effect is applied under the left foot, and a wave pattern effect is applied under the right foot that is not lifted.

[0043] The benefit of setting the projection height based on the numerical relationship between the left foot height and the right foot height is that it further increases the diversity of the welcoming effects and improves the passenger's welcoming experience.

[0044] Another optional technical solution is that the image acquisition device includes a rotatable camera and a controller, which is also used to: determine the relative distance and relative orientation of the passenger of the target vehicle relative to the target vehicle, and send the relative distance and relative orientation to the rotatable camera; the rotatable camera is specifically used to: rotate based on the received relative distance and relative orientation, so as to capture the target feet of the passenger after the rotation is completed, and send the captured foot image to the controller.

[0045] The rotatable camera can be understood as a camera that can rotate the camera angle. The relative distance can be understood as the distance between the passenger and the target vehicle. The relative orientation can be understood as the orientation of the passenger relative to the target vehicle.

[0046] Specifically, the controller can determine the relative distance and relative orientation of the passenger of the target vehicle relative to the target vehicle, and send the relative distance and relative orientation to the rotatable camera. The rotatable camera can rotate based on the received relative distance and relative orientation, and rotate the camera to an angle that can capture the target feet of the passenger, so as to capture the target feet of the passenger after the rotation is completed. After the capture is completed, the rotatable camera can send the captured foot image to the controller.

[0047] Exemplarily, the controller can determine the relative distance and relative orientation of the occupants of the target vehicle relative to the target vehicle, and send the relative distance and relative orientation to the rotatable camera. This can be done by: after the infrared sensor detects that a human body is approaching the target vehicle, activating the rotatable camera, and sending the relative distance and relative orientation of the occupants of the target vehicle relative to the target vehicle obtained by the infrared sensor to the rotatable camera.

[0048] For example, see Figure 4 In the embodiment of the present invention, the installation position of the rotatable camera can be relatively close to the welcoming data projection device, which is conducive to the welcoming data projection device to project the projection position determined according to the foot position. Figure 4 As shown, the rotatable camera and the welcoming data projection device are modularized (ie integrated) to save space and cost.

[0049] The advantage of setting up a rotatable camera that can rotate according to relative distance and relative orientation is that it can expand the recognition range, such as the front, rear, left, right or side of the target vehicle, and can also identify positions at long and short distances. It can also reduce the number of installed cameras and save costs.

[0050] Embodiment 2

[0051] The welcoming system provided in this embodiment can be combined with the various optional solutions of the welcoming system provided in the above embodiments. The welcoming system provided in this embodiment further describes the functions of the controller and the image acquisition device. It can be realized that the image acquisition device is assisted in collecting footstep images according to the position of the target key that opens the door of the target vehicle.

[0052] The controller is further used to: determine the key position of the target key when a target key capable of opening a door of the target vehicle is detected, and send the key position to the image acquisition device;

[0053] The target key may be understood as a key that can open a door of the target vehicle. The key position may be understood as a position where the target key is located.

[0054] For example, the target key can send a signal, and after the controller obtains the signal, it can determine the key position of the target key compared to the target vehicle. Specifically, an antenna can be provided inside the target key, and the target key can obtain its own position in real time according to the antenna, and then send its own position to the controller as the key position. In the embodiment of the present invention, the method for the controller to determine the key position is not specifically limited.

[0055] The image acquisition device is specifically used to: take the object at the key position as the passenger of the target vehicle, acquire the target feet of the passenger, and send the acquired foot images to the controller.

[0056] Specifically, the image acquisition device may take the object at the key position as the passenger of the target vehicle, acquire the target feet of the passenger, and send the acquired foot images to the controller.

[0057] The welcoming system provided in the embodiment of the present invention further describes the functions of the controller and the image acquisition device based on the above embodiment. The controller of the welcoming system provided in the embodiment of the present invention can determine the key position of the target key when detecting the target key that can open the door of the target vehicle, and send the key position to the image acquisition device; the image acquisition device regards the object at the key position as the passenger of the target vehicle, captures the target foot of the passenger, and sends the captured foot image to the controller. It is possible to capture the footstep image after obtaining the key position, without the need for the image acquisition device to be in the image acquisition state all the time, thereby reducing the resource consumption of the image acquisition device.

[0058] An optional technical solution, the image acquisition device includes a rotatable camera, and the rotatable camera is specifically used to: take the object at the key position as the passenger of the target vehicle, rotate it based on the received key position, so as to capture the target feet of the passenger after the rotation is completed, and send the captured foot image to the controller.

[0059] The key position may not be a precise position, but may be a rough position, or the position of the target key relative to the target vehicle.

[0060] Specifically, the object at the key position can be taken as the passenger object of the target vehicle, and the image acquisition device rotates based on the received key position until the image acquisition device can capture a complete image of the passenger object or a complete image of the target foot; after the rotation is completed, the target foot of the passenger object is captured, and the captured foot image is sent to the controller, so that the controller can obtain a more accurate foot position based on the foot image.

[0061] The advantage of setting the key position is that the rotatable camera can be quickly rotated to the position of the passenger to capture foot images.

[0062] Another optional technical solution is that at least two image acquisition devices are arranged at different positions of the target vehicle, and the controller is specifically used to: when a target key that can open the door of the target vehicle is detected, determine the key position of the target key on the ground plane, and send the key position to the image acquisition device in each image acquisition device that can take a picture of the key position.

[0063] In an embodiment of the present invention, images of the feet of passengers located at multiple positions of the vehicle can be obtained, so at least two image acquisition devices can be set to perform image acquisition. Specifically, when a target key that can open the door of the target vehicle is detected, the key position of the target key on the ground plane can be determined. Since each image acquisition device is respectively set at a different position of the target vehicle, an image acquisition device that can photograph the key position can be determined from these image acquisition devices, and the key position is sent to the image acquisition device, so that the target foot of the passenger located at the key position is photographed based on the image acquisition device. In an embodiment of the present invention, it is also possible to determine the key position of the target key on the ground plane, and send the key position to each image acquisition device, and collect images of the target foot of the passenger located at the key position from multiple positions according to each image acquisition device, so that the foot position can be determined more accurately according to the images of the target foot collected from multiple positions.

[0064] The advantage of providing at least two image acquisition devices is that the position of the foot can be acquired more accurately.

[0065] Another optional technical solution, a controller is specifically used to: when a target key that can open a door of a target vehicle is detected, determine the key position of the target key, and send the key position and the position range determined based on the key position to an image acquisition device; the image acquisition device is specifically used to: take the object at the key position as the passenger object of the target vehicle, capture the target foot of the passenger object and the range foot of the range object within the position range, and send the captured foot image to the controller; the controller is specifically used to: analyze the received foot image to obtain the foot position of the target foot and the range position of the range foot, and send the projection position including the foot position and the range position to the welcome data projection device.

[0066] Figure 5 is a schematic diagram of a welcoming effect of an optional example of a welcoming system provided in Embodiment 2 of the present invention. Figure 5 In an embodiment of the present invention, the number of passengers may not necessarily be only one, but may be multiple. For example, it may be necessary to perform a welcome projection for the car owner carrying the target key and the friends traveling with the car owner. Therefore, the controller can determine the key position of the target key when detecting the target key that can open the door of the target vehicle, and send the key position and the position range determined based on the key position to the image acquisition device. Among them, the position range determined based on the key position can be pre-set, or it can be set by the user according to current needs, or it can be determined by the controller according to the density of people near the target vehicle. For example, the control can detect that there are few people near the current target vehicle based on sensors such as human infrared sensors, and can use the range with a high density of people near the key position as the position range.

[0067] The image acquisition device can take the object at the key position as the passenger object of the target vehicle, and collect the target foot of the passenger object and the range foot of each range object within the position range, and send the collected foot images corresponding to the target foot of the passenger object and the range foot of each range object to the controller. Among them, the range foot can be understood as the foot of each range object within the range position.

[0068] The controller can analyze each received foot image to obtain the foot position of the target foot and the range position of each range foot, and send the projection position including the foot position and each range position to the welcome data projection device. Optionally, when the welcome data projection device subsequently projects the welcome data at each received projection position, the foot position and the welcome data projected at each range position may be different.

[0069] The advantage of setting the projection position within a certain range is that it can realize multi-person welcome projection, further increasing the diversity of the welcome effect.

[0070] In addition, an embodiment of the present invention further provides a target vehicle, on which is disposed any of the welcoming systems provided by any of the embodiments of the present invention. It should be noted that the welcoming system can be disposed on the B-pillar, C-pillar, etc. of the target vehicle, and the range and position of the projected welcoming data can be changed according to the position where the welcoming system is disposed on the target vehicle. In the embodiment of the present invention, the installation position of the welcoming system is not specifically limited. It should also be noted that the welcoming system can be turned on when the target vehicle is stationary and locked or when the door is unlocked and opened to achieve a welcoming effect.

[0071] In addition, the welcoming system provided in this embodiment and the welcoming system provided in the above embodiment belong to the same technical concept. The technical details not fully described in this embodiment can be referred to the above embodiment, and the same technical features have the same beneficial effects in this embodiment and the above embodiment.

[0072] Embodiment 3

[0073] Figure 6 1 is a flow chart of a welcoming method provided in the third embodiment of the present invention. This embodiment is applicable to the case where the welcoming data is projected for the passengers of the target vehicle, and is particularly applicable to the case where the welcoming data is projected following the foot position of the passengers. The method can be executed by the controller in the welcoming system provided in the embodiment of the present invention.

[0074] See also Figure 6 The welcoming method provided by the present invention may include:

[0075] S310: Receive a foot image acquired by capturing a target foot of an occupant of a target vehicle, wherein the foot image is acquired by an image acquisition device disposed on the target vehicle.

[0076] S320: Analyze the foot image to obtain the foot position of the target foot.

[0077] S330, determining a projection position including a foot position, and sending the projection position to a welcome data projection device disposed on the target vehicle, so that the welcome data projection device projects the welcome data at the received projection position.

[0078] Optionally, the foot image is analyzed to obtain the foot position of the target foot, including: analyzing the received foot image to obtain the foot position of the target foot on the ground plane and the foot height of the target foot; determining a projection position including the foot position, and sending the projection position to a welcome data projection device set on the target vehicle, so that the welcome data projection device projects the welcome data at the received projection position, including: based on the foot position of the target foot on the ground plane and the foot height of the target foot, sending the projection height and the projection position including the foot position to the welcome data projection device, so that the welcome data projection device projects the welcome data at the received projection height and projection position.

[0079] On the basis of the above scheme, optionally, the target foot includes a left foot and a right foot, the foot position includes the left foot position of the left foot on the ground plane and the right foot position of the right foot on the ground plane, the foot height includes the left foot height of the left foot and the right foot height of the right foot, and the received foot image is analyzed to obtain the foot position of the target foot on the ground plane and the foot height of the target foot, including: analyzing the received foot image to obtain the left foot position, the right foot position, the left foot height and the right foot height; based on the foot position of the target foot on the ground plane and the foot height of the target foot, the projection height and the projection position including the foot position are sent to the welcome data projection device, including: determining the projection height based on the numerical relationship between the left foot height and the right foot height, and sending the projection height and the projection position including the left foot position and the right foot position to the welcome data projection device.

[0080] Optionally, the image acquisition device includes a rotatable camera, and the welcoming method provided in an embodiment of the present invention also includes: determining the relative distance and relative orientation of the passengers in the target vehicle relative to the target vehicle, and sending the relative distance and relative orientation to the rotatable camera, so that the rotatable camera rotates based on the received relative distance and relative orientation, so as to capture the target feet of the passengers after the rotation is completed, and send the captured foot image to the controller.

[0081] Optionally, the welcoming method provided by an embodiment of the present invention also includes: when a target key that can open the door of the target vehicle is detected, determining the key position of the target key, and sending the key position to an image acquisition device, so that the image acquisition device regards the object at the key position as a passenger of the target vehicle, captures the target feet of the passenger, and sends the captured foot image to a controller.

[0082] Based on the above scheme, optionally, at least two image acquisition devices are arranged at different positions of the target vehicle, and when a target key that can open the door of the target vehicle is detected, the key position of the target key is determined, and the key position is sent to the image acquisition device, including: when a target key that can open the door of the target vehicle is detected, the key position of the target key on the ground plane is determined, and the key position is sent to the image acquisition device among the image acquisition devices that can photograph the key position.

[0083] On the basis of the above scheme, optionally, when a target key that can open the door of the target vehicle is detected, the key position of the target key is determined, and the key position is sent to the image acquisition device, including: when a target key that can open the door of the target vehicle is detected, the key position of the target key is determined, and the key position and the position range determined based on the key position are sent to the image acquisition device, so that the image acquisition device regards the object at the key position as the riding object of the target vehicle, and captures the target foot of the riding object and the range foot of the range object within the position range, and sends the captured foot image to the controller; analyzes the foot image to obtain the foot position of the target foot, determines the projection position including the foot position, and sends the projection position to the welcome data projection device set on the target vehicle, including: analyzes the received foot image to obtain the foot position of the target foot and the range position of the range foot, and sends the projection position including the foot position and the range position to the welcome data projection device.

[0084] An embodiment of the present invention provides a welcoming method, which receives a foot image obtained by capturing a target foot of a passenger in a target vehicle, wherein the foot image is captured by an image capture device installed on the target vehicle; analyzes the foot image to obtain the foot position of the target foot; determines a projection position including the foot position, and sends the projection position to a welcoming data projection device installed on the target vehicle, so that the welcoming data projection device projects the welcoming data at the received projection position. The above technical solution can project the welcoming data at the projection position including the foot position of the passenger, thereby achieving the effect of projecting the welcoming data following the foot position.

[0085] The welcoming method provided in the embodiment of the present invention can be executed by the corresponding functional modules in the welcoming system provided in the embodiment of the present invention, and has the same beneficial effects. For technical details not described in detail, please refer to the welcoming system provided in the embodiment of the present invention.

Claims

1. A welcoming system, characterized in that: include: A controller, an image acquisition device and a welcoming data projection device, wherein the welcoming system is arranged on the target vehicle; wherein, The image acquisition device is used to acquire target feet of the passengers of the target vehicle and send the acquired foot images to the controller, wherein the target feet include a left foot and a right foot, the foot positions include a left foot position of the left foot on the ground plane and a right foot position of the right foot on the ground plane, and the foot heights include a left foot height of the left foot and a right foot height of the right foot; The controller is used to analyze the received foot image to obtain the left foot position, the right foot position, the left foot height and the right foot height, and determine the projection height based on the numerical relationship between the left foot height and the right foot height, and send the projection height and the projection position including the left foot position and the right foot position to the welcome data projection device; The welcoming data projection device is used to project the welcoming data at the received projection height and projection position.

2. The system according to claim 1, characterized in that The image acquisition device includes a rotatable camera, and the controller is further used for: Determining a relative distance and a relative orientation of an occupant of the target vehicle relative to the target vehicle, and sending the relative distance and the relative orientation to the rotatable camera; The rotatable camera is specifically used for: The vehicle is rotated based on the received relative distance and relative orientation, so as to capture the target foot of the passenger object after the rotation is completed, and the captured foot image is sent to the controller.

3. The system according to claim 1, characterized in that The controller is further used for: In the case of detecting a target key that can open a door of the target vehicle, determining a key position of the target key and sending the key position to the image acquisition device; The image acquisition device is specifically used for: The object at the key position is taken as the passenger of the target vehicle, the target feet of the passenger are captured, and the captured foot images are sent to the controller.

4. The system according to claim 3, characterized in that The image acquisition device includes a rotatable camera, and the rotatable camera is specifically used for: The object at the key position is taken as the passenger of the target vehicle, and is rotated based on the received key position, so that after the rotation is completed, the target foot of the passenger is captured, and the captured foot image is sent to the controller.

5. The system according to claim 3, characterized in that At least two of the image acquisition devices are arranged at different positions of the target vehicle, and the controller is specifically used for: When a target key that can open the door of the target vehicle is detected, the key position of the target key on the ground plane is determined, and the key position is sent to the image acquisition device among the image acquisition devices that can photograph the key position.

6. The system according to claim 3, characterized in that The controller is specifically used for: In the case of detecting a target key that can open a door of the target vehicle, determining a key position of the target key, and sending the key position and a position range determined based on the key position to the image acquisition device; The image acquisition device is specifically used for: Taking the object at the key position as the riding object of the target vehicle, capturing the target foot of the riding object and the range foot of the range object within the position range, and sending the captured foot image to the controller; The controller is specifically used for: The received foot image is analyzed to obtain the foot position of the target foot and the range position of the range foot, and the projection position including the foot position and the range position is sent to the welcoming data projection device.

7. A method for welcoming guests, characterized in that: include: Receiving a foot image acquired by capturing a target foot of a passenger of a target vehicle, wherein the foot image is acquired by an image acquisition device disposed on the target vehicle, wherein the target foot includes a left foot and a right foot, the foot position includes a left foot position of the left foot on a ground plane, and a right foot position of the right foot on a ground plane, and the foot height includes a left foot height of the left foot and a right foot height of the right foot; Analyze the received foot image to obtain the left foot position, right foot position, left foot height and right foot height; The projection height is determined based on the numerical relationship between the left foot height and the right foot height, and the projection height and the projection position including the left foot position and the right foot position are sent to the welcome data projection device, so that the welcome data projection device projects the welcome data at the received projection height and projection position.

8. A target vehicle, characterized in that: The target vehicle is provided with a welcoming system as described in any one of claims 1-6.

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