Obstacle detection method, system, electronic device and storage medium

Abstract

The present invention discloses a method, system, electronic device, and storage medium for detecting obstacles. The detection device is disposed on a smoke barrier. The detection method comprises: obtaining a straight-line distance from the detection device to the edge of the smoke barrier; obtaining a vertical distance from a target object to the horizontal plane where the detection device is located; and determining whether the target object is an obstacle based on the vertical distance and the straight-line distance. The present invention disposes the detection device on the smoke barrier, which can better detect obstacles within the operating range of the smoke barrier. The detection range is more reasonable, and the detection is more accurate. In the event of an obstacle, the smoke barrier can be controlled in a timely manner to ensure the normal operation of the smoke barrier, avoid damage to the smoke barrier, and avoid accidental pinching of the user's hand. This allows the user to make a timely judgment and improve the user experience.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method, system, electronic device and storage medium for detecting an obstacle. Background Art

[0002] At present, when using the side-suction range hood device, there is a common problem that foreign objects are caught in the closing process of the smoke damper, resulting in the smoke damper not closing tightly, affecting the user's use; there may even be situations where the smoke damper catches the user's fingers during the closing process, causing unnecessary personal injuries; there is also a situation where it is impossible to timely judge whether the object under the smoke damper affects the closing of the smoke damper, and it is impossible to timely control the smoke damper to stop running and remind the customer to avoid unnecessary damage, which brings a bad experience to the user. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defect in the prior art that it is impossible to detect whether the target object under the smoke shield is an obstacle, which affects the normal operation of the smoke shield and causes damage to the smoke shield, and to provide an obstacle detection method, system, electronic equipment and storage medium.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present invention provides a method for detecting obstacles, wherein a detection device is provided on a smoke barrier, and the detection method comprises the following steps:

[0006] Obtain the straight-line distance from the detection device to the edge of the smoke baffle;

[0007] Obtaining a vertical distance from the target object to the horizontal plane where the detection device is located;

[0008] Determine whether the target object is an obstacle according to the vertical distance and the straight-line distance.

[0009] Preferably, the step of obtaining the vertical distance from the target object to the horizontal plane where the detection device is located specifically includes:

[0010] Acquiring position information of the target object within the detection range during the closing process of the smoke shield;

[0011] extracting coordinate information of the target object according to the position information;

[0012] The vertical distance is calculated based on the straight-line distance and the coordinate information.

[0013] Preferably, the step of determining whether the target object is an obstacle based on the vertical distance and the straight-line distance specifically includes:

[0014] When the vertical distance is not greater than the straight-line distance, it is determined that the target object is an obstacle.

[0015] Preferably, when the target object is an obstacle, the detection method further includes:

[0016] The smoke baffle is controlled to stop running and a reminder message is issued.

[0017] The present invention also provides an obstacle detection system, the detection system comprising:

[0018] An acquisition module is used to obtain the straight-line distance from the detection device to the edge of the smoke baffle;

[0019] The acquisition module is further used to acquire the vertical distance from the target object to the horizontal plane where the detection device is located;

[0020] An analysis module is configured to determine whether the target object is an obstacle according to the vertical distance and the straight-line distance.

[0021] Preferably, the acquisition module includes an extraction unit and a calculation unit;

[0022] The acquisition module is further specifically configured to acquire position information of the target object within the detection range during the closing process of the smoke shield;

[0023] The extraction unit is used to extract the coordinate information of the target object according to the position information;

[0024] The calculation unit is used to calculate the vertical distance according to the straight-line distance and the coordinate information.

[0025] Preferably, the analysis module is used to determine that the target object is an obstacle when the vertical distance is not greater than the straight-line distance.

[0026] Preferably, the detection system further includes a control module;

[0027] When the target object is an obstacle, the control module is used to control the smoke shield to stop running and issue a reminder message.

[0028] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the obstacle detection method as described above when executing the computer program.

[0029] The present invention also provides a computer-readable medium having a computer program stored thereon, wherein the computer program implements the obstacle detection method described above when executed by a processor.

[0030] The positive and progressive effects of the present invention are as follows: by obtaining the linear distance from the detection device to the edge of the smoke barrier and the vertical distance from the target object to the horizontal plane where the detection device is located, it is possible to determine in real time whether the target object is an obstacle based on the linear and vertical distances. In the event of an obstacle, the smoke barrier can be controlled in a timely manner to ensure its normal operation, avoid damage to the smoke barrier and accidental pinching of the user's hand, and enable the user to make timely judgments, thereby improving the user experience. Placing the detection device on the smoke barrier can better detect obstacles within the operating range of the smoke barrier, with a more reasonable detection range and more accurate detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the flow of the obstacle detection method according to embodiment 1 of the present invention.

[0032] Figure 2 This is a structural schematic diagram of a smoke shield and a detection device for the obstacle detection method of Example 1 of the present invention.

[0033] Figure 3 Schematic diagram of the flow of the obstacle detection method according to embodiment 2 of the present invention.

[0034] Figure 4 Schematic diagram of calculated coordinate markings of a front view of a smoke shield in the obstacle detection method of Example 2 of the present invention.

[0035] Figure 5 Schematic diagram of the module structure of the obstacle detection system of Example 3 of the present invention.

[0036] Figure 6 This is a schematic structural diagram of an electronic device according to embodiment 4 of the present invention. DETAILED DESCRIPTION

[0037] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0038] Example 1

[0039] like Figure 1 As shown, this embodiment provides a method for detecting an obstacle, which includes the following steps:

[0040] S1. Obtain the straight-line distance from the detection device to the edge of the smoke baffle;

[0041] S2. Obtain the vertical distance from the target object to the horizontal plane where the detection device is located;

[0042] S3. Determine whether the target object is an obstacle based on the vertical distance and the straight-line distance.

[0043] It should be noted that the detection device is set on the smoke shield. The detection device can be any detection device that can detect distance, for example, it can be a laser radar (including multi-line laser radar and single-line laser radar), and the number of detection devices is not limited. In this embodiment, a single-line laser radar is preferably used. In this embodiment, a group of laser radar modules is set, which is called a laser radar module. Figure 2 , Figure 2 It is a side view schematic diagram of the range fumes suction device, showing a positional relationship between the smoke baffle and the laser radar module of the range fumes suction device during a specific implementation process. The specific positional relationship can be set according to actual needs and is not limited here.

[0044] Specifically, a laser radar module 2 is set on the inner side of the smoke baffle 3 of the range hood device, and the laser radar module 2 is controlled to collect data. After the collection, the data is processed to obtain the straight-line distance from the laser radar module 2 to the edge of the smoke baffle 3; the laser radar module 2 can obtain the distance of the target object. Specifically, the laser radar module 2 can emit multiple laser points, and the laser points are received by the receiving module of the laser radar module 2 after being reflected by the surface of the target object. The received data includes the three-dimensional coordinates of the surface of the target object and its reflection time. According to the received data, the vertical distance from the target object to the horizontal plane where the laser radar module 2 is located can be obtained. According to the straight-line distance from the laser radar module 2 to the edge of the smoke baffle and the vertical distance from the target object to the horizontal plane where the laser radar is located, it can be judged whether the target object is an obstacle and whether it affects the normal operation of the smoke baffle 3. The smoke baffle 3 can be controlled by the range hood control module 1.

[0045] This embodiment provides a method for detecting obstacles, which timely detects the position information of the target object under the smoke barrier, and determines whether the target object is an obstacle and whether it affects the normal operation of the smoke barrier based on the position information, thereby avoiding damage caused by collision between the smoke barrier and the obstacle and increasing the service life of the smoke barrier. If an obstacle is detected, the operation of the smoke barrier can be controlled in time, which improves the timeliness of the smoke barrier control and avoids the smoke barrier from pinching the user during operation, thereby ensuring the safety of the use of the smoke barrier and improving the user experience.

[0046] Example 2

[0047] See also Figure 3 This embodiment provides an obstacle detection method, which is a further improvement made on the basis of embodiment 1, as follows:

[0048] The steps of S2 specifically include:

[0049] S21, obtaining position information of a target object within a detection range during the closing process of the smoke barrier;

[0050] S22, extracting coordinate information of the target object based on the position information;

[0051] S23. Calculate the vertical distance based on the straight-line distance and the coordinate information.

[0052] The steps of S3 include:

[0053] S31. When the vertical distance is not greater than the straight-line distance, it is determined that the target object is an obstacle.

[0054] When the target object is an obstacle, the detection method further includes:

[0055] S4. Control the smoke damper to stop running and issue a reminder message.

[0056] Specifically, the laser radar module is used as the detection device to explain the calculation process of straight-line distance and vertical distance and the process of determining whether the target object is an obstacle. Figure 4 , Figure 4 This is the front view of the smoke baffle of the range hood and the calculation coordinate mark. The calculation process is as follows:

[0057] Explanation of the numbers: L is the straight-line distance from the laser radar origin O to the edge of the smoke shield straight line point P, β is the angle between the distance between the target object N and the origin O and ON and OP, L1 is the vertical distance from the object to the straight line inside the smoke shield, D t is the distance from the target object N to the origin O, M t is the distance from the target object N to point P;

[0058] In the first step, when the smoke shield is closed and open, as shown in the figure, the vertical distance from the lidar origin O (X0, Y0, Z0) to the edge of the smoke shield is L, and the intersection point is point P (X1, Y1, Z1);

[0059] In the second step, when the smoke shield is opened or closed, the single-line laser radar module receives the data reflected by the target object N (X t ,Y t ,Z t ), the minimum distance D from the surface point N of the target object to the origin of the single-line laser radar can be calculated t , the formula is as follows:

[0060] At the same time, the reflection point (X t ,Y t ,Z t ) to the edge of the smoke baffle P point (X1, Y1, Z1) is M t , the formula is as follows:

[0061]

[0062] The third step is to calculate the distance D t and M t When , we can find Figure 4 The β angle in is given by the following formula:

[0063]

[0064] Step 4: Calculate Figure 4 The length of L1 is as follows:

[0065] L1=D t sin(90-β);

[0066] Step 5: When the calculated value L1 (straight-line distance) is less than or equal to L (vertical distance), it is determined that the target object is an obstacle.

[0067] When it is determined that the target object is an obstacle, the smoke shield is promptly controlled to stop closing or opening. At the same time, a reminder message can be generated to remind the user that there is an obstacle. The reminder can be given by a buzzer or a message. The specific reminder method is not limited here.

[0068] Preferably, at least one group of detection devices arranged side by side can be set on the inner side of the smoke barrier to perform large-scale detection; a detection device can be set on the outer side of the smoke barrier, and the above method can also be used to detect whether there is a target object near the smoke barrier during the opening process of the smoke barrier, thereby affecting the opening of the smoke barrier.

[0069] This embodiment provides a method for detecting an obstacle area. The detection device can timely detect the position information of the target object below the smoke barrier during the closing or opening process. The position information can be used to timely determine whether the target object is an obstacle, and then the smoke barrier can be timely controlled to stop closing or opening. This avoids the user's fingers being accidentally pinched during the closing process of the smoke barrier, causing injury to the user. It also avoids the smoke barrier hitting the pots and pans below the smoke barrier during the closing process, which brings a bad experience to the user. The timeliness of the smoke barrier control and the safety of the smoke barrier are improved. The detection device is set on the smoke barrier to make the detection range more reasonable and improve the accuracy of the detection.

[0070] Example 3

[0071] like Figure 5 As shown, this embodiment provides an obstacle detection system, the detection system including:

[0072] An acquisition module 11 is used to obtain the straight-line distance from the detection device to the edge of the smoke shield;

[0073] The acquisition module 11 is further used to obtain the vertical distance between the target object and the horizontal plane where the detection device is located;

[0074] The analysis module 12 is configured to determine whether the target object is an obstacle based on the vertical distance and the straight-line distance.

[0075] It should be noted that the detection device is set on the smoke shield. The detection device can be any detection device that can detect distance, for example, it can be a laser radar (including multi-line laser radar and single-line laser radar), and the number of detection devices is not limited. In this embodiment, a single-line laser radar is preferably used. In this embodiment, a group of laser radar modules is set, which is called a laser radar module. Figure 2 , Figure 2 It is a side view schematic diagram of the range fumes suction device, showing a positional relationship between the smoke baffle and the laser radar module of the range fumes suction device during a specific implementation process. The specific positional relationship can be set according to actual needs and is not limited here.

[0076] Specifically, a laser radar module 2 is set on the inner side of the smoke baffle 3 of the range hood device, and the laser radar module 2 is controlled to collect data. After the collection, the data is processed to obtain the straight-line distance from the laser radar module 2 to the edge of the smoke baffle 3; the laser radar module 2 can obtain the distance of the target object. Specifically, the laser radar module 2 can emit multiple laser points, and the laser points are received by the receiving module of the laser radar module 2 after being reflected by the surface of the target object. The received data includes the three-dimensional coordinates of the surface of the target object and its reflection time. According to the received data, the vertical distance from the target object to the horizontal plane where the laser radar module 2 is located can be obtained. According to the straight-line distance from the laser radar module 2 to the edge of the smoke baffle and the vertical distance from the target object to the horizontal plane where the laser radar is located, it can be judged whether the target object is an obstacle and whether it affects the normal operation of the smoke baffle 3. The smoke baffle 3 can be controlled by the range hood control module 1.

[0077] The acquisition module 11 includes an extraction unit 111 and a calculation unit 112;

[0078] The acquisition module 11 is further specifically configured to acquire position information of a target object within a detection range during the closing process of the smoke baffle;

[0079] The extraction unit 111 is used to extract the coordinate information of the target object according to the position information;

[0080] The calculation unit 112 is configured to calculate the vertical distance based on the straight-line distance and the coordinate information.

[0081] The analysis module 12 is configured to determine that the target object is an obstacle when the vertical distance is not greater than the straight-line distance.

[0082] The detection system further includes a control module 13;

[0083] When the target object is an obstacle, the control module 13 is used to control the smoke shield to stop operating and issue a reminder message.

[0084] Specifically, the laser radar module is used as the detection device to explain the calculation process of straight-line distance and vertical distance and the process of determining whether the target object is an obstacle. Figure 4 , Figure 4 It is a front view of the smoke shield of the range hood device and a calculated coordinate mark. The extraction unit 111 extracts information, and the post-calculation unit 112 performs calculation. The specific calculation process is as follows:

[0085] Explanation of the numbers: L is the straight-line distance from the laser radar origin O to the edge of the smoke shield straight line point P, β is the angle between the distance between the target object N and the origin O and ON and OP, L1 is the vertical distance from the object to the straight line inside the smoke shield, D t is the distance from the target object N to the origin O, M t is the distance from the target object N to point P;

[0086] In the first step, when the smoke shield is closed and open, as shown by number 1 in the figure, the vertical distance from the lidar origin O (X0, Y0, Z0) to the edge of the smoke shield is L, and the intersection point is point P (X1, Y1, Z1);

[0087] In the second step, when the smoke shield is opened or closed, the single-line laser radar module receives the data reflected by the target object (X t ,Y t ,Z t ), the minimum distance D from the surface point of the target object to the origin of the single-line laser radar can be calculated t , the formula is as follows:

[0088] At the same time, the reflection point (X t ,Y t ,Z t ) to the edge of the smoke baffle P point (X1, Y1, Z1) is M t , the formula is as follows:

[0089]

[0090] The third step is to calculate the distance D t and M t When , we can find Figure 4 The β angle in is given by the following formula:

[0091]

[0092] Step 4: Calculate Figure 4 The length of L1 is as follows:

[0093] L1=D t sin(90-β);

[0094] Step 5: When the calculated value L1 (straight-line distance) is less than or equal to L (vertical distance), it is determined that the target object is an obstacle.

[0095] When it is determined that the target object is an obstacle, the smoke shield is promptly controlled to stop closing or opening. At the same time, a reminder message can be generated to remind the user that there is an obstacle. The reminder can be given by a buzzer or a message. The specific reminder method is not limited here.

[0096] Preferably, at least one group of detection devices arranged side by side can be set on the inner side of the smoke barrier to perform large-scale detection; a detection device can be set on the outer side of the smoke barrier, and the above method can also be used to detect whether there is a target object near the smoke barrier during the opening process of the smoke barrier, thereby affecting the opening of the smoke barrier.

[0097] This embodiment provides a method for detecting an obstacle area. The detection device can timely detect the position information of the target object below the smoke barrier during the closing or opening process. The position information can be used to timely determine whether the target object is an obstacle, and then the smoke barrier can be timely controlled to stop closing or opening. This avoids the user's fingers being accidentally pinched during the closing process of the smoke barrier, causing injury to the user. It also avoids the smoke barrier hitting the pots and pans below the smoke barrier during the closing process, which brings a bad experience to the user. The timeliness of the smoke barrier control and the safety of the smoke barrier are improved. The detection device is set on the smoke barrier to make the detection range more reasonable and improve the accuracy of the detection.

[0098] Example 4

[0099] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Example 4 of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the obstacle detection method of Example 1 or Example 2 is implemented. Figure 6 The electronic device 30 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0100] The electronic device 30 may be a general-purpose computing device, such as a server device. Components of the electronic device 30 may include, but are not limited to, the at least one processor 31, the at least one memory 32, and a bus 33 connecting various system components (including the memory 32 and the processor 31).

[0101] The bus 33 includes a data bus, an address bus, and a control bus.

[0102] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0103] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0104] The processor 31 executes various functional applications and data processing by running computer programs stored in the memory 32 , such as the obstacle detection method of embodiment 1 or embodiment 2 of the present invention.

[0105] The electronic device 30 can also communicate with one or more external devices 34 (e.g., a keyboard, pointing device, etc.). This communication can occur via an input / output (I / O) interface 35. Furthermore, the model-generating device 30 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. As shown, the network adapter 36 communicates with other modules of the model-generating device 30 via a bus 33. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the model-generating device 30, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0106] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above may be embodied in a single unit / module. Conversely, the features and functions of a single unit / module described above may be further divided and embodied by multiple units / modules.

[0107] Example 5

[0108] The present invention also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the obstacle detection method of the aforementioned embodiment 1 or embodiment 2.

[0109] Specifically, the readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0110] In a possible implementation, the present invention can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of the obstacle detection method of Example 1 or Example 2.

[0111] The program code for executing the present invention may be written in any combination of one or more programming languages, and the program code may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0112] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A method for detecting an obstacle, characterized in that: The detection device is arranged on the smoke shield, and the detection method comprises the following steps: Obtaining the straight-line distance from the detection device to the edge of the smoke baffle; Obtaining a vertical distance from the target object to the horizontal plane where the detection device is located; determining whether the target object is an obstacle according to the vertical distance and the straight-line distance; The step of obtaining the vertical distance from the target object to the horizontal plane where the detection device is located specifically includes: Acquiring position information of the target object within the detection range during the closing process of the smoke shield; extracting coordinate information of the target object according to the position information; Calculate the vertical distance based on the straight-line distance and the coordinate information; The step of determining whether the target object is an obstacle according to the vertical distance and the straight-line distance specifically includes: When the vertical distance is not greater than the straight-line distance, it is determined that the target object is an obstacle.

2. The obstacle detection method according to claim 1, wherein: When the target object is an obstacle, the detection method further includes: The smoke baffle is controlled to stop running and a reminder message is issued.

3. An obstacle detection system, characterized in that: The detection system comprises: An acquisition module is used to obtain the straight-line distance from the detection device to the edge of the smoke baffle; The acquisition module is further used to acquire the vertical distance from the target object to the horizontal plane where the detection device is located; an analysis module, configured to determine whether the target object is an obstacle based on the vertical distance and the straight-line distance; The acquisition module includes an extraction unit and a calculation unit; The acquisition module is further specifically configured to acquire position information of the target object within the detection range during the closing process of the smoke shield; The extraction unit is used to extract the coordinate information of the target object according to the position information; The calculation unit is used to calculate the vertical distance according to the straight-line distance and the coordinate information; The analysis module is used to determine that the target object is an obstacle when the vertical distance is not greater than the straight-line distance.

4. The obstacle detection system according to claim 3, wherein: The detection system also includes a control module; When the target object is an obstacle, the control module is used to control the smoke shield to stop running and issue a reminder message.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the obstacle detection method according to claim 1 or 2 is implemented.

6. A computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the obstacle detection method according to claim 1 or 2 is implemented.

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