Roller shutter machine up-and-down limiting method and system based on image recognition

Abstract

The invention discloses a roller shutter machine up-and-down limiting method and system based on image recognition, and belongs to the technical field of roller shutter machine recognized.The method specifically comprises the steps that a camera is arranged over the top of a greenhouse, a round indicator lamp is arranged on the surface of a main motor of a roller shutter machine, and the distance L between the round indicator lamp and a lens is recorded when the roller shutter machine is located at an upper limiting position; setting the object distance of the camera according to the distance L; recording the circular light spot diameter d / light spot diameter D of the circular indicator lamp in the camera sensor when the roller shutter machine is located at the upper limit / lower limit; in the process of opening or closing the greenhouse heat preservation curtain, video image frames are obtained in real time, the image frames are preprocessed, circular light spots in the image frames are recognized, the diameter of the circular light spots is obtained, and when the diameter of the circular light spots is equal to d, it is judged that the curtain rolling machine is located at the upper limit, and a power source of the curtain rolling machine is turned off; and when the diameter of the circular light spot is equal to D, determining that the roller shutter machine is located at the lower limit, and turning off the power supply of the roller shutter machine.

Description

Technical Field

[0001] The present invention relates to the technical field of roller shutter machine identification, and in particular to an upper and lower limit method and system for a roller shutter machine based on image recognition. Background Art

[0002] In the existing field of roller shutter machine control technology, traditional limiting methods have long been dominant, mainly through mechanical limiting devices or sensors to achieve position control of roller shutter machines. These traditional methods have many drawbacks that cannot be ignored, the most notable of which is the complexity of the installation process. When installing mechanical limiting devices or sensors, it is often necessary to make significant modifications to the mechanical structure of the roller shutter machine, which is not only cumbersome to operate, but also requires high professional skills of the installers. The slightest carelessness will affect the stability of the entire roller shutter machine system. At the same time, because they are in a mechanical motion environment for a long time, they are extremely susceptible to wear and damage, and the subsequent maintenance costs should not be underestimated. More importantly, they have obvious limitations in limiting accuracy, and it is difficult to meet high-precision control requirements.

[0003] In recent years, with the rapid development of image recognition technology, a new method of roller shutter limit control has emerged, that is, to perform limit control by image recognition of the position of the roller shutter or roller shutter rod. This method has shown great advantages in theory and has brought new development ideas to the field of roller shutter control.

[0004] However, in practical applications, the implementation of this technology also faces many challenges. When identifying the position of the roller shutter machine in real time, most of the existing image recognition technologies rely on complex image processing algorithms and deep learning models. The application of these technologies means that a large amount of calculation and processing of the image is required, which leads to extremely high performance requirements for hardware devices. Ordinary hardware devices are difficult to meet their computing requirements, so high-performance hardware has to be used, which will undoubtedly greatly increase the hardware cost. In addition, the complex image processing process takes a long time, which may cause delays in the roller shutter machine control scenario with extremely high real-time requirements, thereby affecting the control accuracy and operating efficiency of the roller shutter machine. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for upper and lower limit of a rolling shutter machine based on image recognition to solve the following technical problems: Existing image recognition technologies often require high computing power to identify the position of roller shutter machines in real time, such as complex image processing algorithms and deep learning models, which leads to extremely high performance requirements for hardware devices, increasing hardware costs and power consumption. In addition, complex image processing processes may also lead to insufficient real-time performance, affecting the control accuracy and efficiency of roller shutter machines.

[0006] The purpose of the present invention can be achieved by the following technical solutions: A method for upper and lower limit of a rolling shutter machine based on image recognition, which is applied to a self-propelled greenhouse rolling shutter machine, comprises the following steps: A camera is set just above the top of the greenhouse, and a circular indicator light is set on the surface of the main motor of the roller shutter machine. When the roller shutter machine is at the upper limit position, the distance L between the circular indicator light and the lens is recorded. Then, the distance between the focal plane of the camera and the lens is set to u, u<La, where a represents the depth of field range of the lens; Record the diameter d of the circular spot of the circular indicator light in the camera sensor when the roller shutter is at the upper limit position; Record the diameter D of the circular spot of the circular indicator light in the camera sensor when the roller shutter is at the lower limit position; When the greenhouse insulation curtain is opened or closed, video image frames are obtained from the camera in real time, and the image frames are preprocessed to identify the circular light spots in the image frames and obtain the diameter of the circular light spots. When the insulation curtain is opened, if the diameter of the circular light spot is equal to d, it is determined that the roller shutter machine is at the upper limit and the power of the roller shutter machine is turned off; when the insulation curtain is closed, if the diameter of the circular light spot is equal to D, it is determined that the roller shutter machine is at the lower limit and the power of the roller shutter machine is turned off.

[0007] As a further solution of the present invention: record the corresponding opening area ratio of the greenhouse thermal insulation curtain at different distances between the circular indicator light and the camera, generate a mapping relationship between the distance and the area ratio, and set the opening ratio of the greenhouse thermal insulation curtain to k. i When , the corresponding mapping distance L is obtained from the mapping relationship i , then the mapping distance L i The corresponding spot diameter D i The calculation formula is: ; In the formula, f represents the focal length of the lens, D0 represents the actual diameter of the circular indicator light, then when the opening ratio of the greenhouse insulation curtain is received, k i When the diameter of the circular indicator light in the video image frame is equal to D i , turn off the power of the roller shutter machine.

[0008] As a further solution of the present invention: the upper limit position is the position of the roller shutter machine when the greenhouse thermal insulation curtain is fully rolled up; the lower limit position is the position of the roller shutter machine when the greenhouse thermal insulation curtain is fully unfolded.

[0009] As a further solution of the present invention: when the roller shutter machine is at the lower limit position, the minimum circumscribed rectangle of the light spot of the circular indicator light in the camera sensor is obtained, and the area within the minimum circumscribed rectangle is set as a detection area. When the roller shutter machine is running, the light spot is only recognized within the detection area.

[0010] As a further solution of the present invention: the pretreatment process is: The image frame is converted into a grayscale image. Based on the matrix template of the Laplace operator, each pixel point and adjacent pixel points in the grayscale image are multiplied by the values ​​in the matrix template respectively, and the sum of all products is calculated, and the sum value is marked as the new grayscale value of the intermediate pixel point, and the grayscale values ​​of all the pixel points in the image frame are updated respectively.

[0011] As a further solution of the present invention: the process of identifying the circular light spot in the image frame and obtaining the diameter of the circular light spot is: Gaussian filtering is performed on the grayscale image, and the Canny algorithm is used to detect the edge of the grayscale image. The Sobel operator is used to calculate the gradient amplitude and direction, suppress non-edge points, retain the local maximum value on the edge, and distinguish strong and weak edges through high and low thresholds. The complete edge image is obtained through connectivity analysis; The edge points are mapped to the parameter space using the Hough circle transform, the center and radius range are determined according to the gradient direction, and a vote is cast in the accumulator. When the accumulator value exceeds the set threshold, the circle corresponding to the center and radius within the edge is determined to be a valid circle, and the diameter of the circular spot is detected.

[0012] As a further solution of the present invention: the camera and the circular indicator light are turned on only when the roller shutter machine is in operation.

[0013] The present invention also includes an upper and lower limit system of a rolling curtain machine based on image recognition, which is used to implement the above-mentioned upper and lower limit method of a rolling curtain machine based on image recognition, including a camera, a camera setting module, a memory, a circular indicator light, an image processing module and a data processing module, wherein: A camera is used to take video of the circular indicator light during the operation of the roller shutter machine; The camera setting module is used to record the distance L between the circular indicator light and the lens when the roller shutter is at the upper limit position, and set the distance between the focal plane of the camera and the lens to u, u<La, where a represents the depth of field range of the lens; The circular indicator light is used to turn on during the operation of the roller shutter machine to indicate the position of the roller shutter machine; The memory is used to record the diameter d of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the upper limit position; and to record the diameter D of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the lower limit position; The image processing module is used to obtain video image frames from the camera in real time when the greenhouse insulation curtain is opened or closed, and to pre-process the image frames, identify the circular light spots in the image frames, and obtain the diameter of the circular light spots; The data processing module is used to determine that the roller shutter machine is at the upper limit position and output a power-off command for the roller shutter machine when the diameter of the circular light spot is equal to d during the process of opening the thermal insulation curtain; when the diameter of the circular light spot is equal to D during the process of closing the thermal insulation curtain, it is determined that the roller shutter machine is at the lower limit position and output a power-off command for the roller shutter machine.

[0014] Beneficial effects of the present invention: The present invention optimizes the image processing process and only uses simple image preprocessing and spot diameter detection based on geometric relationships, thus avoiding complex deep learning models or advanced image processing algorithms. This method greatly reduces the performance requirements for hardware equipment, reduces hardware costs and power consumption, and makes the system more suitable for operation in resource-constrained environments. By directly detecting the spot diameter of the circular indicator light to determine the position of the roller shutter, the complex image analysis process is avoided, thereby improving the real-time performance and response speed of the system. At the same time, by accurately recording the corresponding relationship between the spot diameter and the position of the roller shutter, high-precision limit control can be achieved. The present invention does not require complex sensors or mechanical devices. This simplified design not only reduces the installation cost, but also improves the reliability and ease of use of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] Figure 1 It is a flow chart of an upper and lower limit method of a rolling curtain machine based on image recognition according to the present invention; Figure 2 It is a module schematic diagram of an upper and lower limit system of a rolling shutter machine based on image recognition of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of 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.

[0018] See also Figure 1 As shown, a method for upper and lower limit of a rolling shutter machine based on image recognition is applied to a self-propelled greenhouse rolling shutter machine, comprising the following steps: 1. To achieve precise control over the upper and lower limits of the rolling machine, an innovative method based on image recognition is proposed. Specifically, a camera is installed directly above the top of the greenhouse to monitor the operating status of the rolling machine in real time. At the same time, a circular indicator light is set on the surface of the main motor of the rolling machine to mark the position of the rolling machine. For energy conservation and improving system efficiency, the camera and the circular indicator light are only turned on during the operation of the rolling machine.

[0019] When the rolling machine is at the upper limit, the distance between the circular indicator light and the camera lens is recorded as L at this time. To ensure that the camera can capture the blurred light spot of the circular indicator light, the focus plane of the camera needs to be precisely set. Specifically, the distance between the focus plane of the camera and the lens is set as u, and it is required that u < L - a, where a represents the rear depth of field range of the lens. This setting can ensure that during the operation of the rolling machine, the circular indicator light is always outside the imaging depth of field of the camera and always appears as a blurred light spot, thus providing recognizable image data for subsequent image recognition.

[0020] In addition, the upper limit refers to the position where the rolling machine is located when the greenhouse insulation curtain is fully rolled up, while the lower limit refers to the position where the rolling machine is located when the greenhouse insulation curtain is fully unfolded. Through this definition, the operating range of the rolling machine can be clearly defined, and a clear basis can be provided for subsequent limit control.

[0021] 2. During the operation of the rolling machine, in order to achieve precise detection of its upper and lower limits, it is necessary to record in detail the imaging characteristics of the circular indicator light in the camera sensor. The specific steps are as follows: When the rolling machine is at the upper limit, that is, when the greenhouse insulation curtain is fully rolled up, the position of the circular indicator light is fixed at this time. Take a picture of the image at this time through the camera and analyze the image to accurately measure the diameter of the light spot formed by the circular indicator light in the camera sensor, denoted as d. This diameter d is the characteristic size of the light spot in the upper limit state and will be used as an important basis for subsequent judgment of whether the rolling machine reaches the upper limit.

[0022] Similarly, when the rolling machine is at the lower limit, that is, when the greenhouse insulation curtain is fully unfolded, the position of the circular indicator light will also change accordingly. At this time, take a picture of the image again through the camera and analyze the image to accurately measure the diameter of the light spot formed by the circular indicator light in the camera sensor, denoted as D. This diameter D is the characteristic size of the light spot in the lower limit state and will be used as an important basis for subsequent judgment of whether the rolling machine reaches the lower limit.

[0023] By recording the spot diameters (d and D) at these two key positions, a clear image feature reference can be provided for the limit detection of the roller shutter machine. In the subsequent operation process, it is only necessary to monitor the spot diameter of the circular indicator light in real time and compare it with the pre-recorded diameters d and D to accurately determine whether the roller shutter machine has reached the upper and lower limits, thereby achieving precise control of the operation of the roller shutter machine.

[0024] 3. During the operation of the roller shutter machine, in order to accurately detect the position of the roller shutter machine, the present invention adopts an efficient image processing and recognition method. The specific steps are as follows: In the process of opening or closing the greenhouse thermal insulation curtain, the camera acquires video image frames in real time. In order to improve the detection efficiency and reduce the consumption of computing resources, the present invention specially designs a method for setting the detection area. Specifically, when the roller shutter is at the lower limit (that is, the state where the greenhouse thermal insulation curtain is fully unfolded), the light spot formed by the circular indicator light in the camera sensor is recorded, and the minimum circumscribed rectangle of the light spot is calculated. The range of this minimum circumscribed rectangle is defined as the detection area. During the operation of the roller shutter, the image processing system will only analyze and identify the image content within the detection area, thereby avoiding indiscriminate processing of the entire image frame and significantly improving the operation efficiency of the system.

[0025] In order to ensure that the light spot features in the image can be accurately identified, the present invention performs a special preprocessing operation on the collected image frames. The specific steps of the preprocessing are as follows: Grayscale processing: First, the color image frame is converted into a grayscale image. Grayscale processing can remove the color information in the image and retain the brightness information, thereby simplifying the subsequent processing and reducing the amount of data.

[0026] Laplace sharpening: Based on the matrix template of the Laplace operator, each pixel in the grayscale image and its adjacent pixels are operated. The specific operation is to multiply each pixel and its surrounding pixels with the values ​​in the Laplace operator matrix template, and calculate the sum of all products. This sum is marked as the new grayscale value of the pixel. In this way, the grayscale values ​​of all pixels in the image frame are updated to achieve image sharpening. Laplace sharpening can enhance the edge features of the image, making the outline of the spot clearer, which is convenient for subsequent identification and analysis.

[0027] After the above preprocessing steps, the light spot features in the image are more prominent, providing a high-quality image basis for subsequent light spot recognition and roller shutter position detection.

[0028] 4. After completing the image preprocessing, in order to accurately identify the circular light spot and determine its diameter, the specific steps of the present invention are as follows: 4.1. Gaussian filtering and edge detection: First, the grayscale image is subjected to Gaussian filtering. Gaussian filtering is a smoothing filter based on Gaussian function, which can effectively remove noise from the image while retaining important image features, providing a clearer image basis for subsequent edge detection.

[0029] Subsequently, the Canny edge detection algorithm is used to detect the edge of the filtered grayscale image. The Canny algorithm is a classic edge detection method that achieves high-precision edge extraction through the following steps: The Sobel operator is used to calculate the gradient magnitude and gradient direction of each pixel in the image. The gradient magnitude indicates the edge strength of the image at that point, while the gradient direction indicates the direction of the edge.

[0030] Through non-maximum suppression, the gradient amplitude of non-edge points is suppressed, and only the local maximum value on the edge is retained. This step can remove redundant information in edge detection and make the edge clearer.

[0031] Set high and low thresholds to distinguish strong edges from weak edges. A high threshold is used to determine obvious strong edges, while a low threshold is used to detect weak edges that may be connected to strong edges.

[0032] Finally, through connectivity analysis, weak edges are connected to strong edges to obtain a complete edge image.

[0033] 4.2. Circular spot detection: After obtaining the complete edge image, the edge points are mapped to the parameter space using the Hough circle transform. The Hough circle transform is an algorithm based on a voting mechanism, which is specifically used to detect circular features: According to the gradient direction of the edge point, the center position and radius range of each edge point are determined.

[0034] In the parameter space, an accumulator is set for each possible center position and radius. For each edge point, a vote is performed in the accumulator according to its corresponding center position and radius.

[0035] The value of the accumulator indicates the number of edge points of the circle corresponding to the center position and radius. When the value of a certain accumulator exceeds the set threshold, the circle corresponding to the center position and radius is considered to be a valid circular light spot. Through the above steps, the center position and diameter of the circular light spot are finally determined.

[0036] 4.3. Roller shutter machine position judgment and control: After detecting the diameter of the circular light spot, the system will determine the current state of the roller shutter machine based on the pre-recorded correspondence between the light spot diameter and the roller shutter machine position: When the detected circular light spot diameter is equal to d (the light spot diameter at the upper limit position), it is determined that the roller shutter machine has reached the upper limit position. At this time, the power supply of the roller shutter machine is turned off and the operation of the roller shutter machine is stopped to prevent the roller shutter machine from over-rolling up.

[0037] When the detected circular light spot diameter is equal to D (the light spot diameter at the lower limit), it is determined that the roller shutter machine has reached the lower limit. At this time, the power supply of the roller shutter machine is also turned off and the operation of the roller shutter machine is stopped to prevent the roller shutter machine from over-expanding.

[0038] Through this method based on image recognition, the present invention can achieve precise control of the upper and lower limits of the rolling machine, avoid the shortcomings of traditional mechanical limit devices, and improve the operating efficiency and reliability of the rolling machine.

[0039] 5. In order to achieve accurate control of the opening ratio of the greenhouse insulation curtain, the present invention further expands its functions, which can not only detect the upper and lower limits of the roller shutter machine, but also accurately control the opening ratio of the insulation curtain according to the user's setting. The specific implementation method is as follows: During the operation of the roller shutter machine, the distance between the circular indicator light and the camera will change with the position of the roller shutter machine. Through experiments and measurements, the proportion of the greenhouse thermal insulation curtain opening area corresponding to the circular indicator light at different distances is recorded. For example, when the roller shutter machine is in a certain position, the thermal insulation curtain may be opened by 30%, 50% or 70%. In this way, a mapping relationship table of distance and area ratio is generated. This mapping relationship table records in detail the correspondence between the roller shutter machine position (indicated by the distance between the circular indicator light and the camera) and the proportion of the thermal insulation curtain opening area.

[0040] Based on the above mapping relationship, when the user needs to set the opening ratio of the greenhouse insulation curtain to a certain value (denoted as k i ), the corresponding mapping distance L can be obtained from the mapping relationship table i According to optical principles, the diameter of the spot formed by the circular indicator light in the camera sensor is D i It can be calculated by the following formula: ; In the formula, f represents the focal length of the lens, and D0 represents the actual diameter of the circular indicator light.

[0041] In the actual operation process, when receiving the greenhouse insulation curtain opening ratio k set by the user i When the system calculates the corresponding spot diameter D according to the above formula i The system then acquires the video image frames in real time, processes and analyzes the image frames, and identifies the spot diameter of the circular indicator light. The system continues to monitor the change in the spot diameter until its value equals the calculated D iAt this point, the system determines that the thermal insulation curtain has reached the opening ratio k set by the user. i , and immediately turn off the power of the roller shutter machine and stop the operation of the roller shutter machine, so as to achieve precise control of the opening ratio of the thermal insulation curtain.

[0042] Through this method, the present invention can not only realize the upper and lower limit control of the roller shutter machine, but also flexibly set the opening ratio of the thermal insulation curtain according to user needs. This functional expansion makes the control of the roller shutter machine more intelligent and humanized, and can meet the use needs in different scenarios. For example, when partial lighting is needed during the day, the user can set the thermal insulation curtain to open 50%; at night or in cold weather, the thermal insulation curtain can be completely closed to maintain the temperature in the greenhouse. This precise control not only improves the use efficiency of the greenhouse, but also effectively saves energy and reduces operating costs.

[0043] See also Figure 2 As shown, the present invention also includes an upper and lower limit system of a rolling curtain machine based on image recognition, which is used to implement the above-mentioned upper and lower limit method of a rolling curtain machine based on image recognition, including a camera, a camera setting module, a memory, a circular indicator light, an image processing module and a data processing module, wherein: A camera is used to take video of the circular indicator light during the operation of the roller shutter machine; The camera setting module is used to record the distance L between the circular indicator light and the lens when the roller shutter is at the upper limit position, and set the distance between the focal plane of the camera and the lens to u, u<La, where a represents the depth of field range of the lens; The circular indicator light is used to turn on during the operation of the roller shutter machine to indicate the position of the roller shutter machine; The memory is used to record the diameter d of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the upper limit position; and to record the diameter D of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the lower limit position; The image processing module is used to obtain video image frames in real time when the greenhouse thermal insulation curtain is opened or closed, and to pre-process the image frames, identify the circular light spots in the image frames, and obtain the diameter of the circular light spots; The data processing module is used to determine that the roller shutter machine is at the upper limit when the diameter of the circular light spot is equal to d, and output a command to turn off the power of the roller shutter machine; when the diameter of the light spot is equal to D, it is used to determine that the roller shutter machine is at the lower limit and output a command to turn off the power of the roller shutter machine.

[0044] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0045] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or may be transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium may be a solid-state hard disk.

[0046] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0047] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0048] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0049] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, and may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0050] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0051] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0052] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0053] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for upper and lower limit of a rolling shutter machine based on image recognition, applied to a self-propelled greenhouse rolling shutter machine, characterized in that: The following steps are involved: A camera is set just above the top of the greenhouse, and a circular indicator light is set on the surface of the main motor of the roller shutter machine. When the roller shutter machine is at the upper limit position, the distance L between the circular indicator light and the lens is recorded. Then, the distance between the focal plane of the camera and the lens is set to u, u<La, where a represents the depth of field range of the lens; Record the diameter d of the circular spot of the circular indicator light in the camera sensor when the roller shutter is at the upper limit position; Record the diameter D of the circular spot of the circular indicator light in the camera sensor when the roller shutter is at the lower limit position; When the greenhouse insulation curtain is opened or closed, video image frames are obtained from the camera in real time, and the image frames are preprocessed to identify the circular light spots in the image frames and obtain the diameter of the circular light spots. When the insulation curtain is opened, if the diameter of the circular light spot is equal to d, it is determined that the roller shutter machine is at the upper limit and the power of the roller shutter machine is turned off; when the insulation curtain is closed, if the diameter of the circular light spot is equal to D, it is determined that the roller shutter machine is at the lower limit and the power of the roller shutter machine is turned off.

2. According to the method of upper and lower limit of rolling shutter machine based on image recognition according to claim 1, it is characterized in that: Record the corresponding opening area ratio of the greenhouse thermal insulation curtain at different distances between the circular indicator light and the camera, generate a mapping relationship between distance and area ratio, and set the opening ratio of the greenhouse thermal insulation curtain to k. i When , the corresponding mapping distance L is obtained from the mapping relationship i , then the mapping distance L i The corresponding spot diameter D i The calculation formula is: ； In the formula, f represents the focal length of the lens, D0 represents the actual diameter of the circular indicator light, then when the opening ratio of the greenhouse insulation curtain is received, k i When the diameter of the circular indicator light in the video image frame is equal to D i , turn off the power of the roller shutter machine.

3. The method for upper and lower position limiting of a rolling shutter machine based on image recognition according to claim 1, characterized in that: The upper limit position is the position of the roller shutter machine when the greenhouse thermal insulation curtain is fully rolled up; the lower limit position is the position of the roller shutter machine when the greenhouse thermal insulation curtain is fully unfolded.

4. The method for upper and lower position limiting of a rolling shutter machine based on image recognition according to claim 1, characterized in that: When the roller shutter is at the lower limit, the minimum circumscribed rectangle of the light spot of the circular indicator light in the camera sensor is obtained, and the area within the minimum circumscribed rectangle is set as the detection area. When the roller shutter is running, the light spot is only recognized in the detection area.

5. The method for upper and lower position limiting of a rolling shutter machine based on image recognition according to claim 1, characterized in that: The pre-processing process is as follows: The image frame is converted into a grayscale image. Based on the matrix template of the Laplace operator, each pixel point and adjacent pixel points in the grayscale image are multiplied by the values ​​in the matrix template respectively, and the sum of all products is calculated, and the sum value is marked as the new grayscale value of the intermediate pixel point, and the grayscale values ​​of all the pixel points in the image frame are updated respectively.

6. The method for upper and lower position limiting of a rolling shutter machine based on image recognition according to claim 1, characterized in that: The process of identifying the circular light spot in the image frame and obtaining the diameter of the circular light spot is as follows: Gaussian filtering is performed on the grayscale image, and the Canny algorithm is used to detect the edge of the grayscale image. The Sobel operator is used to calculate the gradient amplitude and direction, suppress non-edge points, retain the local maximum value on the edge, and distinguish strong and weak edges through high and low thresholds. The complete edge image is obtained through connectivity analysis; The edge points are mapped to the parameter space using the Hough circle transform, the center and radius range are determined according to the gradient direction, and a vote is cast in the accumulator. When the accumulator value exceeds the set threshold, the circle corresponding to the center and radius within the edge is determined to be a valid circle, and the diameter of the circular spot is detected.

7. The method for upper and lower position limiting of a rolling shutter machine based on image recognition according to claim 1, characterized in that: The camera and the circular indicator light are turned on only during the operation of the roller shutter machine.

8. An upper and lower limit system of a rolling shutter machine based on image recognition, used to implement an upper and lower limit method of a rolling shutter machine based on image recognition according to any one of claims 1 to 7, characterized in that: It includes a camera, a camera setting module, a memory, a circular indicator light, an image processing module and a data processing module, wherein: A camera is used to take video of the circular indicator light during the operation of the roller shutter machine; The camera setting module is used to record the distance L between the circular indicator light and the lens when the roller shutter is at the upper limit position, and set the distance between the focal plane of the camera and the lens to u, u<La, where a represents the depth of field range of the lens; The circular indicator light is used to turn on during the operation of the roller shutter machine to indicate the position of the roller shutter machine; The memory is used to record the diameter d of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the upper limit position; and to record the diameter D of the circular spot of the circular indicator light in the camera sensor when the roller shutter is located at the lower limit position; The image processing module is used to obtain video image frames from the camera in real time when the greenhouse insulation curtain is opened or closed, and to pre-process the image frames, identify the circular light spots in the image frames, and obtain the diameter of the circular light spots; The data processing module is used to determine that the roller shutter machine is at the upper limit position and output a power-off command for the roller shutter machine when the diameter of the circular light spot is equal to d during the process of opening the thermal insulation curtain; when the diameter of the circular light spot is equal to D during the process of closing the thermal insulation curtain, it is determined that the roller shutter machine is at the lower limit position and output a power-off command for the roller shutter machine.

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