Door closing state detection method, device and equipment, medium and intelligent door lock

Abstract

The invention relates to the technical field of intelligent door locks, and discloses a door closing state detection method, device and equipment, a medium and an intelligent door lock.The method comprises the steps that after a door closing signal is received, a first door closing picture is obtained; identifying a door and a door frame in the first door closing picture, and determining an actual door closing included angle between the door and the door frame; according to the actual door closing included angle and a preset angle threshold value, whether the door is in an unclosed state or not is judged, or after a door closing signal is received, a second door closing picture containing a light spot is obtained; the light spot and the door frame in the second door closing picture are recognized, and the actual door closing distance between the door frame and the light spot is determined; and judging whether the door is in an unclosed state or not according to the actual door closing distance and a preset distance threshold. According to the invention, whether the door is closed tightly at the moment can be judged more intuitively and more accurately, accidental automatic opening of the door caused by uncertain masks is avoided, the life and property safety of a user is ensured, the anxiety mood of the user is improved, and the experience feeling of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent door locks, and particularly relates to a method, device, equipment, medium and intelligent door lock for detecting the closed state of a door. Background Art

[0002] Most of the status message push of fully automatic intelligent door locks is accurate, but there are often some abnormal situations. For example: The user clearly remembers that the door is locked, but there is a strange phenomenon that the intelligent door lock automatically opens in the middle of the night without anyone operating the door lock. In most cases, this is because the door is in a half-closed state. There are many reasons why the intelligent door lock misreports the half-closed door as a closed state, including: improper assembly during installation, inappropriate sizes of the installed lock body and side strip, sinking of the door weight, and too large door gap. Since the existing technologies all judge the closed state of the door according to the level situation of the lock tongue, it may cause the lock tongue to have entered the slot of the door sill side strip, but due to the detection tongue or sensor not being correctly aligned, position offset, or too large spacing, the door being closed is not successfully detected. It may also cause the lock tongue to be unable to enter the slot of the side strip or not be tightly stuck, resulting in the "half-closed" state of the door, and the appearance of "accidental automatic opening".

[0003] In this case, the corresponding APP (Application) of the intelligent door lock mis-pushes "the door is closed" in the half-closed state of the door. As a result, later, due to the wind or the rebound force received by the lock tongue, the door automatically bounces open, which will bring great insecurity and anxiety to the user caused by the false appearance of "the intelligent door lock automatically opens", affect the user experience, and pose a threat to the personal safety and property safety of the user. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, equipment, medium and intelligent door lock for detecting the closed state of a door to solve the problem of being unable to accurately determine the closed state of the door.

[0005] In a first aspect, the present invention provides a method for detecting the closed state of a door, which is applied to an intelligent door lock. The method includes:

[0006] After receiving a door closing signal, obtain a first door closing photo;

[0007] Based on a preset opening direction, identify the door and the door frame in the first door closing photo, and determine the actual closing angle between the door and the door frame;

[0008] Judge whether the door is in a half-closed state according to the actual closing angle and a preset angle threshold;

[0009] Alternatively, after receiving a door closing signal, trigger a light source emitting device, and obtain a second door closing photo containing a light spot;

[0010] Based on a preset door opening direction, identify the light spot and the door frame in the second closing photo, and determine the actual closing distance between the door frame and the light spot;

[0011] Judge whether the door is in a ajar state according to the actual closing distance and the preset distance threshold.

[0012] The detection method for the closing state provided by the present invention, after receiving the closing signal, based on the preset door opening direction, identify the door and the door frame in the first closing photo obtained, determine the actual closing angle between the door and the door frame, and judge whether the door is in a ajar state according to the actual closing angle and the preset angle threshold, or based on the preset door opening direction, identify the light spot and the door frame in the second closing photo obtained, determine the actual closing distance between the light spot and the door frame, and judge whether the door is in a ajar state according to the actual closing distance and the preset distance threshold. The present invention judges by the angle between the door and the door frame after closing, or the distance between the light spot and the door frame, which can more intuitively and accurately judge whether the door is tightly closed at this time, avoid the accidental automatic opening of the door due to being ajar, ensure the life and property safety of users, improve the anxiety of users, and enhance the user experience.

[0013] In an optional implementation manner, when identifying the door and the door frame in the first closing photo based on the preset door opening direction and determining the actual closing angle between the door and the door frame, it further includes: if the actual closing angle cannot be determined, jump to trigger the light source emitting device, and obtain the second closing photo containing the light spot until it is judged whether the door is in a ajar state.

[0014] The present invention uses a light source to assist in judging the closing state of the door, which can avoid the situation where the closing angle cannot be determined due to insufficient light or other conditions, and the current closing state cannot be judged, improve the reliability of the closing state detection, and further ensure the life and property safety of users.

[0015] In an optional implementation manner, identifying the door and the door frame in the first closing photo based on the preset door opening direction and determining the actual closing angle between the door and the door frame includes: determining the first positional relationship between the door and the door frame in the first closing photo based on the preset door opening direction. If the preset door opening direction is left-side opening, the door and the door frame are on the left side of the first closing photo, and the door is on the right side of the door frame. If the preset door opening direction is right-side opening, the door and the door frame are on the right side of the first closing photo, and the door is on the left side of the door frame; identifying the door and the door frame in the first closing photo based on the preset algorithm and the first positional relationship, and determining the first edge of the door and the second edge of the door frame close to the door side; determining the connection point of the first edge and the second edge, and taking the included angle of the connection point as the actual closing angle.

[0016] By detecting the edges of the door and the doorframe, the present invention can determine the angle between the door and the doorframe at this time. The size of the angle represents the closed state of the door. When the door is closed tightly, the angle between the door and the doorframe is relatively small. Therefore, it is possible to intuitively and accurately determine whether the door is closed tightly based on the current actual closing angle.

[0017] In an alternative embodiment, determining whether the door is in a ajar state based on the actual closing angle and a preset angle threshold includes: obtaining the standard closing angle between the doorframe and the door in a pre-determined first standard photo, and calculating the angular deviation between the actual closing angle and the standard closing angle; if the angular deviation is greater than the preset angle threshold, determining that the door is in an ajar state and generating a first push message; if the angular deviation is less than or equal to the preset angle threshold, determining that the door is in a closed state and generating a second push message.

[0018] By pre-determining the standard closing angle between the doorframe and the door in the standard photo, the present invention can use this angle as a reference to accurately determine the closing state of the current door and send a push message to the user. Thus, when the ajar state is determined, the user can close the door again to ensure that the door is always in a closed state and ensure life and property safety.

[0019] In an alternative embodiment, after determining that the angular deviation is less than the preset angle threshold, it further includes: using the first closing photo as the first standard photo and using the actual closing angle as the standard closing angle.

[0020] By updating the standard closing angle, the present invention can convert the changes in the external environment such as the aging of the rubber strip and the deformation of the doorframe into changes in the closing angle, ensuring the accuracy of the detection of the closing state.

[0021] In an alternative embodiment, based on a preset opening direction, identifying the light spot and the doorframe in the second closing photo and determining the actual closing distance between the doorframe and the light spot includes: determining the second positional relationship among the door, the light spot, and the doorframe in the second closing photo based on the preset opening direction. If the preset opening direction is left-side opening, the door and the light spot are on the right side of the doorframe; if the preset opening direction is right-side opening, the door and the light spot are on the left side of the doorframe; identifying the door, the doorframe, the light spot, and the ground in the second closing photo based on a preset algorithm and the second positional relationship, and determining the third edge on the side of the doorframe away from the door; determining the connection point between the third edge and the ground, and taking the distance between the connection point and the light spot as the actual closing distance.

[0022] By detecting the intersection point between the edge of the door frame and the ground, the present invention can determine the distance between the light spot and the intersection point at this time. The distance can also represent the closed state of the door. When the door is closed tightly, the distance between the light spot and the intersection point is relatively short. Therefore, it is possible to make a secondary judgment based on the current actual closing distance to more intuitively and accurately determine whether the door is closed tightly.

[0023] In an alternative embodiment, determining whether the door is in a half-closed state based on the actual closing distance and a preset distance threshold includes: obtaining the standard closing distance between the light spot and the door in a pre-determined second standard photo, and calculating the distance deviation between the actual closing distance and the standard closing distance; if the distance deviation is greater than the preset distance threshold, determining that the door is in a half-closed state and generating a first push message; if the distance deviation is less than or equal to the preset distance threshold, determining that the door is in a closed state and generating a second push message.

[0024] By pre-determining the standard closing distance between the intersection point of the door frame edge and the ground and the light spot in the standard photo, the present invention can use this distance as a reference to accurately determine the closing state of the current door and send a push message to the user. Thus, when the half-closed state is determined, the user can close the door again to ensure that the door is always in a closed state and ensure life and property safety.

[0025] In an alternative embodiment, after determining that the distance deviation is less than the preset distance threshold, it further includes: using the second closing photo as the second standard photo and using the actual closing distance as the standard closing distance.

[0026] By updating the standard closing distance, the present invention can convert the changes in external environments such as rubber strip aging and door frame deformation into changes in the closing distance, further ensuring the accuracy of the closing state detection.

[0027] In an alternative embodiment, after determining that the door is in a half-closed state, it further includes: increasing the shooting frequency of the low-power video recording device until a change in the main lock tongue level signal is detected.

[0028] By increasing the shooting frequency of the low-power video recording device in the half-closed state, the present invention can perform real-time monitoring of the external scene. The user can judge whether there are any abnormal situations in the half-closed state of the door based on the recorded video. If there are abnormalities, necessary measures can be taken to further ensure life and property safety.

[0029] In a second aspect, the present invention provides a detection device for the closing state, which is applied to an intelligent door lock. The device includes:

[0030] A photo acquisition module, configured to, after receiving a closing signal, acquire a first closing photo, or trigger a light source emission device and acquire a second closing photo including a light spot;

[0031] A state determination module, configured to identify a door and a doorframe in a first closing door photo based on a preset opening direction, and determine an actual closing angle between the door and the doorframe, or identify a light spot and a doorframe in a second closing door photo based on the preset opening direction, and determine an actual closing distance between the doorframe and the light spot;

[0032] A state detection module, configured to determine whether the door is in a ajar state according to the actual closing angle and a preset angle threshold, or determine whether the door is in a ajar state according to the actual closing distance and a preset distance threshold.

[0033] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other, wherein the memory stores computer instructions, and the processor executes the computer instructions to execute the method for detecting the closing state of the door in the first aspect or any corresponding embodiment thereof.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method for detecting the closing state of the door in the first aspect or any corresponding embodiment thereof.

[0035] In a fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the method for detecting the closing state of the door in the first aspect or any corresponding embodiment thereof.

[0036] In a sixth aspect, the present invention provides an intelligent door lock, including: a camera, configured to take a closing door photo; a light source emitter, configured to form a light spot on the ground; a low-power video recording device, installed on the top of the intelligent door lock, configured to record a video of the scene outside the door; and a control module, connected to the camera, the light source emitter and the low-power video recording device, configured to execute the method for detecting the closing state of the door in the first aspect or any corresponding embodiment thereof. Description of the Drawings

[0037] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic flowchart of the method for detecting the closing state of the door according to an embodiment of the present invention;

[0039] Figure 2Schematic diagram of an intelligent door lock structure for a door closing state detection method according to an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of the right door closed for a door closing state detection method according to an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of the right door ajar for a door closing state detection method according to an embodiment of the present invention;

[0042] Figure 5 Flow chart of another door closing state detection method according to an embodiment of the present invention;

[0043] Figure 6 Flow chart of yet another door closing state detection method according to an embodiment of the present invention;

[0044] Figure 7 Schematic diagram of the right door closed for yet another door closing state detection method according to an embodiment of the present invention;

[0045] Figure 8 Schematic diagram of the right door ajar for yet another door closing state detection method according to an embodiment of the present invention;

[0046] Figure 9 Flow chart of still another door closing state detection method according to an embodiment of the present invention;

[0047] Figure 10 Specific flow chart of still another door closing state detection method according to an embodiment of the present invention;

[0048] Figure 11 Block diagram of the structure of a door closing state detection device according to an embodiment of the present invention;

[0049] Figure 12 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] The embodiments of the present invention are applicable to the scenario where after the user closes the door, the smart door lock is not tightly closed, leaving the door in a ajar state. The embodiments of the present invention provide a method for detecting the closed state of the door, which accurately detects the closed state of the door by judging the angle between the door and the door frame.

[0052] According to the embodiments of the present invention, there is provided an embodiment of a method for detecting the closed state of the door. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0053] In this embodiment, there is provided a method for detecting the closed state of the door, which can be used for the above-mentioned smart door lock. Figure 1 It is a flowchart of the method for detecting the closed state of the door according to the embodiments of the present invention, as Figure 1 shown, this process includes the following steps:

[0054] Step S101, after receiving the door closing signal, obtain the first door closing photo.

[0055] Specifically, in the embodiments of the present invention, as Figure 2 shown, a camera (or called a cat's eye) is installed at the bottom of the smart door lock. After the smart door lock is closed, the lock tongue pops out, thus receiving the door closing signal. However, it is possible that the lock tongue pops out to a specific position, resulting in the door being in a ajar state, or the lock tongue does not pop out but the sensor detects that it has popped out, resulting in the door being in a ajar state. In order to accurately judge the state of the door at this time, control the camera at the bottom of the smart door lock to take a photo, obtaining the first door closing photo. As Figure 3 shown, at this time, the first door closing photo contains the door and the door frame.

[0056] Step S102, based on the preset opening direction, identify the door and the door frame in the first door closing photo, and determine the actual closing angle between the door and the door frame.

[0057] Specifically, in the embodiments of the present invention, according to the decoration situation of the room, the door may have different opening directions, including left-opening and right-opening. Different opening directions will result in different relative positions of the door and the door frame in the first door closing photo. Therefore, when the user installs the smart door lock, they can set the opening direction of the current smart door lock in advance. As Figure 3 shown for right-opening, when the door is tightly closed, the door and the door frame are on the right side of the first door closing photo, and the door is on the left side of the door frame. Even though the door is in a closed state at this time, there is still a certain angle between the door and the door frame. As Figure 4 shown, at this time, the door is in a ajar state, and the angle between the door and the door frame is larger than Figure 3The included angle shown is slightly larger. Therefore, the closing included angle of the door can, to a certain extent, represent the closing state of the door at this time. Therefore, in the embodiment of the present invention, the door and the door frame in the first closing photo are identified according to the preset opening direction, and the edge detection method and the like are used to determine the edge of the door and the edge of the door frame close to the door side. The included angle between the two edges is the actual closing included angle between the door and the door frame.

[0058] Step S103, determine whether the door is in a half-closed state according to the actual closing included angle and the preset angle threshold.

[0059] Specifically, in the embodiment of the present invention, the closing photos are learned in advance. By analyzing the selection of the reference object and the judgment standard in the closing photos, it is finally determined that the door and the door frame are used as the reference objects, multiple closing photos when the door is closed are obtained, and the included angle between the door and the door frame in each closing photo is determined. Finally, the closing photo corresponding to the smallest closing included angle is selected as the first standard photo, and the smallest closing included angle is used as the standard closing included angle. However, when the door is in the closed state, the included angle between the door and the door frame cannot be exactly the same. The self-learning algorithm is used to analyze each closing included angle in the closed state of the door to determine the allowable angle error in the closed state of the door, and the angle error is used as the preset angle threshold. When judging the closing state of the door, as long as the angle deviation between the actual closing included angle and the standard closing included angle exceeds the preset angle threshold, it is determined that the door is in a half-closed state; otherwise, it is determined that the door is in the closed state.

[0060] The detection method for the closing state provided by the present invention, after receiving the closing signal, based on the preset opening direction, identifies the door and the door frame in the first closing photo obtained, determines the actual closing included angle between the door and the door frame, and determines whether the door is in a half-closed state according to the actual closing included angle and the preset angle threshold. By judging the included angle between the door and the door frame after closing, the present invention can more intuitively and accurately judge whether the door is tightly closed at this time, avoid the accidental automatic opening of the door due to being half-closed, ensure the life and property safety of users, improve the anxiety of users, and enhance the user experience.

[0061] In this embodiment, a detection method for the closing state is provided, which can be used for the above-mentioned intelligent door lock. Figure 5 It is a flowchart of the detection method for the closing state according to the embodiment of the present invention, as Figure 5 shown. The process includes the following steps:

[0062] Step S501, after receiving the closing signal, obtain the first closing photo. For details, please refer to Figure 1 Step S101 of the embodiment shown, which will not be elaborated here.

[0063] Step S502: Based on the preset door opening direction, identify the door and the door frame in the first closing photo, and determine the actual closing angle between the door and the door frame.

[0064] Specifically, the above step S502 includes:

[0065] Step S5021: Based on the preset door opening direction, determine the first positional relationship between the door and the door frame in the first closing photo. If the preset door opening direction is left-side opening, the door and the door frame are on the left side of the first closing photo, and the door is on the right side of the door frame. If the preset door opening direction is right-side opening, the door and the door frame are on the right side of the first closing photo, and the door is on the left side of the door frame.

[0066] Specifically, in the embodiment of the present invention, after the user installs the intelligent door lock, when initializing the intelligent door lock, the user can set the door opening direction. When detecting the closing state of the door, the relative positional relationship between the door and the door frame in the first closing photo is determined according to the set door opening direction: if it is left-side opening, the door and the door frame are on the left side of the first closing photo, and the door is on the right side of the door frame; if it is right-side opening, the door and the door frame are on the right side of the first closing photo, and the door is on the left side of the door frame, as Figure 2 shown, so as to provide targeted instructions for subsequent identification of the door and the door frame.

[0067] Step S5022: Based on the preset algorithm and the first positional relationship, identify the door and the door frame in the first closing photo, and determine the first edge of the door and the second edge on the side of the door frame close to the door.

[0068] Specifically, in the embodiments of the present invention, the obtained first closing door photo is specifically recognized according to the determined positional relationship: if it is a left-opening door, the left position in the first closing door photo is mainly recognized, and the door and the door frame are distinguished according to the fact that the door in the first closing door photo is on the right side of the door frame; if it is a right-opening door, the right position in the first closing door photo is mainly recognized, and the door and the door frame are distinguished according to the fact that the door in the first closing door photo is on the left side of the door frame. At the same time, the door edge and the edge of the door frame close to the door side are recognized based on a preset algorithm. The preset algorithm uses technologies in the field of computer vision and is used to automatically recognize the main lines in the image and determine their angles. The main line refers to the most prominent line or edge in the image, which usually represents the important structure or object boundary in the image. The purpose of finding the main line is to extract these key lines and calculate their angles for further image analysis and processing. The algorithms adopted in the embodiments of the present invention include: edge detection algorithms, line detection algorithms, skeleton extraction algorithms, template matching algorithms, etc. Among them, edge detection algorithms such as the Canny algorithm and the Sobel algorithm are used to extract the edge information in the image, and then by analyzing the direction and intensity of the edges, the main lines are found; line detection algorithms, such as the Hough transform, are used to identify the straight lines in the image. By setting certain thresholds and parameters, the main straight lines can be screened out and their angles can be calculated; the skeleton extraction algorithm converts the lines in the image into a refined skeleton structure, and then by analyzing the topological structure and angles of the skeleton, the main lines are found; the template matching algorithm matches a pre-defined line template with the image, and by calculating the matching degree and angle, the line most similar to the template is found. The above algorithms are only examples and are not limited thereto.

[0069] Step S5023: Determine the connection point of the first edge and the second edge, and use the included angle of the connection point as the actual closing door included angle.

[0070] Specifically, in the embodiments of the present invention, after determining the door edge and the edge of the door frame close to the door side, determine the connection point of the two edge lines. As Figure 3 and Figure 4 shown, when the edge lines are extended, they will necessarily intersect at one end close to the ground, and the intersection point is the connection point. Use the included angle of the connection point as the actual closing door included angle between the door and the door frame. The larger the included angle, the greater the possibility that the corresponding door is ajar.

[0071] Step S503: Judge whether the door is in an ajar state according to the actual closing door included angle and the preset angle threshold.

[0072] Specifically, the above step S503 includes:

[0073] Step S5031: Obtain the standard closing door included angle between the door frame and the door in the pre-determined first standard photo, and calculate the angle deviation between the actual closing door included angle and the standard closing door included angle.

[0074] Specifically, in the embodiments of the present invention, a preset first standard closing photo and a standard closing angle between the door frame and the door in the first standard closing photo are stored in the intelligent door lock. When detecting the closing state after closing the door, the angular deviation between the calculated actual closing angle and the stored standard closing angle is calculated.

[0075] Step S5032, if the angular deviation is greater than a preset angular threshold, it is determined that the door is in a ajar state, and a first push message is generated.

[0076] Specifically, in the embodiments of the present invention, if the angular deviation between the actual closing angle and the standard closing angle is greater than the set angular threshold, it means that the gap between the door and the door frame is large at this time. Therefore, it is determined that the door is in a ajar state at this time. At the same time, a first push message is generated, which can be used for alarm prompt through the intelligent door lock, or a first push message is sent to the user through the APP. The user can check according to the prompt message or close the door again.

[0077] Step S5033, if the angular deviation is less than or equal to the preset angular threshold, it is determined that the door is in a closed state, and a second push message is generated.

[0078] Specifically, in the embodiments of the present invention, if the angular deviation between the actual closing angle and the standard closing angle is less than or equal to the set angular threshold, it means the gap between the door and the door frame at this time. Therefore, it is determined that the door is in a closed state at this time. At the same time, a second push message is generated, which can be used for prompt through the intelligent door lock, or a second push message is sent to the user through the APP. The user can determine that the door lock is closed at this time according to the prompt message.

[0079] Step S504, take the first closing photo as the first standard photo and take the actual closing angle as the standard closing angle.

[0080] Specifically, in the embodiments of the present invention, due to the influence of the aging of the rubber strip, the deformation of the door frame, etc., the angle between the door and the door frame gradually changes when the door is in the closed state. In order to improve the detection accuracy, if it is determined during the detection process that the angular deviation is less than the preset angular threshold in the embodiments of the present invention, the intelligent door lock will also take the currently obtained first closing photo as the first standard photo and take the currently determined actual closing angle as the standard closing angle. When detecting the closing state subsequently, the updated standard closing photo and standard closing angle are used as the benchmark. This is also the self-learning process of the intelligent door lock.

[0081] Step S505, increase the shooting frequency of the low-power video recording device until it is detected that the main lock tongue level signal changes.

[0082] Specifically, in the embodiments of the present invention, asFigure 2 As shown, an ultra-low power 24-hour video recording device (also known as a cat's eye) is installed at the top of the smart door lock. During the detection process, if it is determined that the door is ajar at this time, to avoid accidents and increase the shooting frequency of the ultra-low power 24-hour video recording device, the scene outside the door is recorded in real time to ensure the safety outside the door until the main lock tongue pops out when the door is reopened and the level signal of the main lock tongue changes, and the cat's eye for ultra-low power 24-hour video recording outside the door resumes its normal shooting frequency.

[0083] The detection method for the closed-door state provided by the present invention, after receiving the door-closing signal, based on the preset opening direction, identifies the door and the door frame in the first door-closing photo obtained, determines the actual closing angle between the door and the door frame, and judges whether the door is ajar according to the actual closing angle and the preset angle threshold. By judging the angle between the door and the door frame after closing the door, the present invention can more intuitively and accurately judge whether the door is tightly closed at this time, avoid the accidental automatic opening of the door due to being ajar, ensure the life and property safety of users, improve the anxiety of users, and enhance the user experience.

[0084] In this embodiment, a detection method for the closed-door state is provided, which can be used for the above-mentioned smart door lock. Figure 6 is a flowchart of the detection method for the closed-door state according to an embodiment of the present invention, as Figure 6 shown, the process includes the following steps:

[0085] Step S601, after receiving the door-closing signal, trigger the light source emitting device and obtain a second door-closing photo containing a light spot.

[0086] Specifically, in the embodiment of the present invention, as Figure 2 shown, a laser emitter is pre-installed at the bottom of the smart door lock as the light source emitting device, but it is not limited thereto. After the user closes the door and the smart door lock closes and the lock tongue pops out, the door-closing signal is received, and at this time, the laser emitter is triggered. The laser emitter emits laser light, forming a light spot of a laser point on the ground. In the normal closed-door state, the distance between the laser point and the door frame is the closest. The larger the opening gap of the door, the farther the distance between the laser point and the door frame. Therefore, to accurately judge the state of the door at this time, control the camera at the bottom of the smart door lock to take a picture to obtain a second door-closing photo containing the laser point, as Figure 7 shown.

[0087] Step S602, based on the preset opening direction, identify the light spot and the door frame in the second door-closing photo, and determine the actual closing distance between the door frame and the light spot.

[0088] Specifically, in the embodiments of the present invention, based on the preset door opening direction, the second positional relationship among the door, the laser point, and the door frame in the second closing photo is determined. If the preset door opening direction is left-handed opening, the door and the laser point are on the right side of the door frame. If the preset door opening direction is right-handed opening, the door and the laser point are on the left side of the door frame, as Figure 7 shown; based on the preset algorithm and the second positional relationship, the door, the door frame, the laser point, and the ground in the second closing photo are recognized to determine the third edge on the side of the door frame away from the door; the connection point between the third edge and the ground is determined, and the distance between the connection point and the laser point is used as the actual closing distance.

[0089] Step S603, determine whether the door is in a ajar state according to the actual closing distance and the preset distance threshold.

[0090] Specifically, in the embodiments of the present invention, the closing photos containing the laser point are pre-learned. By analyzing the selection of the reference object and the judgment criterion in the closing photos, it is finally determined to use the laser point and the door frame as the reference objects. Multiple closing photos containing the laser point when the door is closed are obtained, and the distance between the laser point and the connection point between the side of the door frame away from the door and the ground in each closing photo is determined. Finally, the closing photo corresponding to the minimum closing distance is selected as the second standard photo, and the minimum closing distance is used as the standard closing distance. However, when the door is in the closed state, the distance between the laser point and the connection point on the ground cannot be exactly the same. Through the self-learning algorithm, the various closing distances in the closed state of the door are analyzed to determine the allowable distance error in the closed state of the door, and the distance error is used as the preset distance threshold. When judging the closing state of the door, as long as the distance deviation between the actual closing distance and the standard closing distance exceeds the preset distance threshold, it is determined that the door is in a ajar state, otherwise it is determined to be in the closed state.

[0091] In some alternative embodiments, the standard closing distance between the laser point and the door in the pre-determined second standard photo is obtained, and the distance deviation between the actual closing distance and the standard closing distance is calculated; if the distance deviation is greater than the preset distance threshold, it is determined that the door is in a ajar state, as Figure 8 shown, and the first push message is generated; if the distance deviation is less than or equal to the preset distance threshold, it is determined that the door is in the closed state, as Figure 7 shown, and the second push message is generated. At the same time, in order to avoid unexpected situations and increase the shooting frequency of the ultra-low-power 24-hour video recording device, the scene outside the door is recorded in real time to ensure the safety outside the door until the main lock tongue pops out when the door is reopened and the level signal of the main lock tongue changes, and the cat's eye for ultra-low-power 24-hour video recording outside the door resumes to the normal shooting frequency.

[0092] The door - closing state detection method provided by the present invention, after receiving the door - closing signal, based on the preset opening direction, identifies the light spot and the door frame in the second door - closing photo obtained, determines the actual door - closing distance between the light spot and the door frame, and judges whether the door is in a ajar state according to the actual door - closing distance and the preset distance threshold. By judging the distance between the light spot and the door frame after the door is closed, the present invention can more intuitively and accurately judge whether the door is tightly closed at this time, avoid the accidental automatic opening of the door due to being ajar, ensure the life and property safety of users, improve the anxiety of users, and enhance the user experience.

[0093] In this embodiment, a door - closing state detection method is provided, which can be used for the above - mentioned intelligent door lock. Figure 9 It is a flowchart of the door - closing state detection method according to an embodiment of the present invention, as Figure 6 shown. This process includes the following steps:

[0094] Step S901, after receiving the door - closing signal, obtain the first door - closing photo. For details, please refer to Figure 5 step S501 of the embodiment shown. It will not be elaborated here.

[0095] Step S902, based on the preset opening direction, identify the door and the door frame in the first door - closing photo, and determine the actual door - closing angle between the door and the door frame. For details, please refer to Figure 5 step S502 of the embodiment shown. It will not be elaborated here.

[0096] Step S903, if the actual door - closing angle cannot be determined, trigger the light source emitting device and obtain the second door - closing photo containing the light spot.

[0097] Specifically, in the embodiment of the present invention, when the bottom camera fails to take a clear first door - closing photo due to poor light and the actual door - closing angle cannot be determined, the laser emitter is triggered to emit laser, so as to form a laser spot on the ground, and then the door - closing state is assisted to be judged according to the laser spot, as Figure 10 shown. At this time, the bottom camera takes a photo again to obtain the second door - closing photo containing the laser spot. In addition, for the case of poor light, an infrared fill light can be added to ensure that a relatively clear door - closing photo can be obtained.

[0098] Step S904, based on the preset opening direction, identify the light spot and the door frame in the second door - closing photo, and determine the actual door - closing distance between the door frame and the light spot. For details, please refer to Figure 6 step S602 of the embodiment shown. It will not be elaborated here.

[0099] Step S905, judge whether the door is in a ajar state according to the actual door - closing distance and the preset distance threshold. For details, please refer to Figure 6Step S603 of the illustrated embodiment will not be elaborated herein.

[0100] The door closing state detection method provided by the present invention, after receiving a door closing signal, identifies the door and the door frame in the first door closing photo based on a preset opening direction, determines the actual door closing angle between the door and the door frame. If the actual door closing angle cannot be determined, it identifies the light spot and the door frame in the second door closing photo based on the preset opening direction, determines the actual door closing distance between the light spot and the door frame, and judges whether the door is in a ajar state according to the actual door closing distance and a preset distance threshold. By making a secondary judgment on the distance between the door and the door frame after closing the door, the present invention can more intuitively and accurately judge whether the door is tightly closed at this time, avoid accidental automatic opening of the door due to being ajar, ensure the life and property safety of users, improve the anxiety of users, and enhance the user experience.

[0101] In this embodiment, a door closing state detection device is also provided. This device is used to implement the above-mentioned embodiment and preferred implementation manners, and those that have been described will not be elaborated again. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0102] This embodiment provides a door closing state detection device, as Figure 11 shown, including:

[0103] A photo acquisition module 1101, configured to acquire a first door closing photo after receiving a door closing signal, or trigger a light source emitting device and acquire a second door closing photo including a light spot;

[0104] A state determination module 1102, configured to identify the door and the door frame in the first door closing photo based on a preset opening direction and determine the actual door closing angle between the door and the door frame, or identify the light spot and the door frame in the second door closing photo based on the preset opening direction and determine the actual door closing distance between the door frame and the light spot;

[0105] A state detection module 1103, configured to judge whether the door is in a ajar state according to the actual door closing angle and a preset angle threshold, or judge whether the door is in a ajar state according to the actual door closing distance and a preset distance threshold.

[0106] In some alternative implementation manners, it further includes: an auxiliary detection module, configured to, if the actual door closing angle cannot be determined, jump to the step of triggering the light source emitting device and acquiring a second door closing photo including a light spot, until it judges whether the door is in a ajar state.

[0107] In some alternative implementation manners, the state determination module 1102 includes:

[0108] The first position determination unit is configured to determine the first positional relationship between the door and the door frame in the first closing photo based on a preset door opening direction. If the preset door opening direction is left-handed opening, the door and the door frame are on the left side of the first closing photo, and the door is on the right side of the door frame. If the preset door opening direction is right-handed opening, the door and the door frame are on the right side of the first closing photo, and the door is on the left side of the door frame.

[0109] The first edge detection unit is configured to identify the door and the door frame in the first closing photo based on a preset algorithm and the first positional relationship, and determine the first edge of the door and the second edge on the side of the door frame close to the door.

[0110] The closing angle determination unit is configured to determine the connection point of the first edge and the second edge, and use the angle of the connection point as the actual closing angle.

[0111] In some alternative embodiments, the status detection module 1103 includes:

[0112] The angle deviation calculation unit is configured to obtain a standard closing angle between the door frame and the door in a previously determined first standard photo, and calculate the angle deviation between the actual closing angle and the standard closing angle.

[0113] The first comparison unit is configured to determine that the door is in a ajar state and generate a first push message if the angle deviation is greater than a preset angle threshold.

[0114] The second comparison unit is configured to determine that the door is in a closed state and generate a second push message if the angle deviation is less than or equal to the preset angle threshold.

[0115] In some alternative embodiments, the apparatus further includes: an angle update module, configured to, after determining that the angle deviation is less than the preset angle threshold, use the first closing photo as the first standard photo and use the actual closing angle as the standard closing angle.

[0116] In some alternative embodiments, the status determination module 1102 further includes:

[0117] The second position determination unit is configured to determine the second positional relationship between the door, the light spot and the door frame in the second closing photo based on a preset door opening direction. If the preset door opening direction is left-handed opening, the door and the light spot are on the right side of the door frame. If the preset door opening direction is right-handed opening, the door and the light spot are on the left side of the door frame.

[0118] The second edge detection unit is configured to identify the door, the door frame light spot and the ground in the second closing photo based on a preset algorithm and the second positional relationship, and determine the third edge on the side of the door frame away from the door.

[0119] A door - closing distance determination unit, configured to determine the connection point between the third edge and the ground, and use the distance between the connection point and the light spot as the actual door - closing distance.

[0120] In some alternative embodiments, the status detection module 1103 further includes:

[0121] A distance deviation calculation unit, configured to obtain a pre - determined standard door - closing distance between the light spot and the door in the second standard photo, and calculate the distance deviation between the actual door - closing distance and the standard door - closing distance.

[0122] A third comparison unit, configured to determine that the door is in a ajar state and generate a first push message if the distance deviation is greater than a preset distance threshold.

[0123] A fourth comparison unit, configured to determine that the door is in a closed state and generate a second push message if the distance deviation is less than or equal to the preset distance threshold.

[0124] In some alternative embodiments, the device further includes: a distance update module, configured to, after determining that the distance deviation is less than the preset distance threshold, use the second door - closing photo as the second standard photo and use the actual door - closing distance as the standard door - closing distance.

[0125] In some alternative embodiments, the device further includes: a video recording module, configured to, after determining that the door is in a ajar state, increase the shooting frequency of a low - power video recording device until a change in the main lock tongue level signal is detected.

[0126] The further functional descriptions of the above - mentioned various modules and units are the same as those in the corresponding foregoing embodiments, and will not be elaborated herein.

[0127] The detection device for the door - closing state in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above - mentioned functions.

[0128] The embodiment of the present invention further provides a computer device having the above - mentioned Figure 11 detection device for the door - closing state.

[0129] Please refer to Figure 12 , Figure 12 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As shown in Figure 12As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if needed, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 12 In the figure, one processor 10 is taken as an example.

[0130] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0131] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0132] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and a combination thereof.

[0133] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0134] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

[0135] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium. Thus, the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0136] A part of the present invention can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the method and / or technical solution according to the present invention can be called or provided. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0137] Embodiments of the present invention also provide an intelligent door lock, as Figure 2 shown, including:

[0138] A camera for taking a photo of the closed door;

[0139] A light source emitter for forming a light spot on the ground;

[0140] A low-power video recording device for video-recording the scene outside the door;

[0141] A control module connected to the camera, the light source emitter, and the low-power video recording device, and used to execute the above Figure 1 、 Figure 5 、 Figure 6 or Figure 9 shown method for detecting the closed state of the door.

[0142] Specifically, in the embodiments of the present invention, the camera is installed at the bottom of the intelligent door lock; the light source emitter is a laser emitter and is installed at the bottom of the intelligent door lock; the low-power video recording device is installed at the top of the intelligent door lock.

[0143] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for detecting a door closing state, characterized in that: Applied to a smart door lock, the method comprises: After receiving the door closing signal, obtaining the first door closing photo; Identify the door and the door frame in the first door-closing photo based on a preset door-opening direction, and determine an actual door-closing angle between the door and the door frame; Determining whether the door is in a half-closed state according to the actual door closing angle and a preset angle threshold; or, After receiving the door closing signal, triggering the light source emitting device, and acquiring a second door closing photo including the light spot; Identify the light spot and the door frame in the second door closing photo based on a preset door opening direction, and determine an actual door closing distance between the door frame and the light spot; Whether the door is in the half-closed state is determined according to the actual door closing distance and a preset distance threshold.

2. The method according to claim 1, characterized in that When the door and the door frame in the first door-closing photo are identified based on the preset door-opening direction, and an actual door-closing angle between the door and the door frame is determined, the method further includes: If the actual door closing angle cannot be determined, the process jumps to the step of triggering the light source emitting device and obtaining a second door closing photo including a light spot until it is determined whether the door is in the half-closed state.

3. The method according to claim 1, characterized in that The identifying the door and the door frame in the first door-closing photo based on the preset door-opening direction, and determining the actual door-closing angle between the door and the door frame, includes: Determining a first positional relationship between the door and the door frame in the first door-closed photo based on the preset door-opening direction, if the preset door-opening direction is to open the door on the left, the door and the door frame are on the left side of the first door-closed photo, and the door is on the right side of the door frame; if the preset door-opening direction is to open the door on the right, the door and the door frame are on the right side of the first door-closed photo, and the door is on the left side of the door frame; Identify the door and the door frame in the first closed-door photo based on a preset algorithm and the first positional relationship, and determine a first edge of the door and a second edge of the door frame close to the door; A connection point between the first edge and the second edge is determined, and an angle between the connection points is used as the actual door closing angle.

4. The method according to claim 1, characterized in that The determining whether the door is in a half-closed state according to the actual door closing angle and a preset angle threshold comprises: Obtaining a standard door closing angle between a door frame and a door in a predetermined first standard photo, and calculating an angle deviation between the actual door closing angle and the standard door closing angle; If the angle deviation is greater than the preset angle threshold, it is determined that the door is in a half-closed state, and a first push message is generated; If the angle deviation is less than or equal to the preset angle threshold, it is determined that the door is in a closed state and a second push message is generated.

5. The method according to claim 4, characterized in that After determining that the angle deviation is less than a preset angle threshold, the method further includes: taking the first door-closing photo as the first standard photo, and taking the actual door-closing angle as the standard door-closing angle.

6. The method according to claim 1 or 2, characterized in that: The step of identifying the light spot and the door frame in the second door closing photo based on the preset door opening direction, and determining an actual door closing distance between the door frame and the light spot, includes: Determining a second positional relationship between the door, the light spot, and the door frame in the second door-closed photo based on the preset door opening direction, if the preset door opening direction is to open the door on the left, the door and the light spot are on the right side of the door frame, and if the preset door opening direction is to open the door on the right, the door and the light spot are on the left side of the door frame; Identify the door, the door frame, the light spot and the ground in the second closed-door photo based on a preset algorithm and the second positional relationship, and determine a third edge of the door frame away from the door; The connection point between the third edge and the ground is determined, and the distance between the connection point and the light spot is used as the actual door closing distance.

7. The method according to claim 1 or 2, characterized in that: The determining whether the door is in the half-closed state according to the actual door closing distance and the preset distance threshold comprises: Obtaining a standard door-closing distance between the light spot and the door in the second standard photo, which is predetermined, and calculating a distance deviation between the actual door-closing distance and the standard door-closing distance; If the distance deviation is greater than the preset distance threshold, it is determined that the door is in a half-open state, and a first push message is generated; If the distance deviation is less than or equal to the preset distance threshold, it is determined that the door is in a closed state, and a second push message is generated.

8. The method according to claim 7, characterized in that After determining that the distance deviation is less than the preset distance threshold, the method further includes: taking the second door-closed photo as the second standard photo, and taking the actual door-closed distance as the standard door-closed distance.

9. The method according to claim 1 or 2, characterized in that: After determining that the door is in a half-closed state, the method further includes: The shooting frequency of the low-power video recording device is increased until a change in the main lock tongue level signal is detected.

10. A door closing state detection device, characterized in that: Applied to smart door locks, the device comprises: A photo acquisition module is used to acquire a first door-closing photo after receiving a door-closing signal, or to trigger a light source emitting device and acquire a second door-closing photo containing a light spot; a state determination module, configured to identify the door and the door frame in the first door-closing photo based on a preset door-opening direction, and determine an actual door-closing angle between the door and the door frame, or to identify the light spot and the door frame in the second door-closing photo based on a preset door-opening direction, and determine an actual door-closing distance between the door frame and the light spot; A state detection module is used to determine whether the door is in a half-closed state based on the actual door closing angle and a preset angle threshold, or to determine whether the door is in the half-closed state based on the actual door closing distance and a preset distance threshold.

11. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the door closing state detection method according to any one of claims 1 to 9 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the door closing state detection method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to cause a computer to execute the door closing state detection method according to any one of claims 1 to 9.

14. A smart door lock, characterized in that: include: Camera, used to take photos of closed doors; A light source transmitter, used for forming a light spot on the ground; Low-power video recording device, used to record the scene outside the door; A control module is connected to the camera, the light source emitter and the low-power video recording device, and is used to execute the door closing state detection method described in any one of claims 1 to 9.

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