Method and device for determining installation inclination angle of camera for shooting drawer area and refrigerator

Abstract

The invention relates to the technical field of refrigeration equipment, and discloses a method for determining an installation inclination angle of a camera for shooting a drawer area, and the method comprises the steps: obtaining a real-time visual angle of the camera in a set direction and a minimum visual angle in the set direction; determining a first reference position, closest to a door body rotating shaft, of the to-be-recognized area in the set direction and a lens position of the center of a camera lens; wherein the set direction comprises a horizontal direction or a vertical direction; determining a datum reference angle of a set direction according to the first reference position, the lens position and the position of a door body rotating shaft; according to the real-time visual angle of the camera in the set direction, the minimum visual angle of the camera in the set direction and the datum reference angle of the set direction, the installation dip angle range of the camera in the set direction is obtained. According to the method, the accuracy and universality of determining the installation inclination angle of the refrigerator camera can be improved. The invention further discloses a device for determining the installation inclination angle of the camera for shooting the drawer area and a refrigerator.

Description

Technical Field

[0001] This application relates to the field of refrigeration equipment technology, such as a method and apparatus for determining the installation tilt angle of a camera for capturing a drawer area, and a refrigerator. Background Technology

[0002] Currently, with the rapid development of science and technology, refrigerators with refrigeration, freezing, and food management functions are widely used in the field of smart home appliances. To better manage food, refrigerators are equipped with cameras on the top of the refrigerator compartment to identify the food storage conditions. However, the drawers in the refrigerator compartment are arranged from top to bottom, and users may pull out multiple drawers at the same time. In this case, the camera installed on the top of the refrigerator compartment can only capture images of the food in the topmost drawer that has been pulled out, and cannot capture images of the food in other drawers. The shooting range is relatively limited, which is not conducive to food management.

[0003] To determine the installation angle of a camera, a method for detecting the installation angle of a camera is disclosed in the related technology, including the following steps: acquiring a pre-stored standard image, wherein the standard image is an image of a detection object located at a preset position in the accommodating space when the camera is installed at a standard installation angle on the mounting surface of the accommodating space; after the camera is installed at the mounting position on the mounting surface, controlling the camera to capture the detection object and acquire a detection image; comparing the images of the detection object in the standard image and the detection image to determine whether there is a deviation in the installation angle of the camera; if so, outputting information to adjust the installation angle of the camera.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art:

[0005] The information on adjusting the installation angle of the camera output by the relevant technology is indirectly obtained based on the detection image captured by the camera. Since the clarity of the image captured by the camera is affected by the intensity of the ambient light, the above information indirectly determined will be affected by factors such as the intensity of the ambient light, resulting in inaccurate judgment of the installation tilt angle deviation and affecting the accuracy of the refrigerator camera installation tilt angle calculation.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0008] This disclosure provides a method, apparatus, and refrigerator for determining the installation tilt angle of a camera in a drawer area, thereby eliminating the influence of ambient light intensity on the calculation of the installation tilt angle and improving the accuracy of determining the installation tilt angle of the refrigerator camera.

[0009] In some embodiments, a camera is mounted on a door, and the method includes: obtaining the real-time viewing angle and the minimum viewing angle of the camera along a set direction; determining a first reference position and the lens position of the center of the camera lens along the set direction, where the area to be identified is closest to the rotation axis of the door; wherein the set direction includes a horizontal direction or a vertical direction; determining a reference reference angle of the set direction based on the first reference position, the lens position, and the position of the rotation axis of the door; and obtaining the installation tilt angle range of the camera along the set direction based on the real-time viewing angle, the minimum viewing angle, and the reference reference angle.

[0010] In some embodiments, the mounting tilt angle range of the camera along a set direction is obtained based on the real-time viewing angle of the camera along a set direction, the minimum viewing angle along the set direction, and a reference reference angle. This includes: obtaining the minimum mounting tilt angle of the camera along the set direction based on 90° - γ - 0.5 * FOV; and obtaining the minimum mounting tilt angle based on 90° - FOV. min -γ+0.5*FOV, obtain the maximum installation tilt angle of the camera along the set direction; where FOV and FOV are... min These represent the real-time viewing angle and the minimum viewing angle of the camera along the set direction, respectively, and γ represents the reference angle.

[0011] In some embodiments, determining a reference reference angle for a set direction based on a first reference position, a lens position, and the position of the door rotation axis includes: determining the intersection of the door rotation axis and a set straight line as an initial reference position, wherein the set straight line is a straight line passing through the center of the camera lens and intersecting the door rotation axis perpendicularly; determining a reference boundary line based on the lens position and the initial reference position; determining a first viewing angle boundary line based on the lens position and the first reference position; and determining the angle between the first reference boundary line and the reference boundary line as a reference reference angle for the set direction.

[0012] In some embodiments, obtaining the minimum viewing angle and the real-time viewing angle of the camera along a set direction includes: determining a region to be identified and a maximum recognition region corresponding to the region to be identified; determining a first reference position that is closest to the door rotation axis along the set direction and a second reference position that is farthest from the door rotation axis along the set direction; determining a third reference position that is closest to the door rotation axis along the set direction and a fourth reference position that is farthest from the door rotation axis along the set direction for the maximum recognition region; determining the minimum viewing angle of the camera along the set direction based on the lens position and the first and second reference positions; determining the maximum viewing angle of the camera along the set direction based on the lens position and the third and fourth reference positions; and configuring the real-time viewing angle of the camera along the set direction based on the minimum viewing angle and the maximum viewing angle.

[0013] In some embodiments, determining the minimum viewing angle of the camera along a set direction based on the lens position and a first reference position and a second reference position includes: determining a first viewing angle boundary line based on the lens position and the first reference position; determining a second viewing angle boundary line based on the lens position and the second reference position; and determining the angle between the first viewing angle boundary line and the second viewing angle boundary line as the minimum viewing angle of the camera along the set direction. Determining the maximum viewing angle of the camera along the set direction based on the lens position and a third reference position and a fourth reference position includes: determining a third viewing angle boundary line based on the lens position and the third reference position; determining a fourth viewing angle boundary line based on the lens position and the fourth reference position; and determining the angle between the third viewing angle boundary line and the fourth viewing angle boundary line as the maximum viewing angle of the camera along the set direction.

[0014] In some embodiments, determining the angle between the first viewpoint boundary line and the second viewpoint boundary line as the minimum viewing angle of the camera along a set direction includes: calculating Where A, B, and C represent the lens coordinates of the lens position, the first coordinate of the first reference position, and the second coordinate of the second reference position, respectively, FOV. min This represents the minimum field of view of the camera along a set direction; determining the angle between the boundary line of the third view and the boundary line of the fourth view as the maximum field of view of the camera along the set direction includes: calculating... Where B' and C' represent the third coordinate of the third reference position and the fourth coordinate of the fourth reference position, respectively, FOV max This indicates the maximum field of view of the camera along the set direction.

[0015] In some embodiments, determining a first reference position that is closest to the door rotation axis along a predetermined direction and a second reference position that is farthest from the door rotation axis along a predetermined direction includes: constructing a three-dimensional coordinate system with the initial reference position as the origin, the box width direction towards the box area as the X-axis, the box thickness direction away from the box as the Y-axis, and the gravity direction as the Z-axis; obtaining the box width W. box and the maximum width W of the region to be identified along the X-axis ROI ; Obtain the offset ΔH between the region to be identified along the Y-axis and the box along the Y-axis, and the maximum height H of the region to be identified along the Z-axis. ROI According to (0.5W) box +ΔH-0.5W ROI ,0,0), determine the first coordinate B of the first reference position; according to (0.5W box +ΔH+0.5W ROI H ROI ,0), determine the second coordinate C of the second reference position.

[0016] In some embodiments, determining the third reference position closest to the door rotation axis along a set direction and the fourth reference position farthest from the door rotation axis along a set direction includes: obtaining the ratio coefficient k between the maximum recognition area and the area to be recognized; based on (0.5W box +ΔH-0.5W ROI Determine the third coordinate B' of the third reference position based on (k,0,0); box +ΔH+0.5W ROI / k,H ROI / k,0), determine the fourth coordinate C' of the fourth reference position.

[0017] In some embodiments, the apparatus includes a processor and a memory storing program instructions, the processor being configured to, when executing the program instructions, perform the method described above for determining the camera mounting angle for capturing a drawer area.

[0018] In some embodiments, the refrigerator includes: a cabinet; a door equipped with a camera; and a device for determining the camera mounting angle for capturing the drawer area, as described above, mounted on the door.

[0019] The method, apparatus, and refrigerator for determining the installation tilt angle of a camera in a drawer area provided in this disclosure can achieve the following technical effects:

[0020] This embodiment of the disclosure combines the refrigerator compartment structure, the area to be identified, the lens position, and the minimum and real-time viewing angles of the camera along a set direction to determine the installation tilt angle in a set direction. This determination method does not calculate the installation tilt angle based on the captured image, thus eliminating the influence of ambient light intensity on the installation tilt angle calculation and improving the accuracy of camera installation tilt angle determination. At the same time, this determination method provides a general calculation approach for determining the installation tilt angle, which is beneficial for realizing modular camera design.

[0021] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0023] Figure 1 This is a top view of a refrigerator body and door provided in an embodiment of this disclosure;

[0024] Figure 2 This is a front view of a refrigerator body provided in an embodiment of this disclosure;

[0025] Figure 3 This is a schematic diagram of the region to be identified and the maximum identification region provided in the embodiments of this disclosure;

[0026] Figure 4 This is a top view of a camera mounted at a horizontal tilt angle according to an embodiment of this disclosure;

[0027] Figure 5-1 This is a top view of a camera with the minimum horizontal field of view provided in an embodiment of this disclosure;

[0028] Figure 5-2 This is a top view of a camera with the maximum horizontal field of view provided in an embodiment of this disclosure;

[0029] Figure 6-1 This is a top view of a camera with the minimum vertical viewing angle provided in an embodiment of this disclosure;

[0030] Figure 6-2 This is a top view of the camera's maximum vertical field of view provided in an embodiment of this disclosure;

[0031] Figure 7 This is a schematic diagram of a method for determining the installation tilt angle of a camera for capturing a drawer area, provided by an embodiment of this disclosure;

[0032] Figure 8This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0033] Figure 9 This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0034] Figure 10 This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0035] Figure 11 This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0036] Figure 12 This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0037] Figure 13 This is a schematic diagram of another method for determining the camera mounting tilt angle for capturing a drawer area, provided in an embodiment of this disclosure;

[0038] Figure 14 This is a schematic diagram of a device for determining the camera mounting angle in a drawer area, provided in an embodiment of this disclosure.

[0039] Figure label:

[0040] 10: Box body; 20: Door body;

[0041] 101: Drawer; 201: Camera; 20a: Door pivot;

[0042] 70: A device for determining the mounting angle of a camera in the drawer area;

[0043] 700: Processor; 701: Memory;

[0044] 702: Communication interface; 703: Bus. Detailed Implementation

[0045] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0046] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0047] Unless otherwise stated, the term "multiple" means two or more.

[0048] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0049] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0050] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0051] Combination Figure 1 As shown, this embodiment of the present disclosure provides a refrigerator, including a cabinet 10 and a door 20. The door 20 is mounted on the front side of the cabinet 10 via a door rotation shaft 20a. A camera 201 is mounted on the door 20, and the camera 201 is located on the side of the door 30 facing the cabinet 10.

[0052] The cabinet 10 is equipped with a refrigerator compartment (not shown in the figure), and the refrigerator compartment has one or more drawers 101. The one or more drawers 101 can be pulled out to their maximum position along the thickness direction of the cabinet.

[0053] Optionally, there are two doors 20. The two doors 20 are symmetrically arranged on the front side of the cabinet 10 along the central axis of the cabinet thickness. A camera 201 is installed on either door 20. This allows for the identification of the drawer area using the camera installed on either door.

[0054] Combination Figure 3As shown, when camera 201 takes a picture, camera 201 is associated with an area to be identified. The area to be identified refers to the area that needs to be identified when camera 201 takes a picture. The area to be identified includes the area where drawer 101 is pulled out to its maximum position along the thickness direction of the box, and a small portion of the area surrounding drawer 101 at its maximum position. Camera 201 is also associated with a maximum identification area. The maximum identification area refers to the identification area obtained by magnifying the area to be identified as a reference area, and the ratio of the area of ​​the area to be identified to the area of ​​the maximum identification area is greater than the area ratio and less than 1. Specifically, the area ratio is greater than or equal to 0.5. Preferably, the area ratio is 0.5.

[0055] In one specific embodiment, combined with Figure 1 and Figure 2 As shown, the height of box 10 is H. box And the box width W box The maximum width of the area to be identified along the width direction of the box is W. ROI The maximum thickness of the area to be identified along the thickness direction of the box is D. ROI The maximum vertical height of the area to be identified is H. ROI .

[0056] Combination Figure 1 As shown, the offset between the central axis of the area to be identified along the thickness direction of the box and the central axis of the box 10 along the thickness direction is ΔH. Here, ΔH is a vector, and its magnitude is half the difference between the width of the box and the maximum width of the area to be identified along the width direction of the box. The direction of ΔH is the width direction of the box (i.e., the X-axis direction) towards the area to be identified, with the positive direction being the width direction of the box towards the area to be identified. Specifically, |ΔH| = 0.5(W box -W ROI ).

[0057] Combination Figure 1 As shown, the maximum opening angle of the door 20 is α.

[0058] In another specific embodiment, to ensure the area recognition function of the camera, the viewing angle of the camera in the horizontal or vertical direction should not be too large. If the viewing angle of the camera in the horizontal or vertical direction is too large, the target to be recognized in the area to be recognized will be too small, resulting in a low pixel ratio of the target and a decrease in the recognition rate of the camera. To this end, this embodiment configures a ratio coefficient k between the maximum recognition area and the area to be recognized, and calculates the maximum viewing angle of the camera in the horizontal or vertical direction based on the ratio coefficient k, thereby ensuring the recognition rate of the camera.

[0059] It should be noted that the scaling factor k represents the maximum width W of the area to be identified along the width direction of the box. ROIThe ratio of the maximum recognition area to the maximum width along the width direction of the box, or the proportionality coefficient representing the maximum height H of the area to be recognized along the vertical direction. ROI The ratio of the maximum vertical height of the largest recognition area to the area ratio. The scaling factor k is determined by the area ratio. As an example, when the area ratio is 0.5, k is greater than or equal to 0.7 and less than 1.

[0060] Combination Figure 7 As shown, this disclosure provides a method for determining the installation tilt angle of a camera for capturing a drawer area, including:

[0061] S01, the refrigerator obtains the real-time viewing angle of the camera along the set direction and the minimum viewing angle along the set direction.

[0062] S02, the refrigerator determines the first reference position closest to the door rotation axis along a set direction for the area to be identified, and the lens position of the center of the camera lens. The set direction can be horizontal or vertical.

[0063] S03, the refrigerator determines the reference angle of the set direction based on the first reference position, the lens position, and the position of the door rotation axis.

[0064] S04, the refrigerator obtains the installation tilt angle range of the camera along the set direction based on the real-time viewing angle of the camera along the set direction, the minimum viewing angle along the set direction, and the reference reference angle of the set direction.

[0065] The method for determining the installation tilt angle of a camera in a drawer area, as provided in this disclosure, obtains the real-time viewing angle and the minimum viewing angle of the camera along a set direction, and determines the first reference position closest to the door rotation axis along the set direction for the area to be identified, and the lens position of the camera lens center. Then, based on the first reference position, the lens position, and the location of the door rotation axis, a reference reference angle for the set direction is determined. Finally, based on the real-time viewing angle, the minimum viewing angle, and the reference reference angle, the range of the camera's installation tilt angle along the set direction is obtained. Thus, this disclosure combines the refrigerator compartment structure, the area to be identified, the lens position, and the minimum and real-time viewing angles of the camera along the set direction to determine the installation tilt angle. This method does not calculate the installation tilt angle based on the captured image, eliminating the influence of ambient light intensity on the calculation and improving the accuracy of the camera's installation tilt angle determination. Simultaneously, this method provides a general calculation approach for determining the installation tilt angle, which is beneficial for modular camera design.

[0066] Combination Figure 4As shown, the camera's horizontal field of view is equal to the minimum horizontal field of view (HFOV). min In this case, the camera is mounted at a reference angle β along the horizontal direction. ref1 HFOV (Minimum Field of View) along the Horizontal Direction min The sum of 0.5 times the reference angle γ and 90° is β. ref1 +γ+0.5*HFOV min =90°, therefore, embodiments of this disclosure can be achieved using 90° and 0.5*HFOV min The reference mounting tilt angle of the camera along the horizontal direction is obtained by subtracting the reference angle γ from the reference angle.

[0067] Meanwhile, the minimum horizontal field of view of the camera is the minimum field of view. As the horizontal field of view of the camera changes relative to this minimum field of view, the real-time horizontal field of view HFOV of the camera fluctuates by an angular offset of ΔHFOV, where ΔHFOV = 0.5 * (HFOV - HFOV) min Accordingly, the camera's horizontal mounting angle β1 is based on the reference mounting angle β. ref1 The reference tilt angle is used, and the angle is adjusted by ΔHFOV, i.e., 90° - γ - 0.5HFOV. min -ΔHFOV≤β1≤90°-γ-0.5HFOV min +ΔHFOV represents the angular offset fluctuation. After simplification, the range of the installation tilt angle β1 of the camera along the horizontal direction is 90° - γ - 0.5*HFOV ≤ β1 ≤ 90° - HFOV min -γ+0.5*HFOV.

[0068] Based on the above technical concept, the camera's vertical viewing angle is equal to the minimum vertical viewing angle (VFOV). min In this case, the camera's reference mounting angle β along the vertical direction ref2 Minimum field of view (VFOV) along the vertical direction min The sum of 0.5 times the reference angle γ and 90° is β. ref2 +γ+0.5*VFOV=90°, therefore, the embodiments of this disclosure can be achieved by using 90° and 0.5*VFOV. min The reference mounting tilt angle β of the camera in the vertical direction is obtained by subtracting the reference angle γ from the reference angle γ. ref2 .

[0069] Meanwhile, the minimum vertical viewing angle of the camera is the minimum viewing angle. As the vertical viewing angle of the camera changes based on this minimum viewing angle, the real-time vertical viewing angle VFOV of the camera fluctuates by an angular deviation of ΔVFOV, where ΔVFOV = 0.5 * (VFOV - VFOV).min Accordingly, the camera's vertical mounting angle β2 is based on the reference mounting angle β. ref2 The reference tilt angle is used, and the angle is adjusted by ΔVFOV, i.e., 90° - γ - 0.5VFOV. min -ΔVFOV≤β2≤90°-γ-0.5VFOV min +ΔVFOV represents the angular offset fluctuation. After simplification, the range of the vertical mounting tilt angle β2 of the camera is 90° - γ - 0.5*VFOV ≤ β2 ≤ 90° - VFOV min -γ+0.5*VFOV.

[0070] Based on the above embodiments, the refrigerator obtains the installation tilt angle range of the camera along the set direction according to the real-time viewing angle of the camera along the set direction, the minimum viewing angle along the set direction, and the reference reference angle, including:

[0071] The refrigerator obtains the minimum installation tilt angle of the camera along the set direction based on 90°-γ-0.5*FOV.

[0072] Refrigerator based on 90°-FOV min -γ+0.5*FOV, obtain the maximum installation tilt angle of the camera along the set direction.

[0073] Among them, FOV, FOV min These represent the real-time viewing angle and the minimum viewing angle of the camera along the set direction, respectively, and γ represents the reference angle.

[0074] It should be noted that FOV includes HFOV or VFOV. HFOV represents the real-time field of view of the camera in the horizontal direction, while VFOV represents the real-time field of view of the camera in the vertical direction.

[0075] FOV min Including HFOV min Or VFOV min HFOV min VFOV represents the minimum field of view of a camera along the horizontal direction. min This represents the minimum vertical viewing angle of the camera.

[0076] Thus, this embodiment of the present disclosure can obtain the range of camera installation tilt angles along a set direction based on the refrigerator compartment structure, the area to be identified, the lens position, the real-time viewing angle, and the minimum viewing angle along the set direction. This helps to eliminate the influence of ambient light intensity on the calculation of the installation tilt angle and improves the accuracy of determining the camera installation tilt angle. At the same time, this embodiment of the present disclosure can combine the refrigerator compartment structure, the area to be identified, and the lens position to calculate the installation tilt angle in the set direction, thereby providing a universal calculation method for determining the installation tilt angle and facilitating the modular design of the camera.

[0077] Optionally, combined Figure 4 and Figure 8 As shown, the refrigerator determines the reference reference angle for the set direction based on the first reference position, the lens position, and the position of the door rotation axis, including:

[0078] S11, the refrigerator determines the intersection of the door rotation axis and the set straight line as the initial reference position O. The set straight line is a straight line that passes through the center of the camera lens and intersects the door rotation axis perpendicularly.

[0079] S12, the refrigerator determines the baseline boundary line based on the lens position and the initial reference position O.

[0080] S13, the refrigerator determines the boundary line of the first viewpoint based on the position of the lens and the first reference position B.

[0081] S14, the refrigerator determines the angle between the first reference boundary line and the reference boundary line as the reference reference angle γ of the set direction.

[0082] In this way, the present embodiment can determine the reference angle γ of the set direction based on the lens position, the initial reference position, and the first reference position, ensuring the accuracy of the calculation of the reference angle γ of the set direction and further improving the accuracy of the installation tilt angle calculation.

[0083] Optionally, combined Figure 9 As shown, the refrigerator obtains the minimum viewing angle and the real-time viewing angle of the camera along the set direction, including:

[0084] S21, the refrigerator determines the area to be identified and the maximum identification area corresponding to the area to be identified.

[0085] S22, the refrigerator determines the second reference position that is furthest from the door rotation axis along the set direction of the area to be identified.

[0086] S23, the refrigerator determines the third reference position that is closest to the door rotation axis along the set direction of the maximum recognition area and the fourth reference position that is farthest from the door rotation axis along the set direction.

[0087] S24, the refrigerator determines the minimum viewing angle of the camera along the set direction based on the lens position and the first reference position and the second reference position.

[0088] S25, the refrigerator determines the maximum viewing angle of the camera along the set direction based on the lens position and the third and fourth reference positions, and configures the real-time viewing angle of the camera along the set direction based on the minimum viewing angle along the set direction and the maximum viewing angle.

[0089] Thus, after determining the area to be identified, the corresponding maximum identification area, and the lens position, this embodiment of the present disclosure determines a first reference position that is closest to the door rotation axis along a set direction and a second reference position that is farthest from the door rotation axis along a set direction. It also determines a third reference position that is closest to the door rotation axis along a set direction and a fourth reference position that is farthest from the door rotation axis along a set direction for the maximum identification area. Subsequently, this embodiment of the present disclosure can determine the minimum field of view and the minimum angle of view corresponding to the minimum viewing angle based on the lens position and the first and second reference positions to ensure that the area to be identified is covered as much as possible within the minimum field of view. Furthermore, it can determine the maximum field of view and the maximum angle of view corresponding to the maximum angle of view of the camera along a set direction based on the lens position and the third and fourth reference positions to ensure that the maximum field of view covers the area to be identified as much as possible while simultaneously obtaining a target of appropriate size and higher pixel count through the maximum identification area. Thus, this embodiment combines the refrigerator compartment structure, the area to be identified, and the maximum identification area to determine the minimum and maximum viewing angles of the camera in the set direction. This ensures that the area to be identified is basically covered within the field of view of the camera, and also ensures that the identification target is obtained with an appropriate image size and high image pixel count. This improves the recognition rate of food images in the drawer area and enhances the accuracy of the camera's angle calculation.

[0090] In this embodiment of the disclosure, Figure 5-1 This is a top view of a camera with the minimum horizontal field of view provided in an embodiment of this disclosure; Figure 5-2 This is a top view of the camera's maximum horizontal field of view provided in an embodiment of this disclosure.

[0091] Where A represents the center position of the camera lens. B1 represents the first reference position where the area to be identified is closest to the door rotation axis 20a along the horizontal direction, and C1 represents the second reference position where the area to be identified is farthest from the door rotation axis 20a along the horizontal direction. B1' represents the third reference position where the largest identification area is closest to the door rotation axis 20a along the horizontal direction, and C1' represents the fourth reference position where the largest identification area is farthest from the door rotation axis 20a along the horizontal direction. The first field of view range represents the minimum field of view range corresponding to the minimum viewing angle.

[0092] In this embodiment of the disclosure, FOV min FOV represents the minimum field of view of a camera along a set direction. max HFOV indicates the maximum field of view of the camera along a set direction. min and HFOV max VFOV represents the minimum and maximum field of view of the camera along the horizontal direction. min and VFOV maxThese represent the minimum and maximum angles of view of the camera along the vertical direction, respectively.

[0093] Among them, FOV min HFOV min Or VFOV min FOV max HFOV max Or VFOV max .

[0094] Example 1: Combining Figure 5-1 As shown, when the set direction is horizontal, the refrigerator determines the minimum viewing angle of the camera along the set direction based on the lens position and the first and second reference positions, including:

[0095] The refrigerator determines the first viewpoint boundary line AB1 based on the lens position A and the first reference position B1.

[0096] The refrigerator determines the second viewpoint boundary line AC1 based on the lens position A and the second reference position C1.

[0097] The angle between the first-view boundary line AB1 and the second-view boundary line AC1 is determined by the refrigerator as the minimum field of view (HFOV) of the camera in the horizontal direction. min .

[0098] Figure 6-1 This is a top view of a camera with the minimum vertical viewing angle provided in an embodiment of this disclosure; Figure 6-2 This is a top view of the camera's maximum vertical field of view provided in an embodiment of this disclosure.

[0099] Where A represents the center position of the camera lens. B2 represents the first reference position where the area to be identified is closest to the door rotation axis 20a along the vertical direction, and C2 represents the second reference position where the area to be identified is farthest from the door rotation axis 20a along the vertical direction. B2' represents the third reference position where the maximum identification area is closest to the door rotation axis 20a along the vertical direction, and C2' represents the fourth reference position where the maximum identification area is farthest from the door rotation axis 20a along the vertical direction. The second field of view range represents the maximum field of view range corresponding to the maximum viewing angle.

[0100] Example 2: Combination Figure 6-1 As shown, when the set direction is vertical, the refrigerator determines the minimum viewing angle of the camera along the set direction based on the lens position and the first and second reference positions, including:

[0101] The refrigerator determines the first viewpoint boundary line AB2 based on the lens position A and the first reference position B2.

[0102] The refrigerator determines the second viewpoint boundary line AC2 based on the lens position A and the second reference position C2.

[0103] The angle between the first-view boundary line AB2 and the second-view boundary line AC2 is determined by the refrigerator as the minimum field of view (VFOV) of the camera along the horizontal direction. min .

[0104] Based on the above embodiments one and two, combined with Figure 10 As shown, the refrigerator determines the minimum viewing angle of the camera along a set direction based on the lens position and the first and second reference positions, including:

[0105] S31, the refrigerator determines the boundary line of the first viewpoint based on the position of the lens and the first reference position.

[0106] S32, the refrigerator determines the boundary line of the second viewpoint based on the position of the lens and the second reference position.

[0107] S33, the refrigerator determines the angle between the boundary line of the first viewpoint and the boundary line of the second viewpoint as the minimum viewing angle of the camera along the set direction.

[0108] Thus, in this embodiment, a first viewing angle boundary line is determined based on the lens position and a first reference position, and a second viewing angle boundary line is determined based on the lens position and a second reference position. The angle formed by the first and second viewing angle boundary lines is the minimum viewing angle of the camera along a set direction, and the first field of view corresponding to the minimum viewing angle is the minimum field of view. In this way, the first field of view can cover most of the area to be identified, which is beneficial for improving the recognition rate of food images within the drawer area and the accuracy of camera viewing angle calculation.

[0109] Example 3: Combination Figure 5-2 As shown, when the set direction is horizontal, the refrigerator determines the maximum viewing angle of the camera along the set direction based on the lens position and the third and fourth reference positions, including:

[0110] The refrigerator determines the third-view boundary line AB1' based on the lens position A and the third reference position B1'.

[0111] The refrigerator determines the fourth viewpoint boundary line AC1' based on the lens position A and the fourth reference position C1'.

[0112] The angle between the third-view boundary line AB1' and the fourth-view boundary line AC1' is determined by the refrigerator as the maximum horizontal field of view (HFOV) of the camera. max .

[0113] Example 4: Combination Figure 6-2As shown, when the set direction is vertical, the refrigerator determines the maximum viewing angle of the camera along the set direction based on the lens position and the third and fourth reference positions, including:

[0114] The refrigerator determines the third-view boundary line AB2' based on the lens position A and the third reference position B2'.

[0115] The refrigerator determines the fourth viewpoint boundary line AC2' based on the lens position A and the fourth reference position C2'.

[0116] The angle between the third-view boundary line AB2' and the fourth-view boundary line AC2' is determined by the refrigerator as the maximum field of view (VFOV) of the camera in the vertical direction. max .

[0117] Based on the above embodiments three and four, combined with Figure 11 As shown, the refrigerator determines the maximum viewing angle of the camera along a set direction based on the lens position and the third and fourth reference positions, including:

[0118] S44, the refrigerator determines the boundary line of the third-view perspective based on the position of the lens and the third reference position.

[0119] S45, the refrigerator determines the fourth perspective boundary line based on the lens position and the fourth reference position.

[0120] S46, the refrigerator determines the angle between the boundary line of the third view and the boundary line of the fourth view as the maximum field of view of the camera along the set direction.

[0121] Thus, in this embodiment, a third viewpoint boundary line is determined based on the lens position and a third reference position, and a fourth viewpoint boundary line is determined based on the lens position and a fourth reference position. The angle formed by the third and fourth viewpoint boundary lines is the maximum viewing angle of the camera along a set direction. Simultaneously, the second field of view corresponding to the maximum viewing angle is the maximum field of view. Thus, the second field of view can essentially cover the area to be identified. Furthermore, this embodiment can obtain a target of suitable size and high pixel count through the maximum identification area.

[0122] Optionally, the refrigerator determines the angle between the boundary line of the first viewpoint and the boundary line of the second viewpoint as the minimum viewing angle of the camera along a set direction, including:

[0123] Refrigerator calculation

[0124] Where A, B, and C represent the lens coordinates of the lens position, the first coordinate of the first reference position, and the second coordinate of the second reference position, respectively, FOV. min This indicates the minimum field of view of the camera along a set direction.

[0125] It should be noted that, when the direction is set to horizontal, B and C are B1 and C1 in Example 1, respectively, and the FOV is... min That is, HFOV min With the direction set as vertical, B and C are B2 and C2 in Example 2, respectively, and FOV min That is, VFOV min .

[0126] Thus, after determining the lens coordinates of the lens position, the first coordinates of the first reference position, and the second coordinates of the second reference position, the embodiments of this disclosure can determine... and The coordinates of each element are determined, and then, based on the law of cosines, the angle between the boundary lines of the first and second viewpoints can be determined, thus calculating the minimum viewing angle of the camera along the set direction. In this embodiment, the minimum viewing angle of the camera along the set direction can be accurately calculated based on the law of cosines, further improving the recognition rate of food images within the drawer area and further improving the accuracy of camera viewing angle calculation.

[0127] In a specific implementation, combined with Figure 5-1 As shown, the minimum field of view (HFOV) of the camera along the horizontal direction. min for:

[0128]

[0129] Combination Figure 6-1 As shown, the minimum field of view (VFOV) of the camera along the vertical direction. min for:

[0130]

[0131] Optionally, the refrigerator determines the angle between the third-view boundary line and the fourth-view boundary line as the maximum field of view of the camera along a set direction, including:

[0132] Refrigerator calculation

[0133] Where B' and C' represent the third coordinate of the third reference position and the fourth coordinate of the fourth reference position, respectively, FOV max This indicates the maximum field of view of the camera along the set direction.

[0134] It should be noted that, when the direction is set to horizontal, B' and C' are B1' and C1' in Embodiment 3, respectively, and the FOV... max That is, HFOV max When the direction is set to vertical, B' and C' are B2' and C2' in Example 4, respectively, and FOV max That is, VFOVmax .

[0135] Thus, after determining the lens coordinates of the lens position, the third coordinates of the third reference position, and the fourth coordinates of the fourth reference position, the embodiments of this disclosure can determine... and The coordinates of each element are determined, and then, based on the law of cosines, the angle between the boundary lines of the third and fourth perspectives can be determined, thus calculating the maximum viewing angle of the camera along the set direction. In this embodiment, the maximum viewing angle of the camera along the set direction can be accurately calculated based on the law of cosines, further improving the recognition rate of food images within the drawer area and further improving the accuracy of camera viewing angle calculation.

[0136] In a specific implementation, combined with Figure 5-2 As shown, the maximum field of view (HFOV) of the camera along the horizontal direction. max for:

[0137]

[0138] Combination Figure 6-2 As shown, the maximum field of view (VFOV) of the camera along the vertical direction. max for:

[0139]

[0140] Optionally, combined Figure 12 As shown, the refrigerator determines a first reference position that is closest to the door rotation axis along a set direction and a second reference position that is farthest from the door rotation axis along a set direction, including:

[0141] S51, the refrigerator constructs a three-dimensional coordinate system with the initial reference position as the origin, the width direction of the refrigerator body towards the area to be identified as the X-axis, the thickness direction of the refrigerator body away from the refrigerator body as the Y-axis, and the gravity direction as the Z-axis.

[0142] Combination Figure 1 and Figure 4 , Figure 5-1 As shown in this embodiment, a coordinate system is constructed with the door rotation axis (i.e., point O) as the origin, the width direction of the box towards the area to be identified as the X-axis, the thickness direction of the box away from the box as the Y-axis, and the direction of gravity (i.e., vertically downward) as the Z-axis. By constructing this three-dimensional coordinate system in this way, the ordinates and vertical coordinates of the first and third reference positions are both zero, and the vertical coordinates of the second and fourth reference positions are both zero, thereby reducing... and This reduces computational complexity while ensuring the accuracy of viewpoint calculations.

[0143] S52, the refrigerator obtains its cabinet width W. boxand the maximum width W of the region to be identified along the X-axis ROI .

[0144] S53, the refrigerator obtains the offset ΔH of the distance between the area to be identified along the Y-axis and the cabinet along the Y-axis, and the maximum height H of the area to be identified along the Z-axis. ROI .

[0145] S54, the refrigerator is based on (0.5W) box +ΔH-0.5W ROI ,0,0), determine the first coordinate B of the first reference position.

[0146] In this step, the horizontal coordinate of B is the distance between the first reference position and the rotation axis 20a of the door, which is 0.5W. box +|ΔH|-0.5W ROI Furthermore, the ordinate and vertical coordinate of B are both zero.

[0147] S55, refrigerator according to (0.5W) box +ΔH+0.5W ROI H ROI ,0), determine the second coordinate C of the second reference position.

[0148] In this step, the horizontal coordinate of C is the distance between the second reference position and the rotation axis 20a of the door, which is 0.5W. box +ΔH+0.5W ROI And the ordinate of C is the maximum height H of the region to be identified along the Z-axis. ROI And the vertical coordinate of C is zero.

[0149] Thus, by constructing a three-dimensional coordinate system in the manner described above and determining the first coordinate B and the second coordinate C accordingly, the present disclosure embodiment can reduce... and This reduces computational complexity, lowers the computational difficulty of the minimum perspective, and improves the accuracy of the minimum perspective calculation.

[0150] Optionally, combined Figure 13 As shown, the refrigerator determines a third reference position that is closest to the door rotation axis along a set direction for the maximum recognition area, and a fourth reference position that is farthest from the door rotation axis along a set direction, including:

[0151] S61, the refrigerator obtains the ratio coefficient k between the maximum recognition area and the area to be recognized.

[0152] S62, refrigerator according to (0.5W) box +ΔH-0.5W ROI / k,0,0), determine the third coordinate B' of the third reference position.

[0153] In this step, the horizontal coordinate of B' is the distance between the third reference position and the rotation axis 20a of the door, which is 0.5W. box +ΔH-0.5W ROI / k, and the ordinate and vertical coordinate of B' are both zero.

[0154] S63, refrigerator according to (0.5W) box +ΔH+0.5W ROI / k,H ROI / k,0), determine the fourth coordinate C' of the fourth reference position.

[0155] In this step, the horizontal coordinate of C' is the distance between the fourth reference position and the rotation axis 20a of the door, which is 0.5W. box +ΔH+0.5W ROI / k, and the ordinate of C' is the maximum height H of the region to be identified along the Z-axis. ROI The ratio of the proportionality constant k to the vertical coordinate of C' is zero.

[0156] Thus, by constructing a three-dimensional coordinate system in the manner described above and determining the third coordinate B' and the fourth coordinate C' accordingly, the present disclosure embodiment can reduce... and This reduces computational complexity, lowers the computational difficulty of the maximum field of view, and improves the accuracy of the maximum field of view calculation.

[0157] Optionally, combined Figure 1 and Figure 2 As shown, the refrigerator determines the lens position at the center of the camera lens, including:

[0158] The refrigerator obtains the maximum thickness D of the region to be identified along the Z-axis. ROI and the box thickness D box .

[0159] The refrigerator obtains the distance x between the center of the camera lens and the rotation axis of the door, as well as the maximum opening angle α of the door.

[0160] The refrigerator is based on (xcosα,xsinα,D) box -D ROI ), determine the lens coordinates A of the lens position at the center of the camera lens.

[0161] Thus, in this embodiment of the present disclosure, after determining the distance x between the center of the camera lens and the rotation axis of the door, and the maximum opening angle α of the door, the abscissa and ordinate of the lens coordinate A can be determined using xcosα and xsinα, and the box thickness D can be used to determine the coordinates. box The maximum thickness D of the region to be identified along the Z-axis ROIThe difference can be used to obtain the vertical coordinate of lens coordinate A. This ensures the accuracy of lens position calculation and improves the accuracy of minimum and maximum angle of view calculation.

[0162] Combination Figure 14 As shown, this disclosure provides an apparatus 70 for determining the installation tilt angle of a camera in a drawer area, including a processor 700 and a memory 701. Optionally, the apparatus 70 may further include a communication interface 702 and a bus 703. The processor 700, communication interface 702, and memory 701 can communicate with each other via the bus 703. The communication interface 702 can be used for information transmission. The processor 700 can call logical instructions in the memory 701 to execute the method described above for determining the installation tilt angle of a camera in a drawer area.

[0163] Furthermore, the logic instructions in the aforementioned memory 701 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0164] The memory 701, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 700 executes functional applications and data processing by running the program instructions / modules stored in the memory 701, thereby implementing the method described above for determining the camera mounting angle for capturing the drawer area.

[0165] The memory 701 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 701 may include high-speed random access memory and may also include non-volatile memory.

[0166] This disclosure provides a refrigerator, including: a cabinet, a door, and the aforementioned device 70 for determining the mounting angle of a camera for capturing images of a drawer area. The door is equipped with a camera. The device 70 for determining the mounting angle of the camera for capturing images of the drawer area is mounted on the door. The mounting relationship described herein is not limited to placement inside the door, but also includes installation connections with other components of the refrigerator, including but not limited to physical connections, electrical connections, or signal transmission connections. Those skilled in the art will understand that the device 70 for determining the mounting angle of the camera for capturing images of the drawer area can be adapted to any feasible refrigerator body, thereby realizing other feasible embodiments.

[0167] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the method described above for determining the camera mounting tilt angle for capturing a drawer area.

[0168] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0169] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application refers to any and all possible combinations of one or more of the associated listed elements. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0170] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0171] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0172] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for determining the installation tilt angle of a camera for capturing a drawer area, characterized in that, The camera can be installed on the door using the following methods: Obtain the real-time viewing angle of the camera along the set direction and the minimum viewing angle along the set direction. Determine the first reference position closest to the door's rotation axis along a set direction for the area to be identified, and the lens position of the camera lens center; wherein, the set direction includes either a horizontal or vertical direction; Based on the first reference position, the lens position, and the position of the door rotation axis, determine the reference reference angle for the set direction; Based on the real-time viewing angle of the camera along the set direction, the minimum viewing angle along the set direction, and the reference angle of the set direction, the installation tilt angle range of the camera along the set direction is obtained.

2. The method according to claim 1, characterized in that, Based on the real-time viewing angle of the camera along the set direction, the minimum viewing angle along the set direction, and the reference angle, the installation tilt angle range of the camera along the set direction is obtained, including: The minimum installation tilt angle of the camera along the set direction is obtained based on 90°-γ-0.5*FOV. Based on 90°-FOV min -γ+0.5*FOV, obtain the maximum installation tilt angle of the camera along the set direction; Among them, FOV, FOV min These represent the real-time viewing angle and the minimum viewing angle of the camera along the set direction, respectively, and γ represents the reference angle.

3. The method according to claim 1, characterized in that, Based on the first reference position, the lens position, and the position of the door's rotation axis, determine the reference reference angle for the set direction, including: The initial reference position is determined by the intersection of the door's rotation axis and the set straight line. The set straight line is a straight line that passes through the center of the camera lens and intersects the door's rotation axis perpendicularly. Determine the baseline boundary line based on the lens position and the initial reference position; Determine the boundary line of the first viewpoint based on the camera position and the first reference position; The angle between the first reference boundary line and the reference boundary line is determined as the reference reference angle for the set direction.

4. The method according to claim 1, characterized in that, Obtain the minimum viewing angle and the real-time viewing angle of the camera along the set direction, including: Determine the region to be identified and the maximum recognition region corresponding to the region to be identified; Determine the second reference position that is furthest from the door's rotation axis along a set direction for the area to be identified; Determine the third reference position that is closest to the door rotation axis along the set direction and the fourth reference position that is farthest from the door rotation axis along the set direction for the maximum recognition area; Based on the lens position and the first and second reference positions, determine the minimum angle of view of the camera along the set direction; Based on the lens position and the third and fourth reference positions, determine the maximum viewing angle of the camera along the set direction, and configure the real-time viewing angle of the camera along the set direction based on the minimum viewing angle along the set direction and the maximum viewing angle.

5. The method according to claim 4, characterized in that, Based on the lens position and the first and second reference positions, determine the minimum viewing angle of the camera along a set direction, including: Determine the boundary line of the first viewpoint based on the camera position and the first reference position; Determine the boundary line of the second viewpoint based on the camera position and the second reference position; The angle between the boundary line of the first viewpoint and the boundary line of the second viewpoint is determined as the minimum field of view of the camera along the set direction. Based on the lens position and the third and fourth reference positions, determine the maximum viewing angle of the camera along the set direction, including: Determine the boundary line of the third-view perspective based on the camera position and the third reference position; Determine the boundary line of the fourth perspective based on the camera position and the fourth reference position; The angle between the boundary line of the third view and the boundary line of the fourth view is determined as the maximum field of view of the camera along the set direction.

6. The method according to claim 5, characterized in that, Determine the angle between the boundary line of the first viewpoint and the boundary line of the second viewpoint as the minimum field of view of the camera along a set direction, including: calculate Where A, B, and C represent the lens coordinates of the lens position, the first coordinate of the first reference position, and the second coordinate of the second reference position, respectively, FOV. min This indicates the minimum field of view of the camera along a set direction; The angle between the third-view boundary line and the fourth-view boundary line is determined as the maximum field of view of the camera along the set direction, including: calculate Where B' and C' represent the third coordinate of the third reference position and the fourth coordinate of the fourth reference position, respectively, FOV max This indicates the maximum field of view of the camera along the set direction.

7. The method according to claim 6, characterized in that, Determine the first reference position closest to the door's rotation axis along a set direction and the second reference position farthest from the door's rotation axis along a set direction, including: A three-dimensional coordinate system is constructed with the initial reference position as the origin, the width direction of the box towards the area to be identified as the X-axis, the thickness direction of the box away from the box as the Y-axis, and the gravity direction as the Z-axis. Obtain the box width W box and the maximum width W of the region to be identified along the X-axis ROI ; Obtain the offset ΔH between the region to be identified along the Y-axis and the box along the Y-axis, and the maximum height H of the region to be identified along the Z-axis. ROI ; According to (0.5W) box +ΔH-0.5W ROI (0,0), determine the first coordinate B of the first reference position; According to (0.5W) box +ΔH+0.5W ROI H ROI ,0), determine the second coordinate C of the second reference position.

8. The method according to claim 7, characterized in that, Determine the third reference position closest to the door's rotation axis along the set direction for the maximum recognition area, and the fourth reference position farthest from the door's rotation axis along the set direction, including: Obtain the ratio k between the maximum recognition area and the area to be recognized; According to (0.5W) box +ΔH-0.5W ROI / k,0,0), determine the third coordinate B' of the third reference position; According to (0.5W) box +ΔH+0.5W ROI / k,H ROI / k,0), determine the fourth coordinate C' of the fourth reference position.

9. A device for determining the camera mounting tilt angle for capturing a drawer area, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to, when running the program instructions, perform the method for determining the camera mounting tilt angle for capturing a drawer area as described in any one of claims 1 to 8.

10. A refrigerator, characterized in that, include: Box; The door is equipped with a camera; The device for determining the camera mounting angle for capturing the drawer area as described in claim 9 is installed on the door.

Images