CN107187980A - The detection method and detection means of elevator door folding in a kind of lift appliance - Google Patents
The detection method and detection means of elevator door folding in a kind of lift appliance Download PDFInfo
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- CN107187980A CN107187980A CN201710384717.4A CN201710384717A CN107187980A CN 107187980 A CN107187980 A CN 107187980A CN 201710384717 A CN201710384717 A CN 201710384717A CN 107187980 A CN107187980 A CN 107187980A
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- elevator door
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- label area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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Abstract
The embodiment of the invention discloses the detection method and detection means of elevator door folding in a kind of lift appliance, the detection method on the elevator door of lift appliance first and the second elevator door by setting the first label and the second label, and depth camera is set in car, to utilize depth camera to gather the first label and the second label image, obtain the world coordinates information of first label and the second label, and the folding degree information between the elevator door of world coordinates information acquisition first and the second elevator door based on the first label and the second label, it is easy for installation, method is simple, go for all new and old elevator platforms, the scope of application is wider, and in use, in the absence of the loss of machinery or part, subsequently artificial maintenance is not needed substantially, and accuracy of detection will not be reduced with the accumulation of use time.
Description
Technical field
The present invention relates to a kind of detection side of elevator door folding in elevator door detection technique field, more particularly to lift appliance
Method and detection means.
Background technology
The car of usual elevator is required to confirm whether car door is in completely closed state before up and down motion, with
Ensure the safety of personnel near lift car the inside and elevator.Moreover, when elevator because the reasons such as mechanical breakdown cause electricity
There can be very big potential safety hazard during terraced door acceleration switch.Therefore, the folding condition of elevator door is monitored in real time, for improving electricity
Terraced safety in utilization has very important significance.
Traditional detection means generally includes gate switch and encoder, wherein, the gate switch includes being arranged on one
Pin on individual door and the hole being arranged on another, pin and hole completely to it is upper when determine that elevator door is in completely enclosed shape
State, the folding condition that the encoder is used between the mobile fan of motor control two door of selectivity, and provide two fan between doors away from
From information.
But, configuration of the above-mentioned detection device dependent on machinery, with the extension of use time, machine components can be damaged
Consumption, follow-up maintenance cost is higher, moreover, above-mentioned detection device needs just to design into when elevator dispatches from the factory, for not having this
Planting the elevator of function can not easily be reequiped.
The content of the invention
In order to solve the above technical problems, the embodiments of the invention provide a kind of detection side of elevator door folding in lift appliance
Method and detection means, it is higher to solve the follow-up maintenance cost of existing detection means, in addition, it is desirable to just be designed when elevator dispatches from the factory
Enter, the problem of can not easily being reequiped for the elevator of not this function.
To solve the above problems, the embodiments of the invention provide following technical scheme：
A kind of detection method of elevator door folding in lift appliance, the lift appliance includes lift car and elevator door,
The elevator door includes：The first mark is provided with the first elevator door and the second elevator door being oppositely arranged, first elevator door
It is provided with label, second elevator door in the second label, the lift car and is provided with depth camera, the detection method bag
Include：
The motor area of first label and second label is selected in the display interface of the depth camera image
Domain is used as target area；
In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge extracting,
And it regard the region of edge formation closure as first candidate's label area；
In the depth image that the depth camera is exported, region corresponding to the target area carries out dividing processing,
Obtain at least one second candidate's label area；
The first candidate label area and at least one described second candidate's label area are contrasted, will be with described first
The size and location of candidate's label area meets second candidate's label area of the first preparatory condition as the 3rd label area；
Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system；
World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates described first
The folding degree information of elevator door and the second elevator door.
Optionally, in the gray level image that the depth camera is exported, region corresponding to the target area carries out side
Edge is extracted, and the region of edge formation closure is included as first candidate's label area：
The edge binary map of the target area is calculated using Canny operators；
In the edge binary map, remove the point that closure is not formed in the gray level image, the side after being handled
Edge binary map；
Connected domain is extracted in edge binary map after treatment, is marked the boundary rectangle of the connected domain as the first candidate
Sign region.
Optionally, in the depth image that the depth camera is exported, region corresponding to the target area is divided
Processing is cut, obtaining at least one second candidate's label area includes：
The segmentation result of target area described in the depth image is obtained using the method for cluster or region growing；
The segmentation result is screened, the second preparatory condition will be met with first label and second label
Region screen, be used as second candidate's label area.
Optionally, calculating world coordinates of each pixel of the 3rd label area under camera coordinates system includes：
Obtain the seat of the depth information and each pixel of each pixel in the 3rd label area under image coordinate system
Mark (x, y)；
Calculated using below equation and obtain world coordinates of each pixel under camera coordinates system：
Wherein, Xworld、Yworld、ZworldIt is the world coordinates under camera coordinates system respectively；Under x, y are image coordinate system
Abscissa and ordinate；Deep is the depth value at (x, y) pixel；cx, cyIt is depth camera center under image coordinate system respectively
The coordinate value of point, Tx, TyIt is the size (in units of millimeter) in single pixel point x directions and y directions, f respectivelyx, fyIt is institute respectively
State the focus information on depth camera x directions and y directions.
Optionally, the world coordinates based on each pixel of the 3rd label area under the camera coordinates system, is calculated
The folding degree information of first elevator door and the second elevator door includes：
World coordinates of each pixel of 3rd label area under the camera coordinates system is averaged, institute is obtained
State the world coordinates information of the first tag hub point and the world coordinates information of the second tag hub point；
According to the world coordinates information of the first tag hub point and the world coordinates information of the second tag hub point, meter
Calculate the Euclidean distance of the first tag hub point and the second tag hub point；
First label and institute are subtracted using the Euclidean distance of the first tag hub point and the second tag hub point
The size of the second label is stated, the folding degree information between first elevator door and second elevator door is obtained.
Optionally, the folding degree information between first elevator door and second elevator door includes the described first electricity
The distance between terraced door and second elevator door and described state between the first elevator door and second elevator door folding speed
Degree.
A kind of detection means of elevator door folding in ladder device, the lift appliance includes lift car and elevator door, institute
The first elevator door and the second elevator door that elevator door includes being oppositely arranged are stated, the detection means includes：
The detection means includes：
The first label being arranged on first elevator door and the second label being arranged on second elevator door；
It is arranged at the depth camera in the lift car；
The processor electrically connected with the depth camera, the processor is used for：In the display of the depth camera image
The moving region of first label and second label is selected to be used as target area in interface；
In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge extracting,
And it regard the region of edge formation closure as first candidate's label area；
In depth camera output depth image, dividing processing is carried out to the target area, at least one is obtained
Second candidate's label area；
By the first candidate label area and each second candidate label area contrast, it will be marked with first candidate
The size and location in label region meets second candidate's label area of the first preparatory condition as the 3rd label area；
Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system；
World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates described first
The folding degree information of elevator door and the second elevator door.
Optionally, first label and second label be in the same horizontal line.
Optionally, first preparatory condition includes：
The difference in areas of the first candidate label area and the second candidate label area is exhausted under image coordinate system
To being worth 0.2 less than predeterminable area area, it is formulated as：|Sa-Sb| ＜ 0.2min (Sa, Sb), wherein, SaFor the first candidate
The area of label area, SbFor the area of second candidate's label area, the predeterminable area is the first candidate label area
With the less region of area in the second candidate label area；
The y coordinate system difference of the first candidate label area and second candidate's label area is absolute under image coordinate system
Twice of value less than the predeterminable area height；It is formulated as | ya-yb| ＜ 2*min (ha,hb)；yaFor first candidate's label
The y-coordinate information in region, ybFor the y-coordinate information of second candidate's label area, haFor on the first candidate label area y directions
Height value, hbFor the height value on the second candidate label area y directions.
Optionally, the folding degree information between first elevator door and second elevator door includes the described first electricity
The distance between terraced door and second elevator door and described state between the first elevator door and second elevator door folding speed
Degree.
Compared with prior art, above-mentioned technical proposal has advantages below：
The detection method and detection means of elevator door folding, can pass through in the lift appliance that the embodiment of the present invention is provided
The first label and the second label are set on the first elevator door and the second elevator door, and depth camera is set in car, is come sharp
The first label and the second label image are gathered with depth camera, the world coordinates letter of first label and the second label is obtained
Breath, and the folding between the elevator door of world coordinates information acquisition first and the second elevator door based on the first label and the second label
Degree information, easy for installation, method is simple, goes for all new and old elevator platforms, the scope of application is wider.
Moreover, in the lift appliance that the embodiment of the present invention is provided elevator door folding detection method and detection means, can
To provide the distance between the first elevator door and the second elevator door information and folding velocity information simultaneously, facilitate security system to electricity
The running situation of ladder device carries out accurately and efficiently monitoring and carrying out big data analysis.
In addition, in the lift appliance that the embodiment of the present invention is provided elevator door folding detection method and detection means, adopt
With based on computer vision technique, what the depth information that the result detected is all based on depth camera present frame was obtained, and phase
The imaging of machine will not be over time accumulation and there is deviation, therefore, detection method and detection that the embodiment of the present invention is provided
Device, in use, in the absence of the loss of machinery or part, artificial maintenance, and accuracy of detection is not needed subsequently substantially
It will not be reduced with the accumulation of use time.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
The electricity that the detection method of elevator door folding is applied in the lift appliance that Fig. 1 is provided by one embodiment of the invention
The structural representation of ladder device；
The detection method flow chart of elevator door folding in the lift appliance that Fig. 2 is provided by one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
The embodiments of the invention provide a kind of detection method of elevator door folding in lift appliance, as shown in figure 1, the electricity
Ladder device includes lift car 10 and elevator door 20, and the elevator door 20 includes the first elevator door 21 being oppositely arranged and the second electricity
Terraced door 22, wherein, it is provided with first elevator door 21 on first label 31, second elevator door 22 and is provided with the second mark
Depth camera (not shown) is provided with label 32, the lift car 10, as shown in Fig. 2 this method includes：
S1：The motion of first label and second label is selected in the display interface of the depth camera image
Region is used as target area (i.e. ROI, region of interest).
In embodiments of the present invention, the moving region of the first label is selected in the display interface of the depth camera image
During with the moving region of the second label as target area, the target area can be dashed region 40 in rectangle, such as Fig. 1,
This can not also be limited, specifically depended on the circumstances for oval or other 2D shapes, the present invention.
It should be noted that in embodiments of the present invention, in order to reduce the area of the target area, reduction is follow-up to be calculated
The amount of calculation of distance between first label and second label, in one embodiment of the invention, first mark
Label and second label are located in same horizontal line, but the present invention is not limited this, is specifically depended on the circumstances.
Optionally, in one embodiment of the invention, the motion of first label is completely covered in the target area
Region and the moving region of second label, and the moving region more than first label and the motion of second label
The area sum in region, it is preferred that in order to reduce the area of the target area as far as possible, the target area is completely covered
The moving region of first label and the moving region of second label, and slightly larger than the moving region of first label
With the area sum of the moving region of second label, but the present invention this is not limited, as long as ensureing the target area
The moving region of first label and the moving region of second label is completely covered in domain, and not less than first label
Moving region and second label moving region area sum.
S2：In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge and carried
Take, and regard the region of edge formation closure as first candidate's label area.
Specifically, in one embodiment of the invention, in the gray level image that the depth camera is exported, to the mesh
Mark the corresponding region in region and carry out edge extracting, and regard the region of edge formation closure as first candidate's label area bag
Include：
S21：The edge binary map of the target area is calculated using Canny operators；
S22：In the edge binary map, remove the point that closure is not formed in the gray level image, such as isolated point
Or line segment etc., the edge binary map after being handled.
S23：Connected domain is extracted in edge binary map after treatment, is waited the boundary rectangle of the connected domain as first
Select label area.Wherein, the connected domain, it is directly perceived for refer to there is no the region in hole in the edge binary map, it is strict come
It is connection to say Topological Space X to turn into, and one of following condition that and if only if is set up：(1) X can not be expressed as two it is disjoint non-
The union of air switch collection；(2)A ≠ X or
It should be noted that in embodiments of the present invention, Canny operators be Australian Scientists John F.Canny in
The multistage edge detection algorithm proposed for 1986, for extracting the marginal point in image.
It should also be noted that, in embodiments of the present invention, the first candidate label area is preferably two, right respectively
Answer the region where first label and the region where second label.
S3：In the depth image that the depth camera is exported, region corresponding to the target area carries out segmentation portion
Reason, obtains at least one second candidate's label area.
Specifically, in one embodiment of the invention, in depth map, dividing processing is carried out to the target area,
Obtaining at least one second candidate's label area includes：
S31：The segmentation result of target area described in the depth image is obtained using the method for cluster or region growing；
S32：The segmentation result is screened, second will be met with first label or second label and preset
The region of condition is screened, and is used as second candidate's label area.
Specifically, in one embodiment of the invention, meeting second with first label or second label pre-
If the region of condition at least meets following condition：Regular shape, the area ratio with first label or second label
Not less than 0.8 and no more than 1.2.
It should be noted that in embodiments of the present invention, cluster is that the set of pixel is based on into gray value or depth value
The process for multiple classes that divide into several classes constitutes like object；Region growing be it is a kind of by the pixel with similar quality together
To constitute region, detailed process includes：The region first split in each needs looks for a pixel (to be designated as seed picture at random
Element) it is used as growth starting point；Then the pixel with sub-pixel in field around sub-pixel with same or similar property is closed
And into the region where the sub-pixel.
It should also be noted that, in embodiments of the present invention, when the depth in field around sub-pixel with sub-pixel
The absolute value of the difference of value be less than 10mm pixel be designated as the pixel that there is same or similar property with sub-pixel, i.e., with
There is sub-pixel the depth value of the pixel of same or similar property to meet following relation：|deptha-depthb| ＜ 10mm；
Wherein, depthaIt is the depth value at sub-pixel, depthbBe have around sub-pixel in field with sub-pixel it is identical or
The depth value of the pixel of similar quality.
S4：By the first candidate label area and each second candidate label area contrast, it will be waited with described first
The size and location of label area is selected to meet second candidate's label area of the first preparatory condition as the 3rd label area.
It should be noted that the preparatory condition includes：
The difference in areas of the first candidate label area and the second candidate label area is exhausted under image coordinate system
To being worth 0.2 less than predeterminable area area, it is formulated as：|Sa-Sb| ＜ 0.2*min (Sa,Sb), wherein, SaWaited for first
Select the area of label area, SbFor the area of second candidate's label area, the predeterminable area is the first candidate label area
The less region of area in domain and the second candidate label area；
The y coordinate system difference of the first candidate label area and second candidate's label area is absolute under image coordinate system
Twice of value less than the predeterminable area height；It is formulated as | ya-yb| ＜ 2*min (ha,hb)；yaFor first candidate's label
The y-coordinate information in region, ybFor the y-coordinate information of second candidate's label area, haFor on the first candidate label area y directions
Height value, hbFor the height value on the second candidate label area y directions.
It should also be noted that, in embodiments of the present invention, the 3rd label area is two, and described the is corresponded to respectively
Region where one label and second label.
S5：Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system.
It is image coordinate system respectively it should be noted that generally comprising three kinds of coordinate systems in computer vision field, shooting
Machine coordinate system (also referred to as camera coordinates system), world coordinate system.A reference frame is generally selected in the environment to describe shooting
The position of machine and object, the coordinate system is referred to as world coordinate system.Camera coordinate system is sat as the world simultaneously in the present invention
Mark system, so it is expressed as the world coordinates under camera coordinate system camera (camera coordinates system).
Specifically, in one embodiment of the invention, calculating each pixel of the 3rd label area in the camera
World coordinates under coordinate system includes：
S51：The depth information and each pixel of each pixel in the 3rd label area are obtained under image coordinate system
Coordinate (x, y)；
S52：Calculated using below equation and obtain world coordinates of each pixel under camera coordinates system：
Wherein, Xworld、Yworld、ZworldIt is the world coordinates under camera coordinates system respectively；Under x, y are image coordinate system
Abscissa and ordinate；Deep is the depth value at (x, y) pixel；cx, cyIt is depth camera center under image coordinate system respectively
The coordinate value of point, Tx, TyIt is the size (in units of millimeter) in single pixel point x directions and y directions, f respectivelyx, fyIt is institute respectively
State the focus information on depth camera x directions and y directions.
S6：World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates described
The folding degree information of first elevator door and the second elevator door.
Specifically, in one embodiment of the invention, based on each pixel of the 3rd label area in the camera
World coordinates under coordinate system, calculating the folding degree information of first elevator door and the second elevator door includes：
S61：World coordinates of each pixel of 3rd label area in the camera coordinates system is averaged, obtained
To the world coordinates information and the world coordinates information of the second tag hub point of the first tag hub point；
S62：Believed according to the world coordinates of the world coordinates information of the first tag hub point and the second tag hub point
Breath, calculates the Euclidean distance of the first tag hub point and the second tag hub point；Wherein, Euclidean distance (euclidean
Metric) (also referred to as euclidean metric) is a distance definition generally used, is referred to true between two points in m-dimensional space
Actual distance from, or vector natural length (i.e. distance of the point to origin).Euclidean distance in two and three dimensions space is just
It is the actual range between 2 points.It is exactly the actual distance between two points in the present invention.
S63：First label is subtracted using the Euclidean distance of the first tag hub point and the second tag hub point
With the size of second label, the folding degree information between first elevator door and second elevator door is obtained.
On the basis of above-described embodiment, in one embodiment of the invention, first elevator door and described second
Folding degree information between elevator door includes the distance between first elevator door and second elevator door and described
Folding speed between the first elevator door and second elevator door is stated, specific formula for calculation is：
Wherein, D is the folding degree (unit is millimeter) of elevator door, i.e., between described first elevator door and the second elevator door
Distance；(Xleft,Yleft,Zleft) and (Xright,Yright,Zright) be respectively the first label and second two labels of label generation
Boundary's coordinate (unit is millimeter)；L is the actual size sum of first label and the second label (unit is millimeter)；V is institute
Show the speed of related movement of the first label and the second label (specifically, when the movement velocity of first label is V1, the second mark
The movement velocity of label is 0, then V=V1；When the movement velocity of first label is 0, the movement velocity of the second label is V1, then
V=V1；When the movement velocity of first label is V1, the movement velocity of the second label is V1, then V=2V1)；Dt is the time
Variable quantity；DD is the first elevator door and the second elevator door in the changing value of elevator door opening degree in period dt, i.e. period dt
The distance between changing value.
Accordingly, the embodiment of the present invention additionally provides a kind of detection means of elevator door folding in ladder device, the elevator
Device includes lift car and elevator door, and the elevator door includes the first elevator door and the second elevator door being oppositely arranged, described
Detection means includes：
The first label being arranged on first elevator door and the second label being arranged on second elevator door；
It is arranged at the depth camera in the lift car；
The processor electrically connected with the depth camera, the processor is used for：In the display of the depth camera image
The moving region of first label and second label is selected to be used as target area in interface；
In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge extracting,
And it regard the region of edge formation closure as first candidate's label area；
In depth camera output depth image, region corresponding to the target area carries out dividing processing, obtains
To at least one second candidate's label area；
By the first candidate label area and each second candidate label area contrast, it will be marked with first candidate
The size and location in label region meets second candidate's label area of the first preparatory condition as the 3rd label area；
Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system；
World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates described first
The folding degree information of elevator door and the second elevator door.
On the basis of above-described embodiment, in one embodiment of the invention, the target area can be rectangle,
This can not be limited, specifically depended on the circumstances for oval or other 2D shapes, the present invention.
It should be noted that in embodiments of the present invention, in order to reduce the area of the target area, reduction is follow-up to be calculated
The amount of calculation of distance between first label and second label, in one embodiment of the invention, first mark
Label and second label are located in same horizontal line, but the present invention is not limited this, is specifically depended on the circumstances.
Optionally, in one embodiment of the invention, the motion of first label is completely covered in the target area
Region and the moving region of second label, and the moving region more than first label and the motion of second label
The area sum in region, it is preferred that in order to reduce the area of the target area as far as possible, the target area is completely covered
The moving region of first label and the moving region of second label, and slightly larger than the moving region of first label
With the area sum of the moving region of second label, but the present invention this is not limited, as long as ensureing the target area
The moving region of first label and the moving region of second label is completely covered in domain, and not less than first label
Moving region and second label moving region area sum.
On the basis of any of the above-described embodiment, in one embodiment of the invention, the processor is being performed to institute
State the corresponding region picture in target area and carry out edge extracting, and regard the region of edge formation closure as the first candidate label area
During domain specifically for：
The edge binary map of the target area is calculated using Canny operators；
In the edge binary map, remove the point that closure is not formed in the gray level image, such as isolated point or line
Section etc., the edge binary map after being handled.
Connected domain is extracted in edge binary map after treatment, is marked the boundary rectangle of the connected domain as the first candidate
Sign region.Wherein, the connected domain, it is directly perceived for refer to there is no the region in hole in the edge binary map, strictly open up
It is connection to flutter space X to turn into, and one of following condition that and if only if is set up：(1) X can not be expressed as two disjoint non-air switch
The union of collection；(2)A ≠ X or
It should be noted that in embodiments of the present invention, the first candidate label area is preferably two, is corresponded to respectively
The region where region and second label where first label.
On the basis of above-described embodiment, in one embodiment of the invention, the processor is being performed in the depth
In the depth image for spending camera output, dividing processing is carried out to the target area, at least one second candidate label area is obtained
During domain specifically for：
The segmentation result of target area described in depth map is obtained using the method for cluster or region growing；
The segmentation result is screened, the second preparatory condition will be met with first label or second label
Region screen, be used as second candidate's label area.
Specifically, in one embodiment of the invention, meeting second with first label or second label pre-
If the region of condition at least meets following condition：Regular shape, the area ratio with first label or second label
Not less than 0.8 and no more than 1.2.
It should be noted that in embodiments of the present invention, cluster is that the set of pixel is based on into gray value or depth value
The process for multiple classes that divide into several classes constitutes like object；Region growing be it is a kind of by the pixel with similar quality together
To constitute region, detailed process includes：The region first split in each needs looks for a pixel (to be designated as seed picture at random
Element) it is used as growth starting point；Then the pixel with sub-pixel in field around sub-pixel with same or similar property is closed
And into the region where the sub-pixel.
It should also be noted that, in embodiments of the present invention, when the depth in field around sub-pixel with sub-pixel
The absolute value of the difference of value be less than 10mm pixel be designated as the pixel that there is same or similar property with sub-pixel, i.e., with
There is sub-pixel the depth value of the pixel of same or similar property to meet following relation：|deptha-depthb| ＜ 10mm；
Wherein, depthaIt is the depth value at sub-pixel, depthbBe have around sub-pixel in field with sub-pixel it is identical or
The depth value of the pixel of similar quality.
On the basis of any of the above-described embodiment, in one embodiment of the invention, first preparatory condition includes：
The difference in areas of the first candidate label area and the second candidate label area is exhausted under image coordinate system
To being worth 0.2 less than predeterminable area area, it is formulated as：|Sa-Sb| ＜ 0.2*min (Sa,Sb), wherein, SaWaited for first
Select the area of label area, SbFor the area of second candidate's label area, the predeterminable area is the first candidate label area
The less region of area in domain and the second candidate label area；
The y coordinate system difference of the first candidate label area and second candidate's label area is absolute under image coordinate system
Twice of value less than the predeterminable area height；It is formulated as | ya-yb| ＜ 2*min (ha,hb)；yaFor first candidate's label
The y-coordinate information in region, ybFor the y-coordinate information of second candidate's label area, haFor on the first candidate label area y directions
Height value, hbFor the height value on the second candidate label area y directions.
It should be noted that in embodiments of the present invention, the 3rd label area is two, and described first is corresponded to respectively
Region where label and second label.
On the basis of any of the above-described embodiment, in one embodiment of the invention, the processor is performing calculating
During world coordinates of each pixel of the 3rd label area under camera coordinates system specifically for：
Obtain the seat of the depth information and each pixel of each pixel in the 3rd label area under image coordinate system
Mark (x, y)；
Calculated using below equation and obtain world coordinates of each pixel under camera coordinates system：
Wherein, Xworld、Yworld、ZworldIt is the world coordinates under camera coordinates system respectively；Under x, y are image coordinate system
Abscissa and ordinate；Deep is the depth value at (x, y) pixel；cx, cyIt is depth camera center under image coordinate system respectively
The coordinate value of point, Tx, TyIt is the size (in units of millimeter) in single pixel point x directions and y directions, f respectivelyx, fyIt is institute respectively
State the focus information on depth camera x directions and y directions.
It is image coordinate system respectively it should be noted that generally comprising three kinds of coordinate systems in computer vision field, shooting
Machine coordinate system (also referred to as camera coordinates system), world coordinate system.A reference frame is generally selected in the environment to describe shooting
The position of machine and object, the coordinate system is referred to as world coordinate system.Camera coordinate system is sat as the world simultaneously in the present invention
Mark system, so it is expressed as the world coordinates under camera coordinate system camera (camera coordinates system).
On the basis of any of the above-described embodiment, in one embodiment of the invention, the processor for based on
World coordinates of each pixel of 3rd label area under the camera coordinates system, calculates first elevator door and second
During the folding degree information of elevator door specifically for：
World coordinates of each pixel of 3rd label area in the camera coordinates system is averaged, institute is obtained
State the world coordinates information of the first tag hub point and the world coordinates information of the second tag hub point；
According to the world coordinates information of the first tag hub point and the world coordinates information of the second tag hub point, meter
Calculate the Euclidean distance of the first tag hub point and the second tag hub point；Wherein, Euclidean distance (euclidean
Metric) (also referred to as euclidean metric) is a distance definition generally used, is referred to true between two points in m-dimensional space
Actual distance from, or vector natural length (i.e. distance of the point to origin).Euclidean distance in two and three dimensions space is just
It is the actual range between 2 points.It is exactly the actual distance between two points in the present invention.
On the basis of any of the above-described embodiment, in one embodiment of the invention, first elevator door and described
Folding degree information between second elevator door include the distance between first elevator door and second elevator door and
Described to state folding speed between the first elevator door and second elevator door, specific formula for calculation is：
Wherein, D is the folding degree (unit is millimeter) of elevator door, i.e., between described first elevator door and the second elevator door
Distance；(Xleft, Tleft, Zleft) and (Xright, Tright, Zright) be respectively the first label and second two labels of label generation
Boundary's coordinate (unit is millimeter)；L is the actual size sum of first label and the second label (unit is millimeter)；V is institute
Show the speed of related movement of the first label and the second label (specifically, when the movement velocity of first label is V1, the second mark
The movement velocity of label is 0, then V=V1；When the movement velocity of first label is 0, the movement velocity of the second label is V1, then
V=V1；When the movement velocity of first label is V1, the movement velocity of the second label is V1, then V=2V1)；Dt is the time
Variable quantity；DD is the first elevator door and the second elevator door in the changing value of elevator door opening degree in period dt, i.e. period dt
The distance between changing value.
From the foregoing, it will be observed that in lift appliance provided in an embodiment of the present invention elevator door folding detection method and detection means,
Can be by setting the first label and the second label, and the setting depth phase in car on the first elevator door and the second elevator door
Machine, to utilize depth camera to gather the first label and the second label image, obtains the world of first label and the second label
Between coordinate information, and the elevator door of world coordinates information acquisition first and the second elevator door based on the first label and the second label
Folding degree information, easy for installation, method is simple, goes for all new and old elevator platforms, the scope of application is wider.
Moreover, in the lift appliance that the embodiment of the present invention is provided elevator door folding detection method and detection means, can
To provide the distance between the first elevator door and the second elevator door information and folding velocity information simultaneously, facilitate security system to electricity
The running situation of ladder device carries out accurately and efficiently monitoring and carrying out big data analysis.
In addition, in the lift appliance that the embodiment of the present invention is provided elevator door folding detection method and detection means, adopt
With based on computer vision technique, what the depth information that the result detected is all based on depth camera present frame was obtained, and phase
The imaging of machine will not be over time accumulation and there is deviation, therefore, detection method and detection that the embodiment of the present invention is provided
Device, in use, in the absence of the loss of machinery or part, artificial maintenance, and accuracy of detection is not needed subsequently substantially
It will not be reduced with the accumulation of use time.
Various pieces are described by the way of progressive in this specification, and what each some importance illustrated is and other parts
Difference, between various pieces identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
Embodiment illustrated herein is not intended to be limited to, and is to fit to consistent with principles disclosed herein and features of novelty
Most wide scope.
Claims (10)
1. a kind of detection method of elevator door folding in lift appliance, the lift appliance includes lift car and elevator door, institute
Stating elevator door includes：The first elevator door and the second elevator door being oppositely arranged, it is characterised in that set on first elevator door
Have to be provided with the second label, the lift car on the first label, second elevator door and be provided with depth camera, the detection
Method includes：
The moving region of first label and second label is selected to make in the display interface of the depth camera image
For target area；
In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge extracting, and will
The region of edge formation closure is used as first candidate's label area；
In the depth image that the depth camera is exported, region corresponding to the target area carries out dividing processing, obtains
At least one second candidate's label area；
The first candidate label area and at least one described second candidate's label area are contrasted, will be with first candidate
The size and location of label area meets second candidate's label area of the first preparatory condition as the 3rd label area；
Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system；
World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates first elevator
The folding degree information of door and the second elevator door.
2. detection method according to claim 1, it is characterised in that in the gray level image that the depth camera is exported,
Region corresponding to the target area carries out edge extracting, and regard the region of edge formation closure as first candidate's label
Region includes：
The edge binary map of the target area is calculated using Canny operators；
In the edge binary map, remove the point that closure is not formed in the gray level image, the edge two after being handled
Value figure；
Connected domain is extracted in edge binary map after treatment, the boundary rectangle of the connected domain is regard as the first candidate label area
Domain.
3. detection method according to claim 1, it is characterised in that in the depth image that the depth camera is exported,
Region corresponding to the target area carries out dividing processing, and obtaining at least one second candidate's label area includes：
The segmentation result of target area described in the depth image is obtained using the method for cluster or region growing；
The segmentation result is screened, the area of the second preparatory condition will be met with first label and second label
Domain is screened, and is used as second candidate's label area.
4. detection method according to claim 1, it is characterised in that calculate each pixel of the 3rd label area in phase
World coordinates under machine coordinate system includes：
Obtain the depth information and each pixel of each pixel in the 3rd label area under image coordinate system coordinate (x,
y)；
Calculated using below equation and obtain world coordinates of each pixel under camera coordinates system：
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Wherein, Xworld、Yworld、ZworldIt is the world coordinates under camera coordinates system respectively；X, y are the horizontal seats under image coordinate system
Mark and ordinate；Deep is the depth value at (x, y) pixel；cx, cyIt is depth camera central point under image coordinate system respectively
Coordinate value, Tx, TyIt is the size (in units of millimeter) in single pixel point x directions and y directions, f respectivelyx, fyIt is the depth respectively
The focus information spent on camera x directions and y directions.
5. detection method according to claim 1, it is characterised in that based on each pixel of the 3rd label area in institute
The world coordinates under camera coordinates system is stated, calculating the folding degree information of first elevator door and the second elevator door includes：
World coordinates of each pixel of 3rd label area under the camera coordinates system is averaged, described is obtained
The world coordinates information of 1 tag hub point and the world coordinates information of the second tag hub point；
According to the world coordinates information of the first tag hub point and the world coordinates information of the second tag hub point, institute is calculated
State the Euclidean distance of the first tag hub point and the second tag hub point；
First label and described are subtracted using the Euclidean distance of the first tag hub point and the second tag hub point
The size of two labels, obtains the folding degree information between first elevator door and second elevator door.
6. detection method according to claim 5, it is characterised in that first elevator door and second elevator door it
Between folding degree information include the distance between first elevator door and second elevator door and it is described state first electricity
Folding speed between terraced door and second elevator door.
7. a kind of detection means of elevator door folding in ladder device, the lift appliance includes lift car and elevator door, described
Elevator door includes the first elevator door and the second elevator door being oppositely arranged, it is characterised in that the detection means includes：
The detection means includes：
The first label being arranged on first elevator door and the second label being arranged on second elevator door；
It is arranged at the depth camera in the lift car；
The processor electrically connected with the depth camera, the processor is used for：In the display interface of the depth camera image
The interior moving region for selecting first label and second label is used as target area；
In the gray level image that the depth camera is exported, region corresponding to the target area carries out edge extracting, and will
The region of edge formation closure is used as first candidate's label area；
The depth camera output depth image in, to the target area carry out dividing processing, obtain at least one second
Candidate's label area；
, will be with the first candidate label area by the first candidate label area and each second candidate label area contrast
The size and location in domain meets second candidate's label area of the first preparatory condition as the 3rd label area；
Calculate world coordinates of each pixel of the 3rd label area under camera coordinates system；
World coordinates based on each pixel of the 3rd label area under the camera coordinates system, calculates first elevator
The folding degree information of door and the second elevator door.
8. detection means according to claim 7, it is characterised in that first label and second label are same
On horizontal line.
9. detection means according to claim 7, it is characterised in that first preparatory condition includes：
The absolute value of the difference in areas of the first candidate label area and the second candidate label area under image coordinate system
Less than the 0.2 of predeterminable area area, it is formulated as：|Sa-Sb| ＜ 0.2min (Sa, Sb), wherein, SaFor first candidate's label
The area in region, SbFor the area of second candidate's label area, the predeterminable area is the first candidate label area and institute
State the less region of area in second candidate's label area；
The absolute value of the y coordinate system difference of the first candidate label area and second candidate's label area is small under image coordinate system
In twice of the predeterminable area height；It is formulated as | ya-yb| ＜ 2*min (ha,hb)；yaFor first candidate's label area
Y-coordinate information, ybFor the y-coordinate information of second candidate's label area, haFor the height on the first candidate label area y directions
Value, hbFor the height value on the second candidate label area y directions.
10. detection means according to claim 7, it is characterised in that first elevator door and second elevator door
Between folding degree information include the distance between first elevator door and second elevator door and described state first
Folding speed between elevator door and second elevator door.
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