CN107765324A - A kind of vent cabinet window foreign matter detecting method and device based on laser image - Google Patents
A kind of vent cabinet window foreign matter detecting method and device based on laser image Download PDFInfo
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- CN107765324A CN107765324A CN201610669902.3A CN201610669902A CN107765324A CN 107765324 A CN107765324 A CN 107765324A CN 201610669902 A CN201610669902 A CN 201610669902A CN 107765324 A CN107765324 A CN 107765324A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
- G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning
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Abstract
The present invention, which provides a kind of vent cabinet window foreign matter detecting method and device, methods described based on laser image, to be included：Vent cabinet window is irradiated from the top down using laser and forms hot spot in the smooth surface of the vent cabinet window；Utilize the video in window for the camera device intake vent cabinet window being installed at the top of the vent cabinet；Identify the location of pixels of hot spot in the video in window and according to corresponding to the location of pixels of hot spot in the video in window obtains hot spot in the video in window the relatively described capturing apparatus of actual facula vertical range and horizontal range；Judge whether the vent cabinet window has foreign matter and the foreign matter in the locus of the vent cabinet window according to the horizontal range and the vertical range.The present invention instead of with whether the sensor detection vent cabinet window of traditional photo-electric has foreign matter, has extensive autgmentability, is advantageous to the intellectuality in vent cabinet and laboratory, and the present invention is easy for installation, has stronger versatility and practicality.
Description
Technical field
The present invention relates to industrial ventilation technical field, particularly vent cabinet technical field, is specially that one kind is based on laser figure
The vent cabinet window foreign matter detecting method and device of picture.
Background technology
Laboratory ventilation is an indispensable part in lab design.In order that laboratory worker is not
Suck or swallow should have in the chemical substance and organism, laboratory that some are poisonous, can causing a disease or toxicity is not clear it is good
Ventilation.To prevent the absorption of some steams, gas and particulate (smog, coal smoke, dust and aerosol), polluter must use ventilation
Cabinet, ventilator cowling or the method for local ventilation remove.Vent cabinet is a kind of intermittent local ventilation the most frequently used in laboratory, and species is numerous
More, because its structure is different, the condition used is different, and its exhaust effect also differs.The good ring of the performance of vent cabinet, mainly depends on
In the speed moved by vent cabinet air.Maximum purpose using vent cabinet is caused pernicious gas in discharge experiment, is protected
Protect the health of experimenter, that is to say, that to have the security of height and superior operability.Because vent cabinet is in biochemical test
Occupy very important position in room, from improving laboratory environment, improving labour health condition, improve operating efficiency etc. and examine
Consider, the use number of units of vent cabinet increases by leaps and bounds.
If the window of vent cabinet have foreign matter can influence divulge information quality, so generally require whether have to the window of vent cabinet it is different
Thing is detected.Vent cabinet detection window foreign matter typically with automatic displacement is by installing grating or to penetrating photoelectric sensor
Carry out detection window foreign matter, but the installation of the sensor such as grating needs for various types of operation windows for design, lead to
Bad with property, installation is difficult in maintenance.
The content of the invention
In view of the above the shortcomings that prior art, it is an object of the invention to provide a kind of ventilation based on laser image
Cabinet window foreign matter detecting method and device, for solve in the prior art the detection to vent cabinet window do not possess versatility and
The problem of difficult in maintenance, is installed.
In order to achieve the above objects and other related objects, it is different to provide a kind of vent cabinet window based on laser image by the present invention
Object detecting method, the vent cabinet window foreign matter detecting method based on laser image include：Using laser to vent cabinet window
It is irradiated from the top down and forms hot spot in the smooth surface of the vent cabinet window；Using being installed at the top of the vent cabinet
Camera device absorbs the video in window of vent cabinet window；Identify in the video in window location of pixels of hot spot and according to the window
The location of pixels of hot spot obtains the relatively described capturing apparatus of actual facula corresponding to hot spot in the video in window in mouth image
Vertical range and horizontal range；Judge whether the vent cabinet window has foreign matter according to the horizontal range and the vertical range
And the foreign matter is in the locus of the vent cabinet window..
In one embodiment of the invention, actual facula corresponding to hot spot is relatively described in the acquisition video in window
The vertical range and horizontal range of capturing apparatus are specific as follows：
Wherein, q is vertical range of the hot spot to capturing apparatus, and f is capturing apparatus focal length, and s is capturing apparatus to lasing light emitter
Distance, x is the distance in the vertical direction of hot spot absorbed on video in window, and psize is the Pixel Dimensions of capturing apparatus, px
For the pixel count of the vertical direction of hot spot present position on video in window image, offset is laser spots image space migration
Value, p are the floor projection distance that hot spot arrives the distance of capturing apparatus, y for the hot spot horizontal direction absorbed on video in window away from
From the pixel count for the horizontal direction that, py is the hot spot present position on video in window, pm be on video in window in the horizontal direction
The pixel count of midpoint.
In one embodiment of the invention,It is after deformation It is after deformationUtilize least square method pairInWithDemarcated, it is rightIn parameter s enter rower
It is fixed to obtainAnd s numerical value.
In one embodiment of the invention, launch camera device of the lasing light emitter of the laser with absorbing the video in window
The distance between be 8cm~10cm.
To achieve the above object, the present invention also provides a kind of vent cabinet window detection device for foreign matter based on laser image,
The vent cabinet window detection device for foreign matter based on laser image includes：Laser, mounted perpendicular is at the top of vent cabinet window
So that the laser of transmitting is irradiated and formed in the smooth surface of the vent cabinet window from the top down to the vent cabinet window
Initial hot spot；Video camera, mounted perpendicular are used for the video in window for absorbing vent cabinet window at the top of vent cabinet window；Controller,
It is connected with the video camera, for identifying the location of pixels of hot spot in the video in window, according to hot spot in the video in window
Location of pixels obtain the vertical range and level of the relatively described video camera of actual facula corresponding to hot spot in the video in window
Distance, and judge whether the vent cabinet window has foreign matter and the foreign matter according to the horizontal range and the vertical range
In the locus of the vent cabinet window.
In one embodiment of the invention, actual facula corresponding to hot spot is relatively described in the acquisition video in window
The vertical range and horizontal range of capturing apparatus are specific as follows：
Wherein, q is hot spot to taking the photograph
The vertical range of camera, f are capturing apparatus focal length, and s is distance of the capturing apparatus to lasing light emitter, and x is what is absorbed on video in window
Distance in the vertical direction of hot spot, psize are the Pixel Dimensions of capturing apparatus, and px is position residing for hot spot on video in window image
The pixel count for the vertical direction put, offset are laser spots image space migration value, and p is hot spot to the distance of video camera
Floor projection distance, y are the distance for the hot spot horizontal direction absorbed on video in window, and py is position residing for the hot spot on video in window
The pixel count for the horizontal direction put, pm are the pixel count of the midpoint on video in window in the horizontal direction；Wherein,It is after deformation
It is after deformationUtilize least square method pairInWithEnter
Rower is determined, rightIn parameter s carry out demarcation acquisitionAnd s numerical value.
In one embodiment of the invention, the distance between the laser and the video camera are 8cm~10cm.
In one embodiment of the invention, narrow band pass filter is equiped with the camera of the video camera；The arrowband filter
Mating plate is by wave band to be penetrated the corresponding wave band of light with the laser.
As described above, a kind of the vent cabinet window foreign matter detecting method and device based on laser image of the present invention, have
Following beneficial effect：
1st, the present invention instead of with whether the sensor detection vent cabinet window of traditional photo-electric has foreign matter, and can basis
Demand calculates real space position residing for foreign matter, has extensive autgmentability, is advantageous to the intellectuality in vent cabinet and laboratory.
2nd, the present invention is easy for installation, has stronger versatility and practicality.
Brief description of the drawings
Fig. 1 is shown as a kind of flow signal of vent cabinet window foreign matter detecting method based on laser image of the present invention
Figure.
Fig. 2 and Fig. 3 is shown as hot spot in a kind of vent cabinet window foreign matter detecting method based on laser image of the present invention
Recognition principle schematic diagram.
Fig. 4 is shown as a kind of structural representation of vent cabinet window detection device for foreign matter based on laser image of the present invention
Figure.
A kind of vent cabinet window detection device for foreign matter based on laser image that Fig. 5 is shown as the present invention is pacified on vent cabinet
Holding position schematic diagram.
Component label instructions
The 100 vent cabinet window detection device for foreign matter based on laser image
101 lasers
102 video cameras
103 controllers
200 vent cabinets
201 windows
300 hot spots
400 camera lenses
500 video camera photo-sensitive cells
S101~S105 steps
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
It should be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., only coordinating specification to be taken off
The content shown, so that those skilled in the art understands and reads, the enforceable qualifications of the present invention are not limited to, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, do not influenceing the present invention
Under the effect of can be generated and the purpose that can reach, it all should still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile cited such as " on ", " under " in this specification, "left", "right", the term of " centre " and " one ", also it is only
It is easy to understanding for narration, and is not used to limit the enforceable scope of the present invention, its relativeness is altered or modified, without essence
Change under technology contents, when being also considered as the enforceable category of the present invention.
It is an object of the invention to provide a kind of vent cabinet window foreign matter detecting method and device based on laser image, uses
In solve the problems, such as the detection to vent cabinet window in the prior art do not possess versatility and installation it is difficult in maintenance.Below will be detailed
The principle and embodiment of thin a kind of the vent cabinet window foreign matter detecting method and device based on laser image for illustrating the present invention,
A kind of vent cabinet window based on laser image for making those skilled in the art not need creative work to be appreciated that the present invention
Foreign matter detecting method and device.
Fig. 1 is referred to Fig. 5.The present embodiment provide a kind of vent cabinet window foreign matter detecting method based on laser image and
Device, it is mainly characterized by from the top down being irradiated window using a word laser, while right from the top down by camera
The reflection light of laser is absorbed, and the image of acquisition is handled within a processor, carries out pattern-recognition, distance exam etc.
Algorithm, wherein algorithm are good by optimization, real-time.According to the result of processing, there will be space residing for foreign and foreign matter
The data of position are sent to executing agency, and operation window is controlled, and the present embodiment instead of the sensor of traditional photo-electric,
It is easy for installation, there is extensive autgmentability, be advantageous to the intellectuality in vent cabinet and laboratory.
As shown in figure 1, the present embodiment provides a kind of vent cabinet window foreign matter detecting method based on laser image, specifically
Ground, in the present embodiment, the vent cabinet window foreign matter detecting method based on laser image comprise the following steps.
Step S101, vent cabinet window is irradiated from the top down with laser and in the smooth surface of the vent cabinet window
Form hot spot or light.Wherein, the laser is a word laser, and the laser is the light of single wave band, the laser be but
Red visible or infrared black light are not limited to, such as visible ray such as wavelength 635nm feux rouges can be used, or it is invisible
Light such as wavelength 808nm infrared ray.
Step S102, the video in window of vent cabinet window is absorbed, wherein, launch described in lasing light emitter and the intake of the laser
The distance between camera device of video in window is preferably 8cm~10cm.
Step S103, identify the location of pixels of hot spot or light in the video in window.Wherein identify the video in window
The location of pixels of middle hot spot or light can apply the recognition methods of comparative maturity in the prior art, specifically in the present embodiment, adopt
The method of local maximum under threshold value restriction finds the facula position, is using gravity model appoach combination hot spot brightness calculation
The luminous spot second-pixel position.The hot spot (line) formed in smooth surface comprising a word laser, identifies light in the video in window
Spot position, using the Gaussian characteristics of laser, using gravity model appoach, the sub-pixel location (x, y) of hot spot is obtained, and be stored in px (py)
In.Specifically identify that the recognition methods of the position of hot spot or light in the video in window is as follows：
Under the cooperation of specific wavelength laser and the optical filter of corresponding wavelength, in acquired image, brightness highest point is
The hot spot that laser is formed, corresponding gray value is larger in gray-scale map after treatment, and the method limited using threshold value extracts this
A little higher values；The local pole near hot spot is being found perpendicular to the direction of a word hot spot with reference to the method for finding local maximum
Big value, the maximum point (x, y) is the location of pixels of hot spot；Using gravity model appoach, weighting is asked to 5 pixels before and after at hot spot
Average value, obtain px sub-pixel locationWherein g (px, py) is respective pixel position
Gray value；And result is stored in px (py).
Step S104, according to corresponding to the location of pixels of hot spot in the video in window obtains hot spot in the video in window
The vertical range and horizontal range of the relatively described capturing apparatus of actual facula.
With in the present embodiment, obtaining hanging down for the relatively described capturing apparatus of actual facula corresponding to hot spot in the video in window
Straight distance and horizontal range are specific as follows：
Wherein, q is vertical range of the hot spot to capturing apparatus, and f is capturing apparatus focal length, and s is capturing apparatus to lasing light emitter
Distance, x is the distance in the vertical direction of hot spot absorbed on video in window, and psize is the Pixel Dimensions of capturing apparatus, px
For the pixel count of the vertical direction of hot spot present position on video in window image, offset is laser spots image space migration
Value, p are the floor projection distance that hot spot arrives the distance of capturing apparatus, y for the hot spot horizontal direction absorbed on video in window away from
From the pixel count for the horizontal direction that, py is the hot spot present position on video in window, pm be on video in window in the horizontal direction
The pixel count of midpoint.
Wherein,It is after deformation
It is after deformation
Utilize least square method pairInWithDemarcated, it is rightIn parameter s carry out demarcation acquisitionAnd s numerical value.
Specifically, the hot spot (line) formed in smooth surface comprising a word laser in the video in window, identification hot spot position
Put, using the Gaussian characteristics of laser, using gravity model appoach, obtain the sub-pixel location (x, y) of hot spot, and be stored in px (py).
Camera, luminous point, by luminous point formed triangle, as shown in Figure 2.
It is similar according to triangleBecause the parameters such as f, s are all to count roughly
Calculate, and offset is unknown, using the q-px data that actual measurement distance q and pixel distance px is formed to carrying out least square method mark
It is fixed, it is as follows：
If y=a × x+b, wherein,X=px,
Have using least square method：
Wherein N counts for nominal data.
Apart from the distance of window center line it is simultaneously p in the laser facula of the horizontal direction of window, as shown in figure 3, hot spot
300, camera lens 400, video camera photo-sensitive cell 500 and the laser facula 300 of video camera connect into triangle apart from window center line,
Had according to similar triangles：
Because measurement error is easily amplified, p parameters are also asked using the method for demarcation：
OrderWherein a, b are the known quantity demarcated, and are had：P=m × s.
Using least square method instrument error function, secondary demarcation is carried out：
Q (s)=∑ (pi-mi×s)2
UtilizeWithIt can calculate and go out for drill
Make all vertical ranges and horizontal range by luminous point to Laser video camera device in the range of window, can be inferred that by this distance different
The presence situation of thing, and determine.
Step S105, according to the horizontal range and the vertical range judge the vent cabinet window whether have foreign matter with
And the foreign matter is in the locus of the vent cabinet window.
Specifically, whether in effective range judge whether the vertical range is effective according to the horizontal range, in institute
State vertical range it is effective under the premise of, judge on the vertical range and vent cabinet bottom of window frame corresponding points to the shooting
Whether the distance of device is equal, if equal, illustrates that now the vent cabinet window does not have foreign matter, if unequal, illustrates this
Shi Suoshu vent cabinet windows have foreign matter, and foreign matter is in the position of the vent cabinet window：To the vertical range of Laser video camera device
It is respectively the vertical range of the relatively described capturing apparatus of hot spot in video in window described above on foreign matter with horizontal range
And horizontal range.
Judge in the video in window obtained every time hot spot in video in window to the vertical range of Laser video camera device and
Horizontal range.There is hot spot to change, illustrate that the reflecting surface of laser is changed, vent cabinet window is with the presence of foreign matter.
To realize the above-mentioned vent cabinet window foreign matter detecting method based on laser image, the present embodiment also provides one kind and is based on
The vent cabinet window detection device for foreign matter of laser image, it is special with the statistics of the relational operator of the specific region in the image that is inputted
The result of sign after analysis is as output result.It is characterized in that transmitting yi word pattern laser；Obtain identification object image；From institute
Statistical nature description is extracted on the image of shooting, and Feature Descriptor is stored in the form of certain；Statistical nature is described into son
Calculating analysis is carried out, judges whether current window has foreign matter to block；Obtained a result according to analysis result and be sent to executing agency.
Specifically, as shown in figure 4, the vent cabinet window detection device for foreign matter 100 based on laser image includes：Laser 101, takes the photograph
Camera 102 and controller 103.
In the present embodiment, as shown in figure 5, the mounted perpendicular of the laser 101 makes in the top of 200 window of vent cabinet 201
The laser that must launch is irradiated and in the window 201 of vent cabinet 200 from the top down to the window 201 of vent cabinet 200
Smooth surface forms hot spot or light.
Specifically, in the present embodiment, the laser 101 is a word laser, wherein, the word laser transmitting
The laser be single wave band light, the laser is but is not limited to red visible or infrared black light, such as can
With using visible ray such as wavelength 635nm feux rouges, or black light such as wavelength 808nm infrared ray.Adjustment angle makes simultaneously
One word laser is radiated on the inside of the lower edge of window 201.
In the present embodiment, the mounted perpendicular of video camera 102 is used to absorb ventilation in the top of 200 window of vent cabinet 201
The video in window of the window 201 of cabinet 200.Wherein, the distance between the laser 101 and the video camera 102 be preferably 8cm~
10cm。
In the present embodiment, narrow band pass filter is equiped with the camera of the video camera 102, to ensure laser reflection light
Effective collection.I.e. in the present embodiment, the laser 101 and the camera are vertically mounted on the top of vent cabinet 200, institute
The line vertical operation window face of laser 101 and the camera is stated, while adjustment angle makes the one of the transmitting of laser 101
Word laser is radiated on the inside of the lower edge of window 201.
In the present embodiment, the controller 103 is connected with the video camera 102, for identifying in the video in window
The position of hot spot 300 and according to the location of pixels of the hot spot 300, according to the location of pixels of hot spot 300 in the video in window
The vertical range and horizontal range of the relatively described video camera 102 of actual facula corresponding to the hot spot in the video in window are obtained,
And judge whether the vent cabinet window has foreign matter and the foreign matter in institute according to the horizontal range and the vertical range
State the locus of vent cabinet window.
In the present embodiment, wherein, the controller 103 identifies the location of pixels of hot spot or light in the video in window
The recognition methods of comparative maturity in the prior art can be applied, specifically in the present embodiment, using the local pole in the case where threshold value limits
The method being worth greatly finds the facula position, using luminous spot second-pixel position described in gravity model appoach combination hot spot brightness calculation.Institute
The hot spot (line) formed in smooth surface comprising a word laser in video in window is stated, facula position is identified, utilizes the Gauss of laser
Characteristic, using gravity model appoach, the sub-pixel location (x, y) of hot spot is obtained, and be stored in px (py).Specifically identify the window figure
The recognition methods of the position of hot spot or light is as follows as in：
Under the cooperation of specific wavelength laser and the optical filter of corresponding wavelength, in acquired image, brightness highest point is
The hot spot that laser is formed, corresponding gray value is larger in gray-scale map after treatment, and the method limited using threshold value extracts this
A little higher values；The local pole near hot spot is being found perpendicular to the direction of a word hot spot with reference to the method for finding local maximum
Big value, the maximum point (x, y) is the location of pixels of hot spot；Using gravity model appoach, weighting is asked to 5 pixels before and after at hot spot
Average value, obtain px sub-pixel locationWherein g (px, py) is respective pixel position
Gray value；And result is stored in px (py).
Hot spot pair in the video in window according to the position acquisition of hot spot 300 in the video in window of controller 103
The vertical range and horizontal range of the relatively described intake machine 102 of the actual facula answered are specific as follows：
Wherein, q is hot spot to taking the photograph
The vertical range of camera, f are intake machine focal length, and s is distance of the intake machine to lasing light emitter, and x is the hot spot absorbed on video in window
Vertical direction on distance, psize be intake machine Pixel Dimensions, px be video in window image on hot spot present position hang down
Nogata to pixel count, offset is laser spots image space migration value, and p is horizontal throwing of the hot spot to the distance of video camera
Shadow distance, y are the distance for the hot spot horizontal direction absorbed on video in window, and py is the water of the hot spot present position on video in window
Square to pixel count, pm is the pixel count of midpoint in the horizontal direction on video in window；Wherein,It is after deformation
It is after deformationUtilize least square method pairInWithEnter
Rower is determined, rightIn parameter s carry out demarcation acquisitionAnd s numerical value.
Specifically, the hot spot 300 (line) formed in smooth surface comprising a word laser in the video in window, identifies hot spot
300 positions, using the Gaussian characteristics of laser, using gravity model appoach, the sub-pixel location (x, y) of hot spot 300 is obtained, and be stored in px
(py) in.Camera, luminous point, by luminous point formed triangle, as shown in Figure 2.
It is similar according to triangleBecause the parameters such as f, s are all to count roughly
Calculate, and offset is unknown, using the q-px data that actual measurement distance q and pixel distance px is formed to carrying out least square method mark
It is fixed, it is as follows：
If y=a × x+b, wherein,X=px,
Have using least square method：
Wherein N counts for nominal data.
Apart from the distance of the center line of window 201 it is simultaneously p in the laser facula 300 of the horizontal direction of window 201, such as Fig. 3 institutes
Show, hot spot 300, camera lens 400, video camera photo-sensitive cell 500 and the laser facula 300 of video camera connect into apart from window center line
Triangle, had according to similar triangles：
Because measurement error is easily amplified, p parameters are also asked using the method for demarcation：
OrderWherein a, b are the known quantity demarcated, and are had：P=m × s.
Using least square method instrument error function, secondary demarcation is carried out：
Q (s)=∑ (pi-mi×s)2
UtilizeWithIt can calculate and go out for drill
Make all vertical ranges and horizontal range by luminous point to Laser video camera device in the range of window, can be inferred that by this distance different
The presence situation of thing, and determine.
It is different that the controller 103 according to the horizontal range and the vertical range judges whether the vent cabinet window has
Thing and the foreign matter are specific as follows in the locus of the vent cabinet window：
Whether in effective range judge whether the vertical range effective according to the horizontal range, it is described vertically away from
Under the premise of effective, judge the vertical range and corresponding points on vent cabinet bottom of window frame to the camera device away from
From whether equal, if equal, illustrate that now the vent cabinet window does not have foreign matter, if unequal, illustrate now described logical
Wind cabinet window has foreign matter, and foreign matter is in the position of the vent cabinet window：To Laser video camera device vertical range and it is horizontal away from
From the relatively described capturing apparatus of hot spot being located in video in window respectively described above on foreign matter vertical range and it is horizontal away from
From.
Judge in the video in window obtained every time hot spot 300 in video in window to the vertical range of laser camera and
Horizontal range.There is hot spot 300 to change, illustrate that the reflecting surface of laser is changed, the window 201 of vent cabinet 200 has foreign matter to deposit
.
In summary, the present invention instead of with whether the sensor detection vent cabinet window of traditional photo-electric has foreign matter,
And real space position residing for foreign matter can be calculated according to demand, there is extensive autgmentability, be advantageous to vent cabinet and laboratory
Intellectuality；The present invention is easy for installation, has stronger versatility and practicality.So the present invention effectively overcomes existing skill
Various shortcoming in art and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (8)
1. a kind of vent cabinet window foreign matter detecting method based on laser image, it is characterised in that described based on laser image
Vent cabinet window foreign matter detecting method includes：
Vent cabinet window is irradiated from the top down using laser and forms hot spot in the smooth surface of the vent cabinet window；
Utilize the video in window for the camera device intake vent cabinet window being installed at the top of the vent cabinet；
Identify the location of pixels of hot spot in the video in window and institute is obtained according to the location of pixels of hot spot in the video in window
State the vertical range and horizontal range of the relatively described capturing apparatus of actual facula corresponding to hot spot in video in window；
According to the horizontal range and the vertical range judge the vent cabinet window whether have foreign matter and the foreign matter in
The locus of the vent cabinet window.
2. the vent cabinet window foreign matter detecting method according to claim 1 based on laser image, it is characterised in that described
It is specific to obtain the vertical range of the relatively described capturing apparatus of actual facula corresponding to hot spot and horizontal range in the video in window
It is as follows：
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Wherein, q is the vertical range that hot spot arrives capturing apparatus, and f is capturing apparatus focal length, s for capturing apparatus to lasing light emitter away from
From x is the distance in the vertical direction of the hot spot absorbed on video in window, and psize is the Pixel Dimensions of capturing apparatus, and px is window
The pixel count of the vertical direction of hot spot present position on mouthful image graph picture, offset are laser spots image space migration value, p
For the floor projection distance of the distance of hot spot to capturing apparatus, y is the distance for the hot spot horizontal direction absorbed on video in window, py
For the pixel count of the horizontal direction of the hot spot present position on video in window, pm is the midpoint on video in window in the horizontal direction
Pixel count.
3. the vent cabinet window foreign matter detecting method according to claim 2 based on laser image, it is characterised in that：
It is after deformation
It is after deformation
Utilize least square method pairInWithDemarcated, it is right
In parameter s carry out demarcation acquisitionAnd s numerical value.
4. the vent cabinet window foreign matter detecting method according to claim 1 based on laser image, it is characterised in that transmitting
The distance between the camera device of the lasing light emitter of the laser with absorbing the video in window is 8cm~10cm.
5. a kind of vent cabinet window detection device for foreign matter based on laser image, it is characterised in that described based on laser image
Vent cabinet window detection device for foreign matter includes：
Laser, mounted perpendicular cause the laser of transmitting to carry out the vent cabinet window from the top down at the top of vent cabinet window
Irradiate and form initial hot spot in the smooth surface of the vent cabinet window；
Video camera, mounted perpendicular are used for the video in window for absorbing vent cabinet window at the top of vent cabinet window；
Controller, it is connected with the video camera, for identifying the location of pixels of hot spot in the video in window, according to the window
The location of pixels of hot spot obtains the vertical of the relatively described video camera of actual facula corresponding to hot spot in the video in window in image
Distance and horizontal range, and according to the horizontal range and the vertical range judge the vent cabinet window whether have foreign matter with
And the foreign matter is in the locus of the vent cabinet window.
6. the vent cabinet window detection device for foreign matter according to claim 5 based on laser image, it is characterised in that described
It is specific to obtain the vertical range of the relatively described capturing apparatus of actual facula corresponding to hot spot and horizontal range in the video in window
It is as follows：
<mrow>
<mi>q</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>f</mi>
<mo>&times;</mo>
<mi>s</mi>
</mrow>
<mi>x</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>f</mi>
<mo>&times;</mo>
<mi>s</mi>
</mrow>
<mrow>
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<mo>&times;</mo>
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<mo>+</mo>
<mi>o</mi>
<mi>f</mi>
<mi>f</mi>
<mi>s</mi>
<mi>e</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>;</mo>
<mi>p</mi>
<mo>=</mo>
<mfrac>
<mi>y</mi>
<mi>x</mi>
</mfrac>
<mo>&times;</mo>
<mi>s</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>p</mi>
<mi>s</mi>
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<mi>e</mi>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<mi>p</mi>
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<mo>-</mo>
<mi>p</mi>
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</mrow>
<mo>&times;</mo>
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</mrow>
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</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, q is vertical range of the hot spot to video camera, and f is capturing apparatus focal length, and s is distance of the capturing apparatus to lasing light emitter,
X is the distance in the vertical direction of the hot spot absorbed on video in window, and psize is the Pixel Dimensions of capturing apparatus, and px is window
The pixel count of the vertical direction of hot spot present position on image graph picture, offset are laser spots image space migration value, and p is
Hot spot is to the floor projection distance of the distance of video camera, and y is the distance for the hot spot horizontal direction absorbed on video in window, and py is window
The pixel count of the horizontal direction of hot spot present position on mouth image, pm are the picture of the midpoint on video in window in the horizontal direction
Prime number；
Wherein,It is after deformation
It is after deformation
Utilize least square method pairInWithDemarcated, it is right
In parameter s carry out demarcation acquisitionAnd s numerical value.
7. the vent cabinet window detection device for foreign matter according to claim 5 based on laser image, it is characterised in that described
The distance between laser and the video camera are 8cm~10cm.
8. the vent cabinet window detection device for foreign matter according to claim 5 based on laser image, it is characterised in that described
Narrow band pass filter is equiped with the camera of video camera；The narrow band pass filter is by wave band to be penetrated light with the laser
Corresponding wave band.
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Cited By (1)
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