CN107895138A - Spatial obstacle object detecting method, device and computer-readable recording medium - Google Patents
Spatial obstacle object detecting method, device and computer-readable recording medium Download PDFInfo
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- CN107895138A CN107895138A CN201710958038.3A CN201710958038A CN107895138A CN 107895138 A CN107895138 A CN 107895138A CN 201710958038 A CN201710958038 A CN 201710958038A CN 107895138 A CN107895138 A CN 107895138A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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Abstract
The invention discloses a kind of spatial obstacle object detecting method, methods described includes：Preset position area in space places graphic code, and is provided for identifying the camera device of the graphic code, the described method comprises the following steps：Start camera device to be detected, be confirmed whether to recognize the corresponding graphic code placed of any preset position area in the space；If graphic code described in None- identified, judge the preset position area for abnormal area；Count the distribution situation of each abnormal area in the space；When the distribution situation of each abnormal area, which meets default barrier, decision condition be present, judge barrier be present between the camera device and the graphic code.The invention also discloses a kind of spatial obstacle analyte detection device and computer-readable recording medium.The present invention realizes the detection to spatial obstacle thing, less demanding to algorithm, hardware configuration, and detection device deployment is more convenient, has reliable, accurate and quick the characteristics of being easy to response.
Description
Technical field
The present invention relates to spatial obstacle analyte detection field, more particularly to spatial obstacle object detecting method, device and computer
Readable storage medium storing program for executing.
Background technology
Existing space obstacle detection method is mainly based upon image vision identification technology, laser sensor detection technique；
Wherein, image vision identification technology requires higher for algorithm, hardware configuration；Laser sensor detection technique needs also exist for configuring
Laser emission and detection device, cause cost higher, while deployed with devices is also inconvenient, is particularly unsuitable for the field of someone's participation
Institute.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of spatial obstacle object detecting method, device and computer-readable storage medium
Matter, it is intended to solve existing space obstacle detection method and require that high, detection device disposes inconvenience for algorithm, hardware configuration
Technical problem.
To achieve the above object, the present invention provides a kind of spatial obstacle object detecting method, the predeterminated position area in space
Graphic code is placed in domain, and is provided for identifying the camera device of the graphic code, the spatial obstacle object detecting method include with
Lower step：
Step S10, start camera device and detected, be confirmed whether to recognize any preset position area pair in the space
The graphic code that should be placed；
Step S20, if graphic code described in None- identified, judge the preset position area for abnormal area；
Step S30, count the distribution situation of each abnormal area in the space；
Step S40, when the distribution situation of each abnormal area, which meets default barrier, decision condition be present, judge institute
State between camera device and the graphic code and barrier be present.
Preferably, after the step of barrier being present between the judgement camera device and the graphic code, also wrap
Include：
Step S50, according to the distribution situation of each abnormal area in the space counted, determine the sky of the barrier
Between position；
Step S60, according to default detection cycle, the step S10-S40 of default detection number operation is repeated, with more
Newly count the distribution situation of each abnormal area in the space；
Step S70, the new and old distribution situation of each abnormal area in the space is compared, obtain the space Nei Ge exceptions areas
The changes in distribution situation in domain, and determine change in location situation of the barrier in the space.
Preferably, it is described determine the barrier in the space change in location situation the step of after, in addition to：
Step S80, judges whether the change in location situation of the barrier meets default barrier alert if；
Step S90, if so, then sending barrier alarm signal to objective management end.
Preferably, after the step of barrier being present between the judgement camera device and the graphic code, also wrap
Include：
Step S100, barrier prompt signal is sent to objective management end；
Step S110, send linkage to default linkage performs device and perform control instruction, to control the default linkage to hold
Luggage puts control action corresponding to execution.
Preferably, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or movement is set
Standby end.
Preferably, the positional information of the preset position area corresponding to being embedded in the graphic code.
In addition, to achieve the above object, the present invention also provides a kind of spatial obstacle analyte detection device, the spatial obstacle thing
Detection means includes：Camera device, memory, processor and it is stored on the memory and can runs on the processor
Spatial obstacle analyte detection program, wherein：
The camera device, for obtaining the digital picture of graphic code, and identify the graphic code；
Spatial obstacle analyte detection as described above is realized when the spatial obstacle analyte detection program is by the computing device
The step of method.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Spatial obstacle analyte detection program is stored with storage medium, is realized such as when the spatial obstacle analyte detection program is executed by processor
Above the step of described spatial obstacle object detecting method.
A kind of spatial obstacle object detecting method, device and the computer-readable recording medium that the embodiment of the present invention proposes,
During the graphic code of the corresponding placement of any preset position area in camera device None- identified space, judge that the preset position area is
Abnormal area, and when the distribution situation of each abnormal area meets pre-set space barrier and decision condition be present, judge institute
State between camera device and the graphic code and barrier be present.So as to algorithm, hardware configuration is less demanding, detection device portion
Under the conditions of affixing one's name to more conveniently, the detection to spatial obstacle thing is realized, the spatial obstacle object detecting method has reliable, accurate
And the characteristics of being quickly easy to response.
Brief description of the drawings
Fig. 1 is the spatial obstacle analyte detection apparatus structure schematic diagram that scheme of the embodiment of the present invention is related to；
Fig. 2 is a kind of schematic flow sheet of data embedding method first embodiment of the present invention；
Fig. 3 is a kind of schematic flow sheet of data embedding method second embodiment of the present invention；
Fig. 4 is a kind of refinement step schematic diagram of data embedding method second embodiment of the present invention；
Fig. 5 is a kind of schematic flow sheet of data embedding method 3rd embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are：Preset position area in space places graphic code, and sets
For identifying the camera device of the graphic code, the spatial obstacle object detecting method comprises the following steps：Start camera device
Detected, be confirmed whether to recognize the corresponding graphic code placed of any preset position area in the space；If None- identified institute
Graphic code is stated, then judges the preset position area for abnormal area；Count the distribution situation of each abnormal area in the space；
When the distribution situation of each abnormal area, which meets default barrier, decision condition be present, judge the camera device with it is described
Barrier between graphic code be present.
Because existing space obstacle detection method requires that high, detection device disposes inconvenience for algorithm, hardware configuration,
The present invention provides a solution, so that obtain space obstacle detection method requires that relatively low, detection is set to algorithm, hardware configuration
Standby deployment is convenient.
As shown in figure 1, the spatial obstacle analyte detection apparatus structure schematic diagram that Fig. 1, which is scheme of the embodiment of the present invention, to be related to.
Device of the embodiment of the present invention can be PC or smart mobile phone, tablet personal computer, pocket computer etc. with aobvious
Show the packaged type terminal device of function.
As shown in figure 1, the device can include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is used to realize the connection communication between these components.
User interface 1003 can include display screen (Display), input block such as keyboard (Keyboard), optional user interface
1003 can also include wireline interface, the wave point of standard.Network interface 1004 can optionally connect including the wired of standard
Mouth, wave point (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory or stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Alternatively, terminal can also include camera device, RF (Radio Frequency, radio frequency) circuit, sensor, sound
Frequency circuit, WiFi module etc..Wherein, sensor ratio such as optical sensor, motion sensor and other sensors.Specifically,
Optical sensor may include ambient light sensor and proximity transducer, wherein, ambient light sensor can be according to the light and shade of ambient light
To adjust the brightness of display screen, proximity transducer can close display screen and/or backlight when mobile terminal is moved in one's ear.When
So, mobile terminal can also configure the other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared ray sensor, herein
Repeat no more.
It will be understood by those skilled in the art that the restriction of the apparatus structure shown in Fig. 1 not structure twin installation, can be wrapped
Include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 1, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network
Believe module, Subscriber Interface Module SIM and spatial obstacle analyte detection program.
In the terminal shown in Fig. 1, network interface 1004 is mainly used in connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used in connecting client (user terminal), enters row data communication with client；And processor
1001 can be used for calling the spatial obstacle analyte detection program stored in memory 1005, and perform following operate：
Step S10, start camera device and detected, be confirmed whether to recognize any preset position area pair in the space
The graphic code that should be placed；
Step S20, if graphic code described in None- identified, judge the preset position area for abnormal area；
Step S30, count the distribution situation of each abnormal area in the space；
Step S40, when the distribution situation of each abnormal area, which meets default barrier, decision condition be present, judge institute
State between camera device and the graphic code and barrier be present.
Further, processor 1001 can call the spatial obstacle analyte detection program stored in memory 1005, also hold
Row is following to be operated：
Step S50, according to the distribution situation of each abnormal area in the space counted, determine the sky of the barrier
Between position；
Step S60, according to default detection cycle, the step S10-S40 of default detection number operation is repeated, with more
Newly count the distribution situation of each abnormal area in the space；
Step S70, the new and old distribution situation of each abnormal area in the space is compared, obtain the space Nei Ge exceptions areas
The changes in distribution situation in domain, and determine change in location situation of the barrier in the space.
Further, processor 1001 can call the spatial obstacle analyte detection program stored in memory 1005, also hold
Row is following to be operated：
Step S80, judges whether the change in location situation of the barrier meets default barrier alert if；
Step S90, if so, then sending barrier alarm signal to objective management end.
Wherein, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or mobile device
End.
Further, processor 1001 can call the spatial obstacle analyte detection program stored in memory 1005, also hold
Row is following to be operated：
Step S100, barrier alarm signal is sent to objective management end；
Step S110, send linkage to default linkage performs device and perform control instruction, to control the default linkage to hold
Luggage puts control action corresponding to execution.
Wherein, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or mobile device
End.
Further, processor 1001 can call the spatial obstacle analyte detection program stored in memory 1005, also hold
Row is following to be operated：
The positional information of the preset position area corresponding to insertion in the graphic code.
Reference picture 2, first embodiment of the invention provide a kind of spatial obstacle object detecting method, the spatial obstacle analyte detection
Method includes：
Step S10, start camera device and detected, be confirmed whether to recognize any preset position area pair in the space
The graphic code that should be placed；
Step S20, if graphic code described in None- identified, judge the preset position area for abnormal area；
Step S30, count the distribution situation of each abnormal area in the space；
Step S40, when the distribution situation of each abnormal area, which meets default barrier, decision condition be present, judge institute
State between camera device and the graphic code and barrier be present.
Preset position area in specific implementation, it is necessary in space places graphic code, and is provided for described in identification
The camera device of graphic code；Wherein, the space can include confined space and non-confined space, such as workshop, underground
Parking lot；The predeterminated position that graphic code is placed in space can be wall in space, ground or other can be used for placement figure
The shape code band of position, is not limited here.The graphic code of placement refers to certain specific geometric figure according to certain rules flat
The record data and information graphic and symbol of EDS maps, can be specifically one-dimension code, Quick Response Code, color code, in the embodiment of the present invention
Preferably Quick Response Code.And the camera device not only includes in general picture pick-up device such as video camera, other tools can also be included
There are pattern Shi other Photo cameras, sensory package or the device of graphic code identification function.Further, embedded pair in the graphic code
The positional information for the preset position area answered.For example, Quick Response Code is placed in the parking stall region of underground parking, two dimension
Parking stall position, the positional information coding of sequence number, such as " parking stall of North the 10th " are embedded in code in advance；Or in parking lot
Passage on place Quick Response Code, the positional information coding in Quick Response Code can be " position of the 2nd passage the 5th ".For example with shooting
Machine identifies graphic code as sensor, and one of video camera or other image pick-up detection devices can identify one or more
Graphic code, the setting that video camera can carry out quantity, space mounting position according to being actually needed.Blocked in normal clear
In the case of, detection means can normally detect the graphic code of preset position area, and detection cycle can be carried out according to being actually needed
Setting, such as each 200 milliseconds of detections are once.When a certain preset position area occurs in barrier, due to blocking for barrier
Effect, causes detection means can not detect corresponding graphic code, therefore can be determined that the preset position area is abnormal area.
At this point it is possible to count the distribution situation for each preset position area for being judged as abnormal area, include the distribution of abnormal area
Position, quantity, changes in distribution situation, so as to whether there is barrier, the shape of barrier and volume, barrier in space
Situation of movement is judged.It should be noted that the algorithm and condition that judge can be according to related database, measuring numbers
Obtain according to, artificial result of calculation, be not restricted here.
For example, in underground parking, multiple graphic codes can be placed on wall or track, judged whether accordingly
There is congested with cars in parking lot；Track and its extension are imported and exported in parking lot, multiple graphic codes can be placed on track,
The travel direction of vehicle or vehicle is determined whether accordingly；Multiple graphic codes are blocked in certain period of time or according to certain
Sequencing be blocked, then can determine whether that gateway occur blocks.
For passageway for fire apparatus and important fire escape, multiple graphic codes can be placed on wall or passage, accordingly
Judge whether occupied；Or judge whether to be blocked according to the logical relation being blocked between multiple graphic codes, so as to and
The situation that Shi Faxian passageways for fire apparatus are blocked by barrier, taken, and timely processing, eliminate safe hidden trouble.
The present embodiment by any preset position area in camera device None- identified space it is corresponding place graphic code when,
The preset position area is judged for abnormal area, and meets pre-set space barrier in the distribution situation of each abnormal area
When decision condition be present, judge barrier be present between the camera device and the graphic code, convenient and swift can detect sky
It is interior to whether there is barrier, be advantageous to field management and object identification.
Further, reference picture 3, second embodiment of the invention provides a kind of spatial obstacle object detecting method, based on above-mentioned
Embodiment shown in Fig. 2, after the step of barrier being present between the judgement camera device and the graphic code, also wrap
Include：
Step S50, according to the distribution situation of each abnormal area in the space counted, determine the sky of the barrier
Between position；
Step S60, according to default detection cycle, the step S10-S40 of default detection number operation is repeated, with more
Newly count the distribution situation of each abnormal area in the space；
Step S70, the new and old distribution situation of each abnormal area in the space is compared, obtain the space Nei Ge exceptions areas
The changes in distribution situation in domain, and determine change in location situation of the barrier in the space.
After barrier being present in decision space, according to the distribution feelings of each abnormal area in the space counted
Condition, the more specific location information of barrier can be further determined that.Such as the vehicle letter of certain automobile can be determined by identification technology
Breath, including license plate number；Then the spatial obstacle object detecting method of the embodiment of the present invention, determine the automobile in the specific of parking lot
Position.
Further, by the operation for the step S10-S40 for repeating default detection number, obtain described in renewal statistics
The distribution situation of each abnormal area in space, and the new and old distribution situation of each abnormal area is compared, obtain different in the space
The changes in distribution situation in normal region, finally determines change in location situation of the barrier in the space.Wherein, it is described pre-
If detection cycle can be 200 milliseconds, or other setting detection cycle times；And default detection number can be according to user
Be actually needed and be configured.For detection of obstacles, when the change of barrier existence position, such as vehicle movement,
Artificial lift to move barrier.At this point it is possible to obtain and count within a certain period of time point for the predeterminated position for being judged as abnormal area
Cloth situation of change, whether disturbance in judgement object location changes, change in location situation, to be supplied to manager to carry out follow-up management behaviour
The basis for estimation and reference information of work.
Further, as shown in figure 4, after step S70, in addition to：
Step S80, judges whether the change in location situation of the barrier meets default barrier alert if；
Step S90, if so, then sending barrier alarm signal to objective management end.
Barrier for having determined that position, when user needs that barrier is further managed or monitored,
It can be determined that whether the change in location situation of the barrier meets default barrier alert if.Wherein, barrier report is preset
Alert condition can include：The change in location region of barrier, moving direction, translational speed etc..For example, for based on automatic
Guide transport lorry carries out the sorting scene of goods movement, can be by identifying the change in location of goods bin and bin, it is determined that expecting
Whether frame is correctly transported to specified location.When the transport distance of bin is too short or or it is long, can correspondingly trigger alarm signal.This
When, alarm signal can be sent to objective management end, incorrect information is carried to send bin.Wherein, the objective management
End includes embedded Internet of Things device and/or cloud service platform, and/or mobile device end.
In the present embodiment, after it the step of barrier be present in the judgement space, according to each abnormal area
Changes in distribution situation, judge change in location situation of the barrier in the space, and the locus when barrier
Situation of change sends alarm signal when meeting alert if, so as to provide disturbance in judgement object location situation of change and subsequently be managed
The more fine specific method of control.
Further, reference picture 5, third embodiment of the invention provides a kind of spatial obstacle object detecting method, based on above-mentioned
Embodiment shown in Fig. 2, after the step of barrier being present between the judgement camera device and the graphic code, also wrap
Include：
Step 100, empty barrier prompt signal is sent to objective management end；
Step S110, send linkage to default linkage performs device and perform control instruction, to control the default linkage to hold
Luggage puts control action corresponding to execution.
Wherein, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or mobile device
End.After judging that the space has barrier, send linkage to default linkage performs device and perform control instruction, so as to link
Third party system is operated；Wherein described default linkage performs device may include but be not limited to：Live acoustic-optic alarm, screen
Curtain display device；Control instruction, control operation corresponding to linkage performs device execution are performed according to linkage, such as carry out acoustic scene
Light or audio alert.It should be noted that the transmitting terminal that linkage performs control instruction can be live camera device, can also
It is objective management end.For example, when underground parking detects that underpass has congested with cars, detection means is to parking lot thing
The embedded Internet of Things device or cloud service platform of industry management unit send congested with cars cue, to management unit
The situation report information of congested with cars is provided, management unit can correspondingly send staff to rush towards scene in time and be dredged
Lead.Regarded further, it is also possible to send congested with cars cue to video frequency car position detecting system as system interference signal, linkage
Frequency parking stall measure system makes corresponding interference processing, or keeps congestion position car plate detection result constant, in order to avoid cause to miss
Identification.
In the present embodiment, by the way that after judging that the space has barrier, spatial obstacle is sent to objective management end
Thing cue, so as to the management and decision-making that are more become more meticulous, there is provided the efficiency of management.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with spatial obstacle analyte detection program, following operation is realized when the spatial obstacle analyte detection program is executed by processor：
Start camera device to be detected, be confirmed whether to recognize the corresponding placement of any preset position area in the space
Graphic code；
If graphic code described in None- identified, judge the preset position area for abnormal area；
Count the distribution situation of each abnormal area in the space；
When the distribution situation of each abnormal area, which meets default barrier, decision condition be present, the shooting dress is judged
Put and barrier be present between the graphic code.
Further, following operation is also realized when the spatial obstacle analyte detection program is executed by processor：
According to the distribution situation of each abnormal area in the space counted, the locus of the barrier is determined；
According to default detection cycle, the step S10-S40 of default detection number operation is repeated, to update statistics institute
State the distribution situation of each abnormal area in space；
The new and old distribution situation of each abnormal area in the space is compared, obtains the distribution of each abnormal area in the space
Situation of change, and determine change in location situation of the barrier in the space.
Further, following operation is also realized when the spatial obstacle analyte detection program is executed by processor：
After the step of determining change in location situation of the barrier in the space, the position of the barrier is judged
Put whether situation of change meets default barrier alert if；
If so, then send barrier alarm signal to objective management end；
Wherein, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or mobile device
End.
Further, following operation is also realized when the spatial obstacle analyte detection program is executed by processor：
After the judgement space has the step of barrier, barrier alarm letter is sent to objective management end
Number；
Linkage is sent to default linkage performs device and performs control instruction, to control the default linkage performs device to perform
Corresponding control action.
Wherein, the objective management end includes embedded Internet of Things device and/or cloud service platform, and/or mobile device
End.
Further, following operation is also realized when the spatial obstacle analyte detection program is executed by processor：
The positional information of the preset position area corresponding to insertion in the graphic code.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone,
Computer, server, or network equipment etc.) perform method described in each embodiment of the present invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of spatial obstacle object detecting method, it is characterised in that the preset position area in space places graphic code, and sets
The camera device for identifying the graphic code is put, the spatial obstacle object detecting method comprises the following steps：
Step S10, start camera device and detected, be confirmed whether that recognizing any preset position area in the space correspondingly puts
The graphic code put；
Step S20, if graphic code described in None- identified, judge the preset position area for abnormal area；
Step S30, count the distribution situation of each abnormal area in the space；
Step S40, when the distribution situation of each abnormal area, which meets default barrier, decision condition be present, taken the photograph described in judgement
As barrier be present between device and the graphic code.
2. spatial obstacle object detecting method as claimed in claim 1, it is characterised in that described to judge the camera device and institute
State between graphic code after the step of barrier being present, in addition to：
Step S50, according to the distribution situation of each abnormal area in the space counted, determine the space bit of the barrier
Put；
Step S60, according to default detection cycle, the step S10-S40 of default detection number operation is repeated, to update system
Count the distribution situation of each abnormal area in the space；
Step S70, the new and old distribution situation of each abnormal area in the space is compared, obtain each abnormal area in the space
Changes in distribution situation, and determine change in location situation of the barrier in the space.
3. spatial obstacle object detecting method as claimed in claim 2, it is characterised in that described to determine the barrier described
After the step of change in location situation in space, in addition to：
Step S80, judges whether the change in location situation of the barrier meets default barrier alert if；
Step S90, if so, then sending barrier alarm signal to objective management end.
4. spatial obstacle object detecting method as claimed in claim 1, it is characterised in that described to judge the camera device and institute
State between graphic code after the step of barrier being present, in addition to：
Step S100, barrier prompt signal is sent to objective management end；
Step S110, send linkage to default linkage performs device and perform control instruction, to control the default linkage to perform dress
Put control action corresponding to execution.
5. the spatial obstacle object detecting method as described in claim 3 or 4 is any, it is characterised in that the objective management end bag
Include embedded Internet of Things device and/or cloud service platform, and/or mobile device end.
6. spatial obstacle object detecting method as claimed in claim 1, it is characterised in that institute corresponding to embedded in the graphic code
State the positional information of preset position area.
7. a kind of spatial obstacle analyte detection device, it is characterised in that the spatial obstacle analyte detection device includes：Camera device,
Memory, processor and the spatial obstacle analyte detection program that is stored on the memory and can run on the processor,
Wherein：
The camera device, for obtaining the digital picture of graphic code, and identify the graphic code；
The spatial obstacle analyte detection program is realized as any one of claim 1 to 6 during the computing device
The step of spatial obstacle object detecting method.
8. a kind of computer-readable recording medium, it is characterised in that space barrier is stored with the computer-readable recording medium
Hinder analyte detection program, realized when the spatial obstacle analyte detection program is executed by processor such as any one of claim 1 to 6 institute
The step of spatial obstacle object detecting method stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710958038.3A CN107895138B (en) | 2017-10-13 | 2017-10-13 | Method and device for detecting space obstacle and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710958038.3A CN107895138B (en) | 2017-10-13 | 2017-10-13 | Method and device for detecting space obstacle and computer readable storage medium |
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| CN111738127A (en) * | 2020-06-17 | 2020-10-02 | 安徽淘云科技有限公司 | Entity book in-place detection method and device, electronic equipment and storage medium |
| CN112258829A (en) * | 2020-10-23 | 2021-01-22 | 上海中通吉网络技术有限公司 | Method, device and equipment for determining number of empty parties of vehicle |
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