CN111444763B - Security control method and device, storage medium and air conditioner - Google Patents

Security control method and device, storage medium and air conditioner Download PDF

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Publication number
CN111444763B
CN111444763B CN202010110547.2A CN202010110547A CN111444763B CN 111444763 B CN111444763 B CN 111444763B CN 202010110547 A CN202010110547 A CN 202010110547A CN 111444763 B CN111444763 B CN 111444763B
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protected
binocular camera
air conditioner
distance
dangerous area
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CN111444763A (en
Inventor
李保水
汪进
王慧君
王子
廖湖锋
刘健军
廖海霖
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Social Psychology (AREA)
  • Psychiatry (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a security control method, a security control device, a storage medium and an air conditioner, wherein the security control method comprises the following steps: under the condition that an object to be protected exists in a room to which the air conditioner belongs, determining whether the object to be protected is close to a set dangerous area by utilizing a binocular camera; if the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using the binocular camera; determining whether the current distance is less than a set safe distance; if the current distance is smaller than the set safety distance, a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safety distance is initiated; if the current distance is greater than or equal to the set safety distance, the binocular camera is continuously utilized to determine the current distance between the object to be protected and the set dangerous area. The scheme of the invention can solve the problem of insufficient safety in the home environment and achieve the effect of improving the safety in the home environment.

Description

Security control method and device, storage medium and air conditioner
Technical Field
The invention belongs to the technical field of air conditioners, and particularly relates to a security control method, a security control device, a storage medium and an air conditioner, in particular to a control method, a security control device, a storage medium and an air conditioner of an air conditioner child security alarm system based on binocular cameras.
Background
In society, people often take care of children, and safety accidents occur after the children leave the sight range, such as the children climb to a balcony or a windowsill and hang on an anti-theft net or directly fall down. Before the occurrence of a safety accident, the safety accident can be avoided, but the early warning can not be obtained, and the crowd taking care of the children can not stop the occurrence of the safety accident.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention aims to overcome the defects and provide a security control method, a security control device, a storage medium and an air conditioner, so that the problem of insufficient safety in a household environment is solved, and the effect of improving the safety in the household environment is achieved.
The invention provides a security control method, which comprises the following steps: under the condition that an object to be protected exists in a room to which the air conditioner belongs, determining whether the object to be protected is close to a set dangerous area by utilizing a binocular camera; if the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using the binocular camera; determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance; if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated; if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, the binocular camera is continuously utilized to determine the current distance between the object to be protected and the set dangerous area.
Optionally, determining whether the object to be protected is approaching the set dangerous area by using the binocular camera includes: acquiring image information of an object to be protected in an environment of an air conditioner by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs is moving; if the image information of the object to be protected in the environment of the air conditioner is determined to move, determining the moving direction of the image information of the object to be protected in the environment of the air conditioner; if the moving direction of the image information of the object to be protected in the environment of the air conditioner faces the set dangerous area, determining that the object to be protected is close to the set dangerous area.
Optionally, determining the current distance between the object to be protected and the set dangerous area by using the binocular camera includes: obtaining target depth information of each pixel in image information of an object to be protected by using a binocular camera; and calculating a distance according to the target depth information of each pixel, and taking the distance as the current distance between the object to be protected and the set dangerous area.
Optionally, obtaining target depth information of each pixel in image information of the object to be protected by using a binocular camera includes: calibrating the binocular camera to obtain a calibration result; correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other; performing pixel point matching on two images acquired by the binocular camera in the correction result to obtain a matching result; and calculating the depth of the pixel corresponding to each pixel point in the two images according to the matching result so as to obtain the target depth information of each pixel.
Optionally, calibrating the binocular camera includes: calibrating two phases of the binocular camera by a Zhengyou calibration method to obtain a calibration result affecting the field of view of the intersection area of the binocular camera; the calibration result comprises: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
In accordance with the above method, another aspect of the present invention provides a security control apparatus, including: the determining unit is used for determining whether the object to be protected is close to the set dangerous area or not by utilizing the binocular camera under the condition that the object to be protected exists in the room to which the air conditioner belongs; the determining unit is further used for determining the current distance between the object to be protected and the set dangerous area by utilizing the binocular camera if the object to be protected is determined to be close to the set dangerous area; the determining unit is also used for determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance; the control unit is used for initiating a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance; and the control unit is also used for continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance.
Optionally, the determining unit determines whether the object to be protected is approaching the set dangerous area by using the binocular camera, including: acquiring image information of an object to be protected in an environment of an air conditioner by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs is moving; if the image information of the object to be protected in the environment of the air conditioner is determined to move, determining the moving direction of the image information of the object to be protected in the environment of the air conditioner; if the moving direction of the image information of the object to be protected in the environment of the air conditioner faces the set dangerous area, determining that the object to be protected is close to the set dangerous area.
Optionally, the determining unit determines the current distance between the object to be protected and the set dangerous area by using the binocular camera, including: obtaining target depth information of each pixel in image information of an object to be protected by using a binocular camera; and calculating a distance according to the target depth information of each pixel, and taking the distance as the current distance between the object to be protected and the set dangerous area.
Optionally, the determining unit obtains target depth information of each pixel in image information of the object to be protected by using a binocular camera, including: calibrating the binocular camera to obtain a calibration result; correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other; performing pixel point matching on two images acquired by the binocular camera in the correction result to obtain a matching result; and calculating the depth of the pixel corresponding to each pixel point in the two images according to the matching result so as to obtain the target depth information of each pixel.
Optionally, the determining unit performs calibration on the binocular camera, including: calibrating two phases of the binocular camera by a Zhengyou calibration method to obtain a calibration result affecting the field of view of the intersection area of the binocular camera; the calibration result comprises: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
In accordance with another aspect of the present invention, there is provided an air conditioner including: the security control device is described above.
In accordance with the above method, a further aspect of the present invention provides a storage medium comprising: the storage medium stores a plurality of instructions; the instructions are used for being loaded and executed by the processor to carry out the security control method.
In accordance with another aspect of the present invention, there is provided an air conditioner including: a processor for executing a plurality of instructions; a memory for storing a plurality of instructions; the instructions are stored by the memory, and loaded and executed by the processor.
According to the scheme, the safety distance between the child and the balcony or the windowsill is detected through the binocular camera of the air conditioner, when the child is close to the balcony or the windowsill, the potential safety hazard exists, the air conditioner sends alarm early warning, and the household safety is improved.
Further, according to the scheme, the distance between the child and the peripheral object can be monitored by using the binocular camera to carry out target tracking and distance real-time test, so that the safety of the child at home is improved.
Furthermore, according to the scheme, the distance information between the child and the balcony can be obtained through the binocular camera and used as the depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, intelligent warning reminding of potential safety hazards is achieved, and the household safety of the child is improved.
Furthermore, according to the scheme, the air conditioner is matched with the binocular camera, the binocular camera can acquire the depth information of the image, so that the air conditioner sends alarm early warning and pushes alarm information to families, the families care the children in time, and the life safety of the children is effectively protected.
Furthermore, according to the scheme of the invention, the binocular camera is adopted to measure the distance of the target, the camera is utilized to monitor the behavior and action of the child, and the person and the monitoring double-layer child are monitored, and early warning is sent in advance, so that the air conditioner can more intelligently help the life of the person.
According to the scheme, the binocular camera is used for acquiring the distance information between the child and the balcony or the window, judging whether the child is safe or not and sending an alarm, so that the problem that the safety in the home environment is not good enough is solved, and the effect of improving the safety in the home environment is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of an embodiment of a security control method of the present invention;
FIG. 2 is a flow chart of an embodiment of the method of the present invention for determining whether an object to be protected is approaching a set hazard area by using a binocular camera;
FIG. 3 is a flow chart of an embodiment of determining a current distance between an object to be protected and a set hazard area using a binocular camera in the method of the present invention;
FIG. 4 is a flowchart of an embodiment of a method for obtaining target depth information of each pixel in image information of an object to be protected by using a binocular camera according to the present invention;
FIG. 5 is a schematic structural diagram of a security control device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a flow chart for monitoring and sending alarms according to an embodiment of the air conditioner of the present invention;
fig. 7 is a schematic flow chart of implementing depth information detection by using a binocular camera according to an embodiment of the air conditioner of the present invention.
In the embodiment of the present invention, reference numerals are as follows, in combination with the accompanying drawings:
102-a determining unit; 104-a control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to an embodiment of the present invention, a security control method is provided, and a flow chart of an embodiment of the method of the present invention is shown in fig. 1. The security control method can comprise the following steps: step S110 to step S150.
In step S110, in the case where there is an object to be protected in the room to which the air conditioner belongs, it is determined whether the object to be protected is approaching the set dangerous area using the binocular camera. Wherein, the object to be protected may include: old people, children, etc. Setting the hazardous area may include: balcony, window etc. areas in the room where the air conditioner belongs.
Optionally, a specific process of determining whether the object to be protected is approaching the set dangerous area using the binocular camera in step S110 may be referred to as the following exemplary description.
In the following, referring to fig. 2, a flowchart of an embodiment of determining whether an object to be protected is approaching a set dangerous area by using a binocular camera in the method of the present invention is further described, which may include the following steps: step S210 to step S240.
Step S210, obtaining image information of an object to be protected in an environment of the air conditioner by using a binocular camera.
Step S220, determining whether the image information of the object to be protected in the environment to which the air conditioner belongs is moving.
In step S230, if it is determined that the image information of the object to be protected in the environment to which the air conditioner belongs is moving, the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is determined.
In step S240, if the moving direction of the image information of the object to be protected in the environment of the air conditioner is toward the set dangerous area, it is determined that the object to be protected is approaching the set dangerous area.
For example: the air conditioner can be networked, has pronunciation, speaker, camera, with intelligent house ecological interconnection, connects APP, accessible APP control to can push information for APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire depth information of an image, namely, the distance of a target can be actually measured according to the principle of triangular ranging.
For example: the air conditioner is arranged in a room, the balcony and the window are both in the visual field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a ranging function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle ranging principle and logically compares the distance d with a preset safe distance s, if d is more than s, the distance d between the child and the balcony or the window is continuously monitored, and then the distance d is compared; if d < s, the air conditioner triggers a safety alarm prompt, and at the moment, the air conditioner main control board controls the loudspeaker module to broadcast the voice safety alarm, meanwhile, safety alarm information is immediately sent to the APP end of the user, the APP end pushes the alarm, and a child is protected by double prompt adults.
Therefore, whether the object to be protected is close to the set dangerous area or not is determined by utilizing the binocular camera, whether the distance between the object to be protected and the set dangerous area is started or not is determined by utilizing the binocular camera, and the safety of the home environment can be improved.
At step S120, if it is determined that the object to be protected is approaching the set dangerous area, the current distance between the object to be protected and the set dangerous area is determined by using the binocular camera.
Alternatively, a specific process of determining the current distance between the object to be protected and the set dangerous area using the binocular camera in step S120 may be referred to as the following exemplary description.
The following flowchart of an embodiment of determining the current distance between the object to be protected and the set dangerous area by using the binocular camera in the method of the present invention shown in fig. 3 further illustrates a specific process of determining the current distance between the object to be protected and the set dangerous area by using the binocular camera in step S120, which may include: step S310 and step S320.
In step S310, the target depth information of each pixel in the image information of the object to be protected is obtained by using the binocular camera.
More optionally, in combination with a flowchart of an embodiment of the method of the present invention shown in fig. 4, in which the binocular camera is used to obtain the target depth information of each pixel in the image information of the object to be protected, the specific process of obtaining the target depth information of each pixel in the image information of the object to be protected in step S310 by using the binocular camera may further include: step S410 to step S440.
And step S410, calibrating the binocular camera to obtain a calibration result.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix.
And step S420, correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that the two images acquired by the binocular camera are positioned on the same plane and are parallel to each other.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.
And step S430, performing pixel point matching on the two images acquired by the binocular camera in the correction result to obtain a matching result.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And carrying out pixel point matching on the two corrected target images, and calculating parallax d. Pixel point matching is performed on the two corrected target images, and parallax d is calculated, which may include: and carrying out pixel point matching on the two corrected images by adopting a gray-scale-based image matching algorithm, wherein the gray-scale-based image matching algorithm can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The implementation adopts a sequential similarity detection algorithm, wherein the sequential similarity detection algorithm refers to an image matching technology, and the image matching technology is a process of searching a corresponding or similar module in another image (search graph) according to a known image module (template graph), so that the algorithm can effectively reduce the number of sub-images, reduce the calculated amount and improve the calculation speed.
Step S440, according to the matching result, calculating the depth of the pixel corresponding to each pixel point in the two images to obtain the target depth information of each pixel.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And carrying out pixel point matching on the two corrected target images, and calculating parallax d. Pixel point matching is performed on the two corrected target images, and parallax d is calculated, which may include: and carrying out pixel point matching on the two corrected images by adopting a gray-scale-based image matching algorithm, wherein the gray-scale-based image matching algorithm can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The sequential similarity detection algorithm can be adopted, and the sequential similarity detection algorithm refers to an image matching technology which is a process of searching a corresponding or similar module in another image (search graph) according to a known image module (template graph), and can effectively reduce the number of sub-images, reduce the calculated amount and improve the calculation speed. The depth of each pixel is calculated according to the matching result, so that the target depth z=f×b/d is obtained. Calculating the depth of each pixel from the matching result may include: by the formula: z=f×b/d calculates the depth z of each pixel in the image, and the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of colors that each pixel of the color image may have, or the number of gray levels that each pixel of the gray image may have. The formula z=f b/d where f is the focal length of the camera in the binocular camera, b is the lateral distance between the two cameras in the binocular camera, and d is the parallax.
Therefore, the target depth information of each pixel in the image information of the object to be protected is obtained through the binocular camera, and the target depth information is used as the binocular camera to determine the current distance between the object to be protected and the set dangerous area, so that the obtained binocular camera determines the current distance between the object to be protected and the set dangerous area to be accurate and reliable, and the safety of the home environment can be improved.
Step S320, according to the target depth information of each pixel, calculating a distance as the current distance between the object to be protected and the set dangerous area.
For example: the air conditioner recognizes that the child is close to a balcony or a window through an image recognition technology. The air conditioner triggers the binocular camera to measure distance. The binocular camera technology can be adopted to calculate the depth information of the target image, so that modeling is realized. The air conditioner measures the distance d between the child and the balcony or the window in real time, compares the distance d with the safety distance s, and judges whether the distance d between the child and the balcony or the window is smaller than the safety distance s. If the distance d between the child and the balcony or window is greater than or equal to the safety distance s, continuing to monitor. If the distance d between the child and the balcony or the window is smaller than the safety distance s, the air conditioner triggers early warning broadcasting, and meanwhile, the APP end connected with the air conditioner also pushes alarm information. The user can timely stop the occurrence of potential safety hazards, and children are effectively protected. The distance calculation between the child and the balcony is measured through the air conditioner, and when the distance of the child approaching the balcony reaches the range of the safety distance, the safety alarm is triggered, so that the child is timely reminded to be protected by adults.
Therefore, the current distance between the object to be protected and the set dangerous area is determined by utilizing the binocular camera, the accuracy of determining the current distance between the object to be protected and the set dangerous area by the binocular camera is good, and the safety of the household environment is improved.
More optionally, calibrating the binocular camera in step S320 may include: and calibrating the two phases of the binocular camera by using a Zhengyou calibration method to obtain a calibration result affecting the field of view of the intersection area of the binocular camera. The calibration result may include: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. Calibrating the binocular camera two phases can include: and calibrating the two phases of the binocular camera by a Zhengyou calibration method to obtain internal and external parameters affecting the field of view of the intersection area of the binocular camera, left and right camera baselines, camera focal length and homography matrix.
The homography matrix can be the mapping relation of the points of the same plane among different images. The internal and external parameters of the two cameras may include: the internal and external parameters may include an internal parameter and an external parameter, and the internal parameter may include: the mapping relation between the object shot by the binocular camera and the actual object on the x axis and the y axis; offset relationship between camera center and image center; the deviation angle of the installation angle of the camera and the lens; the external parameters may include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.
Therefore, the obtained binocular camera can be improved in accuracy and reliability of determining the current distance between the object to be protected and the set dangerous area, and the safety of the home environment can be improved.
At step S130, it is determined whether the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance.
At step S140, if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, a reminder message is initiated that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance. For example: and initiating an alarm message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, and/or sending a remote message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance to the set client.
At step S150, if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, the current distance between the object to be protected and the set dangerous area is determined by using the binocular camera.
For example: the binocular camera is used for measuring the distance of a target, the camera is used for monitoring the behavior and the action of the child, the person and the monitoring double-layer child are monitored, early warning is sent in advance, accidents are prevented in time, and the air conditioner is used for intelligently helping the life of the person. If can utilize the air conditioner to carry on binocular camera supplementary guardianship child safety, effectively avoid the emergence of security incident, can guardian child action through the air conditioner, detect child's dangerous hidden danger, when the air conditioner monitored child and be close to balcony or windowsill, the air conditioner sent alarm early warning and push alarm information to the family, and the family in time cared child, protects child's life safety effectively.
For example: the binocular camera is used for target tracking and distance real-time testing, for example, the distance between the child and peripheral objects can be monitored by taking the child as the center, and the distance is compared with the dangerous distance of the child. Specifically, the binocular distance measuring principle can be utilized, the binocular camera of the air conditioner detects the safety distance between the child and the balcony or the windowsill, the air conditioner obtains the distance information between the child and the balcony or the window through the binocular camera, judges whether the child is safe or not and sends an alarm; when a child is close to a balcony or a windowsill, life safety hidden danger exists, and an air conditioner sends alarm and early warning. The binocular camera can acquire distance information of the child and the balcony, the distance information serves as depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, and intelligent warning reminding of potential safety hazards is achieved.
Therefore, when the binocular camera is used for determining that the object to be protected is close to the set dangerous area, the current distance between the object to be protected and the set dangerous area is measured, and a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated under the condition that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, so that the safety of the household environment can be improved.
Through a large number of experimental verification, adopt the technical scheme of this embodiment, detect child and balcony or windowsill's safe distance through the binocular camera of air conditioner, when child is nearer to balcony or windowsill, there is life potential safety hazard, and the air conditioner sends the warning early warning, promotes the security at home.
According to the embodiment of the invention, a security control device corresponding to the security control method is also provided. Referring to fig. 5, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The security control device may include: a determination unit 102 and a control unit 104.
In an alternative example, the determining unit 102 may be configured to determine, with the binocular camera, whether the object to be protected is approaching the set dangerous area in a case where the object to be protected is in the room to which the air conditioner belongs. Wherein, the object to be protected may include: old people, children, etc. Setting the hazardous area may include: balcony, window etc. areas in the room where the air conditioner belongs. The specific function and processing of the determination unit 102 are described in step S110.
Optionally, the determining unit 102 determines, using the binocular camera, whether the object to be protected is approaching the set dangerous area, may include:
The determining unit 102 may be further configured to obtain, by using a binocular camera, image information of an object to be protected in an environment where the air conditioner belongs. The specific function and processing of the determination unit 102 is also referred to in step S210.
The determining unit 102 may be further configured to determine whether the image information of the object to be protected in the environment to which the air conditioner belongs is moving. The specific function and processing of the determination unit 102 is also referred to step S220.
The determining unit 102 may be further configured to determine a moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs if it is determined that the image information of the object to be protected in the environment to which the air conditioner belongs is moving. The specific function and processing of the determination unit 102 is also referred to step S230.
The determining unit 102 may be specifically configured to determine that the object to be protected is approaching the set dangerous area if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is toward the set dangerous area. The specific function and processing of the determination unit 102 is also referred to step S240.
For example: the air conditioner can be networked, has pronunciation, speaker, camera, with intelligent house ecological interconnection, connects APP, accessible APP control to can push information for APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire depth information of an image, namely, the distance of a target can be actually measured according to the principle of triangular ranging.
For example: the air conditioner is arranged in a room, the balcony and the window are both in the visual field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a ranging function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle ranging principle and logically compares the distance d with a preset safe distance s, if d is more than s, the distance d between the child and the balcony or the window is continuously monitored, and then the distance d is compared; if d < s, the air conditioner triggers a safety alarm prompt, and at the moment, the air conditioner main control board controls the loudspeaker module to broadcast the voice safety alarm, meanwhile, safety alarm information is immediately sent to the APP end of the user, the APP end pushes the alarm, and a child is protected by double prompt adults.
Therefore, whether the object to be protected is close to the set dangerous area or not is determined by utilizing the binocular camera, whether the distance between the object to be protected and the set dangerous area is started or not is determined by utilizing the binocular camera, and the safety of the home environment can be improved.
In an alternative example, the determining unit 102 may be further configured to determine, using the binocular camera, a current distance between the object to be protected and the set dangerous area if it is determined that the object to be protected is approaching the set dangerous area. The specific function and processing of the determination unit 102 is also referred to in step S120.
Optionally, the determining unit 102 determines, using the binocular camera, a current distance between the object to be protected and the set dangerous area, and may include:
the determining unit 102 may be further specifically configured to obtain, by using a binocular camera, target depth information of each pixel in image information of the object to be protected. The specific function and processing of the determination unit 102 is also referred to in step S310.
More optionally, the determining unit 102 obtains, using the binocular camera, target depth information of each pixel in image information of the object to be protected, and may include:
the determining unit 102 may be further specifically configured to calibrate the binocular camera to obtain a calibration result. The specific function and processing of the determination unit 102 also refer to step S410.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix.
The determining unit 102 may be further configured to correct the image information of the object to be protected according to the calibration result, so as to obtain a correction result, so that the two images acquired by the binocular camera are located on the same plane and parallel to each other. The specific function and processing of the determination unit 102 is also referred to in step S420.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.
The determining unit 102 may be further specifically configured to perform pixel point matching on two images acquired by the binocular camera in the correction result, so as to obtain a matching result. The specific function and processing of the determination unit 102 is also referred to in step S430.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And carrying out pixel point matching on the two corrected target images, and calculating parallax d. Pixel point matching is performed on the two corrected target images, and parallax d is calculated, which may include: and carrying out pixel point matching on the two corrected images by adopting a gray-scale-based image matching algorithm, wherein the gray-scale-based image matching algorithm can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The implementation adopts a sequential similarity detection algorithm, wherein the sequential similarity detection algorithm refers to an image matching technology, and the image matching technology is a process of searching a corresponding or similar module in another image (search graph) according to a known image module (template graph), so that the algorithm can effectively reduce the number of sub-images, reduce the calculated amount and improve the calculation speed.
The determining unit 102 may be further configured to calculate, according to the matching result, a depth of a pixel corresponding to each pixel point in the two images, so as to obtain target depth information of each pixel. The specific function and processing of the determination unit 102 is also referred to in step S440.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And carrying out pixel point matching on the two corrected target images, and calculating parallax d. Pixel point matching is performed on the two corrected target images, and parallax d is calculated, which may include: and carrying out pixel point matching on the two corrected images by adopting a gray-scale-based image matching algorithm, wherein the gray-scale-based image matching algorithm can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The sequential similarity detection algorithm can be adopted, and the sequential similarity detection algorithm refers to an image matching technology which is a process of searching a corresponding or similar module in another image (search graph) according to a known image module (template graph), and can effectively reduce the number of sub-images, reduce the calculated amount and improve the calculation speed. The depth of each pixel is calculated according to the matching result, so that the target depth z=f×b/d is obtained. Calculating the depth of each pixel from the matching result may include: by the formula: z=f×b/d calculates the depth z of each pixel in the image, and the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of colors that each pixel of the color image may have, or the number of gray levels that each pixel of the gray image may have. The formula z=f b/d where f is the focal length of the camera in the binocular camera, b is the lateral distance between the two cameras in the binocular camera, and d is the parallax.
Therefore, the target depth information of each pixel in the image information of the object to be protected is obtained through the binocular camera, and the target depth information is used as the binocular camera to determine the current distance between the object to be protected and the set dangerous area, so that the obtained binocular camera determines the current distance between the object to be protected and the set dangerous area to be accurate and reliable, and the safety of the home environment can be improved.
The determining unit 102 may be further specifically configured to calculate, according to the target depth information of each pixel, a distance as a current distance between the object to be protected and the set dangerous area. The specific function and processing of the determination unit 102 is also referred to step S320.
For example: the air conditioner recognizes that the child is close to a balcony or a window through an image recognition technology. The air conditioner triggers the binocular camera to measure distance. The binocular camera technology can be adopted to calculate the depth information of the target image, so that modeling is realized. The air conditioner measures the distance d between the child and the balcony or the window in real time, compares the distance d with the safety distance s, and judges whether the distance d between the child and the balcony or the window is smaller than the safety distance s. If the distance d between the child and the balcony or window is greater than or equal to the safety distance s, continuing to monitor. If the distance d between the child and the balcony or the window is smaller than the safety distance s, the air conditioner triggers early warning broadcasting, and meanwhile, the APP end connected with the air conditioner also pushes alarm information. The user can timely stop the occurrence of potential safety hazards, and children are effectively protected. The distance calculation between the child and the balcony is measured through the air conditioner, and when the distance of the child approaching the balcony reaches the range of the safety distance, the safety alarm is triggered, so that the child is timely reminded to be protected by adults.
Therefore, the current distance between the object to be protected and the set dangerous area is determined by utilizing the binocular camera, the accuracy of determining the current distance between the object to be protected and the set dangerous area by the binocular camera is good, and the safety of the household environment is improved.
More optionally, the determining unit 102 performs calibration on the binocular camera, which may include:
the determining unit 102 may be further specifically configured to calibrate two phases of the binocular camera by using a Zhengyou calibration method, so as to obtain a calibration result affecting the field of view of the intersection area of the binocular camera. The calibration result may include: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
For example: and calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera base lines b, the camera focal length f and the homography matrix. Calibrating the binocular camera two phases can include: and calibrating the two phases of the binocular camera by a Zhengyou calibration method to obtain internal and external parameters affecting the field of view of the intersection area of the binocular camera, left and right camera baselines, camera focal length and homography matrix.
The homography matrix can be the mapping relation of the points of the same plane among different images. The internal and external parameters of the two cameras may include: the internal and external parameters may include an internal parameter and an external parameter, and the internal parameter may include: the mapping relation between the object shot by the binocular camera and the actual object on the x axis and the y axis; offset relationship between camera center and image center; the deviation angle of the installation angle of the camera and the lens; the external parameters may include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.
Therefore, the obtained binocular camera can be improved in accuracy and reliability of determining the current distance between the object to be protected and the set dangerous area, and the safety of the home environment can be improved.
In an alternative example, the determining unit 102 may be further configured to determine whether the current distance between the object to be protected and the set hazard area is smaller than the set safety distance. The specific function and processing of the determination unit 102 is also referred to step S130.
In an alternative example, the control unit 104 may be configured to initiate a reminder message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance. For example: and initiating an alarm message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, and/or sending a remote message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance to the set client. The specific function and process of the control unit 104 refer to step S140.
In an alternative example, the control unit 104 may be further configured to determine, if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, the current distance between the object to be protected and the set dangerous area by using the binocular camera. The specific function and process of the control unit 104 also refer to step S150.
For example: the binocular camera is used for measuring the distance of a target, the camera is used for monitoring the behavior and the action of the child, the person and the monitoring double-layer child are monitored, early warning is sent in advance, accidents are prevented in time, and the air conditioner is used for intelligently helping the life of the person. If can utilize the air conditioner to carry on binocular camera supplementary guardianship child safety, effectively avoid the emergence of security incident, can guardian child action through the air conditioner, detect child's dangerous hidden danger, when the air conditioner monitored child and be close to balcony or windowsill, the air conditioner sent alarm early warning and push alarm information to the family, and the family in time cared child, protects child's life safety effectively.
For example: the binocular camera is used for target tracking and distance real-time testing, for example, the distance between the child and peripheral objects can be monitored by taking the child as the center, and the distance is compared with the dangerous distance of the child. Specifically, the binocular distance measuring principle can be utilized, the binocular camera of the air conditioner detects the safety distance between the child and the balcony or the windowsill, the air conditioner obtains the distance information between the child and the balcony or the window through the binocular camera, judges whether the child is safe or not and sends an alarm; when a child is close to a balcony or a windowsill, life safety hidden danger exists, and an air conditioner sends alarm and early warning. The binocular camera can acquire distance information of the child and the balcony, the distance information serves as depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, and intelligent warning reminding of potential safety hazards is achieved.
Therefore, when the binocular camera is used for determining that the object to be protected is close to the set dangerous area, the current distance between the object to be protected and the set dangerous area is measured, and a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated under the condition that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, so that the safety of the household environment can be improved.
Since the processes and functions implemented by the apparatus of the present embodiment substantially correspond to the embodiments, principles and examples of the methods shown in fig. 1 to 4, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Through a large number of test verification, by adopting the technical scheme of the invention, the distance between the child and the peripheral object can be monitored by using the binocular camera to carry out target tracking and distance real-time test, and the safety of the child at home is improved.
According to an embodiment of the present invention, there is also provided an air conditioner corresponding to the security control apparatus. The air conditioner may include: the security control device is described above.
Air conditioning equipment has become a necessity of modern families, can cool, prevent heatstroke and keep warm, and provides a comfortable living environment. The existing users are not limited to the functions of cooling and warming of the air conditioner any more, more intelligent air conditioning equipment is needed, some voice air conditioners and sound air conditioners are frequently fermented in the market, and the voice control air conditioners, the air conditioners play music, news, check weather, hundred degrees encyclopedia and the like are more intelligent. The air conditioner is also slowly connected with security monitoring and is matched with a camera.
In an optional implementation mode, the invention provides an air-conditioning child safety alarm system based on a binocular camera, the binocular camera is used for measuring the distance between targets, the camera is used for monitoring the behavior actions of children, people and monitoring the double-layer guardianship children, early warning is sent in advance, accidents are prevented in time, and the air conditioner more intelligently helps life of people.
Specifically, in the scheme of the invention, the air conditioner can be used for carrying the binocular camera to assist in monitoring the safety of the child, and the occurrence of a safety event is effectively avoided. Through the action of air conditioner guardianship child, detect child's dangerous hidden danger, when the air conditioner monitored child to be close to balcony or windowsill, the air conditioner sent alarm early warning and push alarm information to the family, and the family in time cares child, protects child's life safety effectively.
In an alternative example, in the scheme of the invention, a binocular camera is used for target tracking and distance real-time testing. If the distance between the child and the peripheral object is monitored by taking the child as the center, the distance is compared with the dangerous distance of the child.
Specifically, in the scheme of the invention, the binocular distance detection principle is utilized, the binocular camera of the air conditioner detects the safety distance between the child and the balcony or the windowsill, the air conditioner acquires the distance information between the child and the balcony or the window through the binocular camera, and judges whether the child is safe or not and sends an alarm or not; when a child is close to a balcony or a windowsill, life safety hidden danger exists, and an air conditioner sends alarm and early warning.
The binocular camera can acquire distance information of the child and the balcony, the distance information serves as depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, and intelligent warning reminding of potential safety hazards is achieved.
In an alternative embodiment, the implementation of the solution of the present invention may be illustrated by way of example with reference to the examples shown in fig. 6 and 7.
In the scheme of the invention, the air conditioner can be networked, has voice, a loudspeaker and a camera, is ecologically interconnected with the intelligent home, is connected with the APP, can be controlled by the APP, and can push information to the APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire depth information of an image, namely, the distance of a target can be actually measured according to the principle of triangular ranging.
The air conditioner is arranged in a room, the balcony and the window are both in the visual field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a ranging function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle ranging principle and logically compares the distance d with a preset safe distance s, if d is more than s, the distance d between the child and the balcony or the window is continuously monitored, and then the distance d is compared; if d < s, the air conditioner triggers a safety alarm prompt, and at the moment, the air conditioner main control board controls the loudspeaker module to broadcast the voice safety alarm, meanwhile, safety alarm information is immediately sent to the APP end of the user, the APP end pushes the alarm, and a child is protected by double prompt adults.
Fig. 6 is a schematic flow chart of monitoring and sending an alarm according to an embodiment of the air conditioner of the present invention.
As shown in fig. 6, the process of monitoring and sending an alarm by the air conditioner may include:
and 11, the air conditioner recognizes that the child approaches to a balcony or a window through an image recognition technology.
And step 12, triggering the binocular camera to measure the distance by the air conditioner.
And step 13, measuring the distance d between the child and the balcony or the window in real time by the air conditioner, comparing the distance d with the safety distance s, judging whether the distance d between the child and the balcony or the window is smaller than the safety distance s, and executing the step 14 or the step 15.
And step 14, if the distance d between the child and the balcony or the window is greater than or equal to the safety distance s, returning to the step 13 to continue monitoring.
And 15, if the distance d between the child and the balcony or the window is smaller than the safety distance s, triggering early warning broadcasting by the air conditioner, and simultaneously pushing alarm information by an APP end connected with the air conditioner, and executing the step 16.
And step 16, the user can timely stop the occurrence of potential safety hazards, and children are effectively protected.
Therefore, in the scheme of the invention, the air conditioner enters the distance calculation of measuring the distance between the child and the balcony, and when the distance of the child approaching the balcony reaches the range of the safe distance, the safety alarm is triggered, so that the child is timely reminded to be protected by adults.
Fig. 7 is a schematic flow chart of implementing depth information detection by using a binocular camera according to an embodiment of the air conditioner of the present invention.
As shown in fig. 7, the binocular camera technology may be used to calculate the depth information of the target image, and modeling may be implemented. Specifically, the process of implementing depth information detection by using the binocular camera may include:
and 21, firstly calibrating two cameras of the binocular camera to obtain internal and external parameters of the two cameras, left and right camera baselines b, a camera focal length f and a homography matrix.
Optionally, calibrating the binocular camera two-phase may include: and calibrating the two phases of the binocular camera by a Zhengyou calibration method to obtain internal and external parameters affecting the field of view of the intersection area of the binocular camera, left and right camera baselines, camera focal length and homography matrix.
Alternatively, the homography matrix may be a mapping relationship of points of the same plane between different images.
Alternatively, the internal and external parameters of the two cameras may include: the internal and external parameters include an internal parameter and an external parameter, wherein the internal parameter includes: the mapping relation between the object shot by the binocular camera and the actual object on the x axis and the y axis; offset relationship between camera center and image center; the deviation angle of the installation angle of the camera and the lens; the external parameters include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.
And step 22, correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.
And step 23, performing pixel point matching on the two corrected target images, and calculating parallax d.
Optionally, pixel point matching is performed on the two corrected target images, and calculating the parallax d may include: and carrying out pixel point matching on the corrected two images by adopting a gray-scale-based image matching algorithm, wherein the gray-scale-based image matching algorithm comprises an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The sequential similarity detection algorithm is adopted in the embodiment, and the sequential similarity detection algorithm refers to an image matching technology, which is a process of searching a corresponding or similar module in another image (search graph) according to a known image module (template graph), so that the number of sub-images can be effectively reduced, the calculated amount can be reduced, and the calculation speed can be improved.
Step 24, calculating the depth of each pixel according to the matching result, thereby obtaining the target depth z=f×b/d.
Optionally, calculating the depth of each pixel according to the matching result may include: by the formula: z=f×b/d calculates the depth z of each pixel in the image, and the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of colors that each pixel of the color image may have, or the number of gray levels that each pixel of the gray image may have. The formula z=f b/d where f is the focal length of the camera in the binocular camera, b is the lateral distance between the two cameras in the binocular camera, and d is the parallax.
Since the processing and functions implemented by the air conditioner of the present embodiment basically correspond to the embodiment, the principle and the example of the device shown in fig. 5, the description of the present embodiment is not exhaustive, and reference may be made to the related description of the foregoing embodiment, which is not repeated herein.
Through a large number of experiments, the technical scheme of the invention can be adopted to acquire the distance information between the child and the balcony through the binocular camera, the distance information is used as depth distance information, the depth distance information is compared with the safety distance, and the safety early warning is carried out when the depth distance information is smaller than the safety distance, so that the intelligent warning reminding of potential safety hazards is realized, and the household safety of the child is improved.
According to an embodiment of the present invention, there is also provided a storage medium corresponding to the security control method. The storage medium may include: the storage medium stores a plurality of instructions; the instructions are used for being loaded and executed by the processor to carry out the security control method.
Since the processes and functions implemented by the storage medium of the present embodiment substantially correspond to the embodiments, principles and examples of the methods shown in fig. 1 to 4, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Through a large number of experiments, the technical scheme of the invention is adopted, and the air conditioner is matched with the binocular camera, so that the binocular camera can acquire the depth information of the image, the air conditioner can send alarm early warning and push alarm information to families, the families can timely care the children, and the life safety of the children is effectively protected.
According to the embodiment of the invention, an air conditioner corresponding to the security control method is also provided. The air conditioner may include: a processor for executing a plurality of instructions; a memory for storing a plurality of instructions; the instructions are stored by the memory, and loaded and executed by the processor.
Since the processes and functions implemented by the air conditioner of the present embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to 4, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Through a large number of experiments, the technical scheme of the invention is adopted, the binocular camera is adopted to measure the distance of the target, the camera is utilized to monitor the behavior and the action of the child, and the person and the monitoring double-layer child are monitored, and early warning is sent in advance, so that the air conditioner can more intelligently help the life of the person.
In summary, it is readily understood by those skilled in the art that the above-described advantageous ways can be freely combined and superimposed without conflict.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (8)

1. The security control method is characterized by comprising the following steps:
under the condition that an object to be protected exists in a room to which the air conditioner belongs, determining whether the object to be protected is close to a set dangerous area by utilizing a binocular camera; the binocular camera is an air conditioner binocular camera; the air conditioner is arranged in a room, and a balcony and a window are both in the visual field range of the binocular camera of the air conditioner; the method for determining whether the object to be protected is close to the set dangerous area by using the binocular camera comprises the following steps: acquiring image information of an object to be protected in an environment of an air conditioner by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs is moving; if the image information of the object to be protected in the environment of the air conditioner is determined to move, determining the moving direction of the image information of the object to be protected in the environment of the air conditioner; if the moving direction of the image information of the object to be protected in the environment of the air conditioner faces the set dangerous area, determining that the object to be protected is close to the set dangerous area;
If the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using the binocular camera; the method for determining the current distance between the object to be protected and the set dangerous area by using the binocular camera comprises the following steps: obtaining target depth information of each pixel in image information of an object to be protected by using a binocular camera; according to the target depth information of each pixel, calculating a distance as the current distance between the object to be protected and the set dangerous area;
determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance;
if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated;
if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, the binocular camera is continuously utilized to determine the current distance between the object to be protected and the set dangerous area;
the safety distance between the child and the balcony or the windowsill is detected through the binocular camera of the air conditioner, and when the child is close to the balcony or the windowsill, life safety hidden danger exists, and the air conditioner sends alarm and early warning.
2. The security control method according to claim 1, wherein obtaining target depth information of each pixel in image information of an object to be protected using a binocular camera includes:
calibrating the binocular camera to obtain a calibration result;
correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other;
performing pixel point matching on two images acquired by the binocular camera in the correction result to obtain a matching result;
and calculating the depth of the pixel corresponding to each pixel point in the two images according to the matching result so as to obtain the target depth information of each pixel.
3. The security control method according to claim 2, wherein calibrating the binocular camera comprises:
calibrating two phases of the binocular camera by a Zhengyou calibration method to obtain a calibration result affecting the field of view of the intersection area of the binocular camera; the calibration result comprises: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
4. A security control device, comprising:
The determining unit is used for determining whether the object to be protected is close to the set dangerous area or not by utilizing the binocular camera under the condition that the object to be protected exists in the room to which the air conditioner belongs; the binocular camera is an air conditioner binocular camera; the air conditioner is arranged in a room, and a balcony and a window are both in the visual field range of the binocular camera of the air conditioner; the determining unit determines whether an object to be protected is approaching a set dangerous area by using a binocular camera, and the determining unit comprises: acquiring image information of an object to be protected in an environment of an air conditioner by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs is moving; if the image information of the object to be protected in the environment of the air conditioner is determined to move, determining the moving direction of the image information of the object to be protected in the environment of the air conditioner; if the moving direction of the image information of the object to be protected in the environment of the air conditioner faces the set dangerous area, determining that the object to be protected is close to the set dangerous area;
the determining unit is further used for determining the current distance between the object to be protected and the set dangerous area by utilizing the binocular camera if the object to be protected is determined to be close to the set dangerous area; the determining unit determines a current distance between an object to be protected and a set dangerous area by using the binocular camera, and the determining unit comprises: obtaining target depth information of each pixel in image information of an object to be protected by using a binocular camera; according to the target depth information of each pixel, calculating a distance as the current distance between the object to be protected and the set dangerous area;
The determining unit is also used for determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance;
the control unit is used for initiating a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance;
the control unit is further used for determining the current distance between the object to be protected and the set dangerous area by continuously utilizing the binocular camera if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance;
the safety distance between the child and the balcony or the windowsill is detected through the binocular camera of the air conditioner, and when the child is close to the balcony or the windowsill, life safety hidden danger exists, and the air conditioner sends alarm and early warning.
5. The security control apparatus according to claim 4, wherein the determining unit obtains target depth information of each pixel in image information of the object to be protected using a binocular camera, comprising:
calibrating the binocular camera to obtain a calibration result;
correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other;
Performing pixel point matching on two images acquired by the binocular camera in the correction result to obtain a matching result;
and calculating the depth of the pixel corresponding to each pixel point in the two images according to the matching result so as to obtain the target depth information of each pixel.
6. The security control device of claim 5, wherein the determining unit calibrates the binocular camera, comprising:
calibrating two phases of the binocular camera by a Zhengyou calibration method to obtain a calibration result affecting the field of view of the intersection area of the binocular camera; the calibration result comprises: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrices.
7. An air conditioner, comprising: the security control device according to any one of claims 4 to 6;
alternatively, it includes:
a processor for executing a plurality of instructions;
a memory for storing a plurality of instructions;
wherein the plurality of instructions are for storage by the memory and loading and executing by the processor the security control method of any one of claims 1 to 3.
8. A storage medium having a plurality of instructions stored therein; the plurality of instructions for loading and executing the security control method of any one of claims 1 to 3 by a processor.
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