CN113321107A

CN113321107A - Automatic equipment control method and device and automatic equipment

Info

Publication number: CN113321107A
Application number: CN202110602510.6A
Authority: CN
Inventors: 凌思华; 马国鹏
Original assignee: Winone Elevator Co Ltd
Current assignee: Winone Elevator Co Ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-08-31

Abstract

The application is applicable to the technical field of automatic equipment control, and provides an automatic equipment control method, an automatic equipment control device and automatic equipment, wherein the method comprises the following steps: acquiring image data at an entrance of the automatic equipment through a camera, wherein the camera is arranged in a traffic light module comprising an indicator light for indicating a passing direction, the camera is positioned above the indicator light, and the traffic light module is arranged on the automatic equipment, wherein the traffic light module comprises a first light-transmitting plate and a second light-transmitting plate, the first light-transmitting plate corresponds to the camera, the second light-transmitting plate corresponds to the indicator light, and the first light-transmitting plate is an inclined plane facing the entrance of the automatic equipment; and if the image data contains the pedestrian, controlling the automatic equipment. By the method, good experience of the user can be effectively improved.

Description

Automatic equipment control method and device and automatic equipment

Technical Field

The present application relates to the field of automatic device control technologies, and in particular, to an automatic device control method, an automatic device control apparatus, an automatic device, and a computer-readable storage medium.

Background

At present, an escalator is usually arranged in public places such as shopping malls and railway stations, so that a user can go out conveniently.

Existing automatic equipment (such as escalators or moving walkways), one is to run at a fixed speed regardless of whether there are passengers on the automatic equipment; the other is to operate at a first speed when no passenger is on the automatic device, and operate at a second speed after the passenger is on the automatic device, wherein the first speed is lower than the second speed, so as to reduce the consumption of resources of the automatic device.

In the above control of the automatic device, the automatic device itself is mainly used, and the passenger does not have a good experience on the automatic device, so a new method needs to be provided to solve the above technical problem.

Disclosure of Invention

The embodiment of the application provides an automatic equipment control method, an automatic equipment control device and automatic equipment, and can solve the problem of poor user experience in the prior art.

In a first aspect, an embodiment of the present application provides an automatic device control method, which is applied to an automatic device including an escalator or a moving sidewalk, and includes:

acquiring image data at an entrance of the automatic equipment through a camera, wherein the camera is arranged in a traffic light module comprising an indicator light for indicating a passing direction, the camera is positioned above the indicator light, and the traffic light module is arranged on the automatic equipment, wherein the traffic light module comprises a first light-transmitting plate and a second light-transmitting plate, the first light-transmitting plate corresponds to the camera, the second light-transmitting plate corresponds to the indicator light, and the first light-transmitting plate is an inclined plane facing the entrance of the automatic equipment;

and if the image data contains the pedestrian, controlling the automatic equipment.

In a second aspect, an embodiment of the present application provides an automatic device control apparatus, which is applied to an automatic device, and includes:

the system comprises an image data acquisition module, a traffic light module and a display module, wherein the image data acquisition module is used for acquiring image data at an entrance of the automatic equipment through a camera, the camera is arranged in the traffic light module comprising an indicator light for indicating the passing direction, the camera is positioned above the indicator light, and the traffic light module is arranged on the automatic equipment;

and the automatic equipment control module is used for controlling the automatic equipment if the image data contains the pedestrian.

In a third aspect, an embodiment of the present application provides an automatic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to the first aspect when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on an automation device, causes the automation device to perform the method according to the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that:

in the embodiment of the application, after the image data at the entrance of the automatic device is judged to have the image data corresponding to the pedestrian, the automatic device is controlled. Because when the pedestrian appears at the entrance, show that this pedestrian will use this automation equipment, at this moment, control automation equipment and can realize the braking in advance to this automation equipment, just brake the hysteresis quality that leads to when avoiding the pedestrian to use automation equipment. Meanwhile, because the camera and the indicator light are integrated in the same module, namely the traffic light module, the camera and the indicator light integrated in the same module occupy less space than the camera and the indicator light are respectively arranged on the automatic equipment. And because set up the camera and be located the top of pilot lamp, consequently, be favorable to the camera to acquire the image data that the shooting angle is more excellent. In addition, compare with first light-passing board for a vertical face, when first light-passing board is an inclined plane, the shooting scope that the camera corresponds is bigger. In conclusion, the control method provided by the embodiment of the application can effectively improve the good experience of the user.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.

Fig. 1 is a flowchart of an automatic device control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a front side of a traffic light module according to an embodiment of the present disclosure;

FIG. 3 is a schematic side view of a traffic light module according to an embodiment of the present disclosure

Fig. 4 is a schematic diagram for comparing shooting ranges of a camera provided in the first embodiment of the present application, where the shooting ranges correspond to a vertical plane and an inclined plane;

fig. 5 is a schematic view of an escalator provided with two traffic light modules according to an embodiment of the present application;

FIG. 6 is a flow chart of another method for controlling an automatic device according to the second embodiment of the present application;

fig. 7 is a schematic structural diagram of an automatic device control apparatus according to a third embodiment of the present application;

fig. 8 is a schematic structural diagram of an automatic apparatus according to a fourth embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.

The first embodiment is as follows:

the existing escalator is operated at a fixed speed, or is operated at a lower speed or directly stopped when no passenger is on the escalator, and is then increased in speed to operate at a higher speed after the passenger is on the escalator. That is, the existing escalator only considers the continuous operation of the escalator during operation, or only considers how to save resource consumption, and does not consider the good experience of passengers.

In order to improve good experience of passengers, the embodiment of the application provides an automatic device control method, and in the method, if it is judged that a pedestrian exists at an inlet of the automatic device, the automatic device is controlled. Since the automatic device is controlled to perform the corresponding action when the pedestrian does not step on the automatic device, the automatic device can be controlled to perform the corresponding action in advance, thereby avoiding the hysteresis of the automatic device performing the action.

The following describes an automatic device control method provided in an embodiment of the present application with reference to the drawings.

Fig. 1 shows a flowchart of a control method for an automatic device, which is applied to an automatic device including an escalator or a moving walkway and is detailed as follows:

and step S11, acquiring image data at the entrance of the automatic equipment through a camera, wherein the camera is arranged in a traffic light module comprising an indicator light for indicating the passing direction, the camera is positioned above the indicator light, and the traffic light module is arranged on the automatic equipment.

The escalator of the present embodiment includes an escalator elevator having steps, and also includes a handrail elevator without steps (e.g., a handrail elevator without steps and having a slope). The moving sidewalk of the present embodiment is a moving sidewalk without steps and not an inclined plane. Taking the example of an escalator as an automatic device, the entrance of the escalator refers to the position of the step that is going to enter the escalator, but the position is not already in the escalator itself, e.g., the step of the escalator is not in the entrance of the escalator. In this embodiment, the location may be the location of the upper and lower landing decks of the escalator.

In this embodiment, the entrance is photographed by the camera, and the automatic device (the control system of the automatic device) acquires the corresponding image data from the camera.

In some embodiments, if the automatic device is an escalator, in order to obtain more comprehensive image data, the shooting range of the camera needs to cover the whole entrance of the escalator, such as all upper and lower leveling cover plates of the escalator. In some embodiments, the shooting range of the camera covers not only the entire entrance of the escalator, but also a preset area around the entrance, for example, an area corresponding to the entrance extending half a meter outward, and at this time, the image data obtained by increasing the coverage is also used as the image data at the entrance of the escalator. Because when the pedestrian gets into preset area around the entrance, show that this pedestrian probably gets into this entrance very much, consequently, through increase shooting range, can acquire corresponding image data earlier, and then be favorable to follow-up controlling escalator faster.

In this embodiment, the traffic light module is disposed on the automatic device, for example, at a position near an entrance in the automatic device. Referring to fig. 2, fig. 2 shows a schematic structural diagram of a front surface of a traffic light module according to an embodiment of the present application, in fig. 2, the traffic light module 2 includes a camera 21 and an indicator light 22 for indicating a traffic direction, for example, if the automatic device is an escalator and a running direction of the escalator is upward, the traffic direction indicated by the indicator light 22 is "upward", and the traffic direction can be represented by an arrow. The camera 21 of the present embodiment is located above the indicator lamp 22. It should be noted that the camera 21 can cover the entrance of the automatic equipment (such as an escalator).

In this embodiment, since the camera 21 and the indicator light 22 are integrated in the same module, i.e., the traffic light module 2, the camera 21 and the indicator light 22 integrated in the same module occupy less space than when the camera 21 and the indicator light 22 are respectively disposed on the automatic apparatus. In addition, the camera 21 is arranged above the indicator lamp 22, so that the camera 21 can acquire image data with a better shooting angle.

Fig. 3 shows a schematic structural diagram of a side surface of a traffic light module provided in an embodiment of the present application, in this embodiment, the traffic light module 2 further includes a first transparent plate 23 and a second transparent plate 24, the first transparent plate 23 corresponds to the camera 21, the second transparent plate 24 corresponds to the indicator light 22, and the first transparent plate 23 is an inclined surface facing an entrance of the automatic apparatus.

Specifically, the first transparent plate 23 is outside the camera 21, and the light enters the light incident surface of the camera 21 through the first transparent plate 23, and the first transparent plate 23 may be a lens. The second transparent plate 24 is outside the indicator light 22, and light emitted from the indicator light 22 passes through the second transparent plate 24. In some embodiments, the camera 21 is a rotatable camera to increase the flexibility of shooting.

In this embodiment, because the outside of camera 21 and pilot lamp 22 has corresponding light-passing board, consequently, can carry out physics with passenger and camera 21 and pilot lamp 22 isolated to camera 21 and pilot lamp 22 have certain guard action. In addition, the first transparent plate 23 is an inclined surface facing the inlet of the automatic device, so that the shooting range of the camera 21 is favorably expanded. Referring to fig. 4, fig. 4 shows the shooting ranges of the camera 21 in the vertical plane and the inclined plane. As can be seen from fig. 4, when the first transparent plate 23 is an inclined surface, the shooting range corresponding to the camera 21 is larger than when the first transparent plate 23 is a vertical surface.

In some embodiments, the angle between the first light-transmitting plate 23 and the ground plane is between 30 ° and 45 °. Through setting up like this, be favorable to obtaining the image data that the shooting angle is better, and the shooting range is bigger.

In some embodiments, the present embodiment includes two traffic light modules 2, and the two traffic light modules 2 are respectively disposed on two inner sides of the automatic device. Taking an escalator as an example of an automatic device, in fig. 5, the shooting ranges of the cameras 21 of the two traffic light modules 2 have overlapped areas and also have non-overlapped areas (hatched areas corresponding to oblique lines in fig. 5). In fig. 5, the area corresponding to the dotted square frame is the entrance of the escalator. Through the arrangement, the shooting range of the camera can be increased, so that image data corresponding to a larger shooting range can be acquired.

In step S12, if the image data includes a pedestrian, the automatic apparatus is controlled.

In this embodiment, whether the image data includes features of a person is identified through a preset algorithm, if so, it is determined that the image data includes the pedestrian, otherwise, it is determined that the image data does not include the pedestrian. For example, whether the image data includes a human face may be identified by a face identification algorithm, and if the image data includes a human face, it is determined that the image data includes a pedestrian. In this embodiment, if it is determined that there is image data corresponding to a pedestrian in the image data, the automatic apparatus is controlled. The control includes the control of the running speed and/or the warning prompt and/or the data transmission.

Example two:

fig. 6 shows a flowchart of another control method for an automatic device, which is applied to an automatic device including an escalator or a moving sidewalk, according to an embodiment of the present invention, the running speed of the automatic device is controlled by monitoring the motion of a pedestrian, that is, step S12 in the first embodiment is mainly detailed, and step S61 is the same as step S11 in the first embodiment, and is not described herein again.

And step S61, acquiring image data at the entrance of the automatic equipment through a camera.

And step S62, if the image data contains the pedestrian, monitoring the action of the pedestrian, and if the action of the pedestrian meets the running stop condition, controlling the running speed of the automatic equipment to be reduced to 0 within the preset time length.

In this embodiment, the stop operation condition is set in advance, for example, an event that a pedestrian falls on the automatic apparatus, an event that a pedestrian falls on an entrance of the automatic apparatus, an event that an object rolls on the automatic apparatus, or the like is set as the stop operation condition of the automatic apparatus.

In this embodiment, postures of pedestrians in a period of time are monitored, actions of the pedestrians are determined according to the monitored postures, and if the actions of the pedestrians are judged to be matched with preset operation stopping conditions, the operation speed of the automatic equipment is controlled to gradually decrease, and the operation is stopped within the preset time. Since the automatic apparatus stops operating when the action of the pedestrian meets the stop operation condition, the injury to the pedestrian can be reduced. And, because the automatic device is slowly stopped rather than directly stopped, the pedestrian can be prevented from being more injured due to inertia.

In some embodiments, the automatic apparatus may be manually restarted, or the automatic apparatus may be automatically restarted after determining that the restart condition is satisfied. If the automatic equipment is restarted manually, namely: if the maintenance personnel check that the automatic equipment can be restarted, for example, a fallen pedestrian is held up and a rolled object is picked up, the automatic equipment is restarted, and the automatic equipment is restarted according to a starting instruction sent by a user after receiving the starting instruction. If the automatic equipment is automatically restarted, namely: if the automatic equipment detects that the image data does not contain pedestrians or any objects, the automatic equipment is automatically restarted; or if the image data contains the pedestrian and the action of the pedestrian does not accord with the stop operation condition, automatically restarting.

In some embodiments, the predetermined out-of-service condition includes a plurality of events, and different events correspond to different predetermined durations. That is, the preset time period in the above step S62 corresponds to different values when the pedestrian motion matches different events. For example, if the action of the pedestrian is matched with the event that the pedestrian falls down at the entrance of the automatic device, at this time, because the pedestrian is not on the automatic device and the pedestrian is closer to the automatic device, the faster the automatic device stops operating, the less the injury it may cause to the falling pedestrian, and at this time, the preset duration is a numerical value close to 0. If the action of the pedestrian is matched with the event that the pedestrian falls down on the automatic equipment, because the inertia direction of the pedestrian is the same as the running direction of the automatic equipment, the automatic equipment needs to slowly stop running so as to reduce the injury possibly caused by the falling pedestrian, and at the moment, the preset duration is a numerical value far away from 0.

In some embodiments, in order to improve the transportation efficiency of the automatic device, the automatic device control method provided in an embodiment of the present application further includes:

and A1, if the action of the pedestrian does not accord with the stop running condition, determining the pedestrian flow corresponding to the automatic equipment.

In this step, the flow rate of people corresponding to the automatic device refers to the flow rate of people at the entrance of the automatic device. Specifically, the pedestrian characteristics in a certain time period at the entrance of the automatic device are recorded, and the pedestrian flow in the certain time period at the entrance is calculated according to the recorded number of the pedestrian characteristics. The pedestrian features may be face features obtained by recognizing image data through a face recognition algorithm. It should be noted that the flow rate can be calculated by a local database or a cloud. The camera sends the image data to the local database or the cloud, and after the local database or the cloud calculates the pedestrian volume, the automatic equipment obtains the corresponding pedestrian volume from the local database or the cloud. Because the flow of people is calculated through the local database or the cloud, the resource consumption of the automatic equipment can be reduced.

And A2, determining the running speed of the automatic equipment according to the human flow.

In this step, which operating speed the automation device uses is related to the current traffic.

And A3, controlling the automatic equipment to run at the running speed.

In the step a1 to the step A3, when the automatic device does not need to stop operating, the flow rate of people at the entrance is determined, and then the automatic device is controlled to operate according to the operation speed determined by the flow rate of people. Since the flow of people at the entrance is usually equal to the flow of people corresponding to the passengers of the automatic device, determining the corresponding operating speed according to the flow of people at the entrance is beneficial to improving the accuracy of the obtained operating speed. In addition, because the operating speed is related to the flow of people, therefore, the corresponding operating speed can be dynamically adjusted according to the actual flow of people, so that the transportation efficiency of the automatic equipment can be improved, and the good experience of passengers can be greatly improved.

In some embodiments, considering that the elderly, children or sick people are physically poor and are not generally suitable for riding faster automatic equipment, the above step a1 includes:

and if the actions of the pedestrians do not accord with the stop operation condition and the pedestrians of the weak group are not included in the pedestrians, determining the pedestrian flow corresponding to the automatic equipment.

In this embodiment, before determining the pedestrian volume of the automatic device, it is first identified whether the pedestrians in the image data include pedestrians of the vulnerable group (such as children, sick adults, old people, pregnant women, disabled people, etc.), and if not, the pedestrian volume corresponding to the automatic device is then determined, that is, only if the pedestrians do not include pedestrians of the vulnerable group, the corresponding operating speed is subsequently determined according to the pedestrian volume.

In some embodiments, in order to obtain a more reasonable determination of the operating speed, step a2 includes:

and A21, determining the interval range corresponding to the flow rate of people according to the flow rate of people.

A22, determining the running speed of the automatic equipment according to a section range, wherein the upper limit value of the section range is positively correlated with the running speed.

In the above-mentioned a21 and a22, the correspondence between the section ranges of different pedestrian flow rates and different operation speeds is set in advance. In this embodiment, one interval range includes values corresponding to a plurality of pedestrian volumes, that is, in this embodiment, instead of one pedestrian volume value corresponding to one operating speed, the plurality of pedestrian volume values in the same interval range correspond to the same operating speed, that is, resource consumption caused by frequent adjustment of the operating speed due to small differences in the pedestrian volumes is avoided. It should be noted that different interval ranges correspond to different operating speeds, and the larger the upper limit value of the interval range is, the larger the corresponding operating speed is. For example, if the upper limit value of the section range a is a, the upper limit value of the section range B is B, and a > B, the operating speed corresponding to the section range a is greater than the operating speed corresponding to the section range B. Since the operating speed corresponding to the larger upper limit value of the interval range is also larger, namely the operating speed corresponding to the larger the flow of people is, the transportation capacity of the automatic equipment is stronger when the flow of people is larger, and the carrying efficiency of the automatic equipment is effectively improved.

In some embodiments, considering that some scenarios do not require stopping running the automatic device, but require warning and prompting for pedestrians, the method of the embodiment of the present application further includes:

and if the action of the pedestrian does not accord with the stop operation condition but accords with the warning condition, warning prompt is carried out.

In this embodiment, the events corresponding to the warning conditions are preset, where the events include that, during the process of running on the automatic device at the entrance, running on the automatic device, carrying a pet into the automatic device, carrying a large piece of luggage into the automatic device, and taking the automatic device by a pedestrian, an included angle between the upper half of the body and the running direction of the automatic device is greater than a specified angle (the specified angle is greater than 0, for example, when the pedestrian runs to half of the automatic device, the pedestrian hears a call of another person, and the upper half of the body of the pedestrian turns a certain angle), the pedestrian waves one hand or waves both hands, and the like.

In this embodiment, the gesture of the pedestrian in a certain area is monitored to determine whether the action of the pedestrian meets the warning condition. For example, the gesture that the pedestrian passes to the automatic equipment at the entrance is determined to judge whether the pedestrian runs to the automatic equipment from the entrance, if so, the action of the pedestrian is judged to accord with the warning condition, and warning prompt is carried out. The warning prompt comprises a voice warning prompt which is related to broadcasting, or a buzzer sends out a warning sound prompt.

In some embodiments, in order to achieve the warning effect, the buzzer is arranged in machine rooms on upper and lower flat floors, and the machine rooms on the upper and lower flat floors are located below the upper and lower flat floors. Because bee calling organ sets up in the below of upper and lower flat bed, sets up the below at the entrance of automatic equipment promptly, and the pedestrian apart from the entrance is nearer promptly, consequently, when bee calling organ sent the warning sound, it had great sound to can effectively carry out the fright to the pedestrian.

In some embodiments, in order to conveniently store the data corresponding to the pedestrian volume and conveniently set the operation speed, after determining the pedestrian volume corresponding to the pedestrian in the step a1, the method includes:

and B1, uploading the pedestrian volume to a preset communication device.

The communication device here includes a mobile phone and/or a cloud.

The uploading of this embodiment includes uploading in real time and uploading regularly, and when uploading for uploading in real time, the user can in time inquire current flow of people, has improved the promptness of acquireing the information. Because the communication device can acquire the pedestrian volume, a user can inquire and analyze the pedestrian volume at the communication device, for example, more accurate operation speed can be obtained by analyzing historical pedestrian volume.

And B2, receiving a preset speed change instruction sent by the communication equipment, wherein the speed change instruction carries an identifier of an interval range to be changed and the changed speed information.

In this embodiment, the communication device and the automatic device (or the traffic light module 2) may be connected via bluetooth or wireless fidelity (WIFI). When a user wants to change the running speed of the automatic equipment, the communication equipment is set to be connected with the automatic equipment, and then the user can send a speed change instruction to the automatic equipment through the communication equipment, wherein the speed change instruction is used for indicating the automatic equipment to modify the running speed corresponding to the section range.

And B3, changing the operation speed of the section range corresponding to the identification of the section range into the operation speed corresponding to the speed information.

In the above-described B1 to B3, since the communication device can acquire the traffic of the robot and can change the operation speed of the robot through the communication device, the efficiency of changing the operation speed is greatly improved. Moreover, after the pedestrian volume is uploaded to the cloud, as the storage space of the cloud is large, more pedestrian volumes can be stored, and more accurate analysis on the pedestrian volume is facilitated subsequently.

In some embodiments, considering that a vulnerable group (such as an old person, a child or a sick person) is poor in body and generally not suitable for riding an automatic device at a fast speed, the automatic device control method of the embodiment of the present application further includes:

and if the action of the pedestrian does not accord with the stop operation condition and the pedestrian comprises the pedestrian of the weak group, reducing the operation speed of the automatic equipment.

In this embodiment, the operation speed reduction means that the current operation speed of the automatic apparatus is reduced to a specified value, or a new operation speed is set to be lower than the current operation speed. It is to be noted that the running speed is reduced as long as it is judged that there is a pedestrian of the vulnerable group among the pedestrians of the image data (i.e., regardless of the proportion of the pedestrian of the vulnerable group among all the pedestrians). By such an arrangement, the safety of pedestrians in the vulnerable group can be ensured to the maximum extent.

In some embodiments, considering that there may be a certain risk in a vulnerable group (such as the elderly, children or sick people) when riding on an automatic device, in order to improve the safety of such a group, the method provided by the embodiment of the present application further includes:

and outputting a prompt language containing the elevator taking safety information.

In this embodiment, outputting the prompt includes broadcasting or displaying the corresponding prompt. Because the prompt words related to the elevator taking safety are broadcasted or displayed, the people in the weak group take more care when taking the automatic equipment, and the taking safety of the people is improved.

In some embodiments, it is determined whether the pedestrian includes a pedestrian of the vulnerable group by:

c1, acquiring the face features of each pedestrian, and judging which of the following face features belongs to: child face features, adult face features, and geriatric face features.

In this embodiment, the child face features that the child face should have, the adult face features that the adult face should have, and the elderly person face features that the elderly person face should have are previously divided. For example, a child typically has the following facial features: small face, smooth skin, small inter-ocular distance, etc. Adults typically have the following facial features: large faces, rough skin, large inter-eye distances (compared to that of children), etc. The elderly typically have the following facial features: larger faces, looser skin and/or wrinkled, larger inter-eye distances (compared to that of children), etc.

C2, obtaining the height of each pedestrian, and judging which of the following the height of each pedestrian belongs to: child height, preset adult conventional height and old man height.

In the embodiment, the height of the child is the shortest, and the normal height of the old is almost equal to the preset conventional height of the adult. The height of the child, the preset adult conventional height and the height of the old are all related to the area where the automatic device is located, for example, the height of the child is an average value of the height of the child in the area where the automatic device is located, the preset adult conventional height is an average value of the height of the adult in the area where the automatic device is located, and the height of the old is an average value of the height of the old in the area where the automatic device is located. For example, if the area in which the automatic device is located is north, the predetermined adult height of the automatic device in north is higher than the predetermined adult height of the automatic device in south, compared to the area in south. Through setting up like this, can improve the accuracy of the height (like child's height, adult's conventional height and old man's height) of setting, and then can improve the follow-up accuracy of judging which kind of people (child or adult etc.) the pedestrian belongs to.

C3, acquiring the pace speed of each pedestrian, and judging which one the following pace speeds belongs to: the walking speed of children, the preset normal walking speed of adults and the walking speed of the old.

In this embodiment, the positions of the same pedestrian in different image frames are obtained, the corresponding position points of the pedestrian in the actual scene are estimated according to the positions of the same pedestrian in different image frames, and the walking distance of the pedestrian is estimated according to the position points. And determining corresponding time length according to the time points of the obtained different image frames, and estimating the pace of the pedestrian according to the estimated distance and the determined time length. In this embodiment, the pace speed corresponding to the child and the elderly is smaller than the normal pace speed corresponding to the adult. And the pace speeds (namely the pace speed of the child, the preset normal pace speed of the adult and the pace speed of the old) are related to the average height value (the average height value of the child, the average height value of the adult and the like) corresponding to the area where the automatic equipment is located and the current temperature of the area where the automatic equipment is located. The higher the average height value is, the faster the corresponding pace is, the higher the current temperature is, the faster the corresponding pace is, and vice versa. It should be noted that, since the above-mentioned pace, for example, the preset adult normal pace, relates to 2 dimensions (height average and current temperature), different weight values may be set for different dimensions, and finally the preset adult normal pace is determined by combining the height average, the weight corresponding to the height average, the current temperature, and the weight corresponding to the current temperature. Because in practical situations, pedestrians of higher height are able to step faster than pedestrians of lower height; in addition, when the temperature is higher, the clothing that the pedestrian dressed is less, but when the temperature is lower, the clothing that the pedestrian dressed is then more, and when the clothing that the pedestrian dressed is more, its pace that corresponds will be less than when the clothing that it dressed is less, consequently, through above-mentioned setting, can improve the accuracy of each pace that sets up.

C4, if the face features all belong to adult face features, the heights of the pedestrians all belong to preset adult conventional heights and the walking speeds of the pedestrians all belong to preset adult normal walking speeds, judging that the pedestrians do not contain the vulnerable group, otherwise, judging that the pedestrians contain the vulnerable group.

And in the C1-C4, the pedestrian meeting the adult human face characteristics, the preset adult conventional height and the preset adult normal pace is judged as the adult, and otherwise, the pedestrian is judged as the person of the vulnerable group. That is, only if each of the pedestrians is determined to be an adult, it is determined that none of the pedestrians contains a vulnerable group, and otherwise, it is determined that the pedestrians contain a vulnerable group. The pedestrian is judged by combining the multi-dimensional features, so that the accuracy of the judgment result is improved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Example three:

corresponding to the first embodiment and the second embodiment, fig. 7 shows a schematic structural diagram of an automatic equipment control device provided in the embodiment of the present application, the automatic equipment control device is applied to automatic equipment including an escalator or a moving walkway, and for convenience of explanation, only the parts related to the embodiment of the present application are shown.

The automatic device control apparatus 7 includes an image data acquisition module 71 and an automatic device control module 72, wherein:

image data obtains module 71 for obtain through the camera the image data of automatic equipment's entrance, wherein, the camera setting is in the traffic light module including the pilot lamp that is used for instructing current direction, the camera is located the top of pilot lamp, the traffic light module sets up on automatic equipment, wherein, the traffic light module includes first light-passing board and second light-passing board, first light-passing board corresponds with the camera, the second light-passing board corresponds with the pilot lamp, first light-passing board is an inclined plane towards automatic equipment's entrance.

In the case of an escalator, the entrance of the escalator is the position of the step that will enter the escalator, but this position is not yet the escalator itself. In this embodiment, the location may be the location of the upper and lower landing decks of the escalator.

In some embodiments, in order to obtain more comprehensive image data, the shooting range of the camera needs to cover the whole entrance of the automatic device, such as all the upper and lower flat-layer cover plates of the automatic device.

In some embodiments, the shooting range of the camera covers not only the entire entrance of the automatic device, but also a preset area around the entrance, for example, an area corresponding to the entrance extending half a meter outward, and at this time, the image data obtained by increasing the coverage is also used as the image data at the entrance of the automatic device.

In some embodiments, the present embodiment includes two traffic light modules 2, and the two traffic light modules 2 are respectively disposed on two inner sides of the automatic device.

And an automatic device control module 72 for controlling the automatic device if the image data includes a pedestrian.

In some embodiments, the automated device control module 72 is specifically configured to:

and if the image data contains the pedestrian, monitoring the action of the pedestrian, and if the action of the pedestrian meets the operation stopping condition, controlling the operation speed of the automatic equipment to be reduced to 0 within the preset time length.

In some embodiments, the predetermined out-of-service condition includes a plurality of events, and different events correspond to different predetermined durations. That is, the preset time length corresponds to different values when the action of the pedestrian is matched with different events.

In some embodiments, in order to improve the transportation efficiency of the robot, the robot control device 7 further includes: flow of people confirms module, functioning speed confirms module and automatic equipment control module, wherein:

and the pedestrian flow determining module is used for determining the pedestrian flow corresponding to the automatic equipment if the action of the pedestrian does not accord with the stop operation condition.

The flow rate corresponding to the automatic equipment refers to the flow rate at the inlet of the automatic equipment. Specifically, the pedestrian characteristics in a certain time period at the entrance of the automatic device are recorded, and the pedestrian flow in the certain time period at the entrance is calculated according to the recorded number of the pedestrian characteristics. The pedestrian features may be face features obtained by recognizing image data through a face recognition algorithm. It should be noted that the flow rate can be calculated by a local database or a cloud. The camera sends the image data to the local database or the cloud, and after the local database or the cloud calculates the pedestrian volume, the automatic equipment obtains the corresponding pedestrian volume from the local database or the cloud. Because the flow of people is calculated through the local database or the cloud, the resource consumption of the automatic equipment can be reduced.

And the running speed determining module is used for determining the running speed of the automatic equipment according to the human flow.

And the automatic equipment control module is used for controlling the automatic equipment to run at the running speed.

In this embodiment, since the flow rate of people at the entrance is generally equal to the flow rate of people corresponding to the passengers of the automatic device, determining the corresponding operating speed according to the flow rate of people at the entrance is beneficial to improving the accuracy of the obtained operating speed. In addition, because the operating speed is related to the flow of people, therefore, the corresponding operating speed can be dynamically adjusted according to the actual flow of people, so that the transportation efficiency of the automatic equipment can be improved, and the good experience of passengers can be greatly improved.

In some embodiments, considering that the vulnerable group (e.g. elderly, children or sick people) is physically poor and is not generally suitable for riding on faster automatic equipment, the people traffic determination module is specifically configured to:

In some embodiments, to obtain a more reasonable determination of the operating speed, the operating speed determination module comprises: an interval range determining unit and an operation speed determining unit. Wherein:

and the interval range determining unit is used for determining the interval range corresponding to the flow of people according to the flow of people.

And the running speed determining unit is used for determining the running speed of the automatic equipment according to a section range, wherein the upper limit value of the section range is positively correlated with the running speed.

In this embodiment, the correspondence between the range of the different pedestrian volumes and the different operating speeds is preset. In this embodiment, one interval range includes values corresponding to a plurality of pedestrian volumes, that is, in this embodiment, instead of one pedestrian volume value corresponding to one operating speed, the plurality of pedestrian volume values in the same interval range correspond to the same operating speed, that is, resource consumption caused by frequent adjustment of the operating speed due to small differences in the pedestrian volumes is avoided. It should be noted that different interval ranges correspond to different operating speeds, and the larger the upper limit value of the interval range is, the larger the corresponding operating speed is.

In some embodiments, considering that in some scenarios, it is not necessary to stop running the automatic device, but a warning prompt for a pedestrian is required, the automatic device control apparatus 7 further includes:

and the warning prompt module is used for carrying out warning prompt if the action of the pedestrian is not in accordance with the stop operation condition but in accordance with the warning condition.

In some embodiments, in order to conveniently store data corresponding to the flow of people and conveniently set the operation speed, the automatic device control apparatus 7 further includes: flow of people uploads module, speed change instruction receiving module, functioning speed change module, wherein:

and the pedestrian volume uploading module is used for uploading the pedestrian volume to the preset communication equipment.

The communication device here includes a mobile phone and/or a cloud. The uploading of this embodiment includes uploading in real time and uploading regularly, and when uploading for uploading in real time, the user can in time inquire current flow of people, has improved the promptness of acquireing the information.

And the speed change instruction receiving module is used for receiving a preset speed change instruction sent by the communication equipment, wherein the speed change instruction carries the identifier of the interval range to be changed and the changed speed information.

And the running speed changing module is used for changing the speed of the interval range corresponding to the identification of the interval range into the running speed corresponding to the speed information.

In this embodiment, since the communication device can acquire the pedestrian volume of the automatic device, and the operating speed of the automatic device can be changed by the communication device, the change efficiency of the operating speed is greatly improved. Moreover, after the pedestrian volume is uploaded to the cloud, as the storage space of the cloud is large, more pedestrian volumes can be stored, and more accurate analysis on the pedestrian volume is facilitated subsequently.

In some embodiments, considering that the vulnerable group (such as the elderly, children or sick people) is physically bad and is not generally suitable for riding fast automatic equipment, the automatic equipment control device 7 further comprises:

and the running speed reducing module is used for reducing the running speed of the automatic equipment if the actions of the pedestrians do not accord with the running stopping condition and the pedestrians comprise vulnerable groups.

In this embodiment, the operation speed reduction means that the current operation speed of the automatic apparatus is reduced to a specified value, or a new operation speed is set to be lower than the current operation speed.

In some embodiments, considering that there may be a certain risk when a vulnerable group (such as the elderly, children or sick people) gets on the automatic device, in order to improve the safety of such a group, the automatic device control apparatus 7 further comprises:

and the prompt language output module is used for outputting prompt languages containing the elevator taking safety information.

the method comprises the steps of obtaining the face features of each pedestrian and judging which of the following face features belongs to: child face features, adult face features, and geriatric face features; for example, a child typically has the following facial features: small face, smooth skin, small inter-ocular distance, etc. Adults typically have the following facial features: large faces, rough skin, large inter-eye distances (compared to that of children), etc. The elderly typically have the following facial features: larger faces, looser skin and/or wrinkled, larger inter-eye distances (compared to that of children), etc.

Obtain each pedestrian's height, judge that each pedestrian's height belongs to following which: the body height of the child, the body height of the preset adult and the body height of the old;

the method comprises the steps of obtaining the pace speed of each pedestrian, and judging which of the following the pace speed of each pedestrian belongs to: the walking speed of children, the preset normal adult walking speed and the walking speed of the old;

if all the face features belong to adult face features, the heights of the pedestrians all belong to preset adult conventional heights and the walking speeds of the pedestrians all belong to preset adult normal walking speeds, the pedestrians without the weak group are judged, and if not, the pedestrians with the weak group are judged.

In this embodiment, the pedestrian that meets the adult face characteristics, the preset adult normal height, and the preset adult normal pace is determined as an adult, and otherwise, the pedestrian is determined as a pedestrian of the vulnerable group. That is, only if each of the pedestrians is determined to be an adult, it is determined that none of the pedestrians contains a vulnerable group, and otherwise, it is determined that the pedestrians contain a vulnerable group. The pedestrian is judged by combining the multi-dimensional features, so that the accuracy of the judgment result is improved.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Example four:

fig. 8 is a schematic structural diagram of an automatic apparatus according to an embodiment of the present application. As shown in fig. 8, the automatic apparatus 8 of this embodiment includes: at least one processor 80 (only one processor is shown in fig. 8), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the processor 80 implementing the steps in any of the various method embodiments described above when executing the computer program 82.

The automatic device 8 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing device. The automation device may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of the automation device 8, and does not constitute a limitation of the automation device 8, and may include more or less components than those shown, or some components in combination, or different components, such as input output devices, network access devices, etc.

The Processor 80 may be a Central Processing Unit (CPU), and the Processor 80 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 81 may in some embodiments be an internal storage unit of the automation device 8, such as a hard disk or a memory of the automation device 8. The memory 81 may also be an external storage device of the automatic device 8 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the automatic device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the automatic apparatus 8. The memory 81 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 81 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The embodiment of the present application further provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above method embodiments may be implemented.

The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method of the embodiments described above can be implemented by a computer program, which can be stored in a storage medium and can implement the steps of the method embodiments described above when being executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. An automatic equipment control method applied to automatic equipment including an escalator or a moving sidewalk, comprising:

2. The automatic device control method according to claim 1, wherein the controlling the automatic device if the image data contains a pedestrian includes:

and if the image data contains the pedestrian, monitoring the action of the pedestrian, and if the action of the pedestrian meets the running stopping condition, controlling the running speed of the automatic equipment to be reduced to 0 within a preset time length.

3. The automatic device control method according to claim 2, characterized in that the automatic device control method further comprises:

if the action of the pedestrian does not accord with the stop operation condition, determining the pedestrian flow corresponding to the automatic equipment;

determining the running speed of the automatic equipment according to the pedestrian flow;

and controlling the automatic equipment to run at the running speed.

4. The automatic equipment control method according to claim 3, wherein determining the flow rate of the person corresponding to the automatic equipment if the pedestrian does not meet the stop operation condition comprises:

and if the actions of the pedestrians do not accord with the stop operation condition and the pedestrians do not contain the pedestrians of the weak group, determining the pedestrian flow corresponding to the automatic equipment.

5. The automatic device control method according to claim 3, wherein said determining an operation speed of the automatic device according to the human traffic includes:

determining an interval range corresponding to the flow of people according to the flow of people;

and determining the running speed of the automatic equipment according to the interval range, wherein the upper limit value of the interval range is positively correlated with the running speed.

6. The automatic device control method according to claim 3, characterized in that the automatic device control method further comprises:

7. The automatic device control method of claim 5, after said determining the flow rate of people to which the automatic device corresponds, comprising:

uploading the pedestrian volume to preset communication equipment;

receiving a speed change instruction sent by the preset communication equipment, wherein the speed change instruction carries an identifier of an interval range to be changed and changed speed information;

and changing the running speed of the interval range corresponding to the identifier of the interval range into the running speed corresponding to the speed information.

8. The automatic device control method according to claim 3, characterized in that the automatic device control method further comprises:

if the actions of the pedestrians do not accord with the stop operation condition and the pedestrians comprise the pedestrians of the weak group, reducing the operation speed of the automatic equipment;

9. The automatic device control method according to claim 4 or 8, characterized in that it is determined whether or not the pedestrians contain a pedestrian of a vulnerable group by:

the method comprises the steps of obtaining the face features of each pedestrian, and judging which of the following face features belongs to: child face features, adult face features, and geriatric face features;

obtaining the height of each pedestrian, and judging which of the following the height of each pedestrian belongs to: the body height of the child, the body height of the preset adult and the body height of the old;

acquiring the pace speed of each pedestrian, and judging which one the pace speeds of the pedestrians belong to: the walking speed of children, the preset normal adult walking speed and the walking speed of the old;

if the face features belong to adult face features, the heights of the pedestrians belong to preset adult conventional heights and the walking speeds of the pedestrians belong to preset adult normal walking speeds, it is judged that the pedestrians do not contain the vulnerable group, and otherwise, it is judged that the pedestrians contain the vulnerable group.

10. An automatic equipment control device, characterized in that, applied to automatic equipment, includes:

11. An automated apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 9.