CN-121977236-A - Smoke machine control method, device, equipment and storage medium

CN121977236ACN 121977236 ACN121977236 ACN 121977236ACN-121977236-A

Abstract

The application discloses a control method, a device, equipment and a storage medium of a smoke machine, wherein the method comprises the steps of obtaining multi-frame first point cloud data of a first area below the smoke machine, wherein the first point cloud data are point cloud data of an initial stage of descent of the smoke machine, determining a point cloud plane safety distance based on the multi-frame first point cloud data, obtaining multi-frame second point cloud data at different heights in the descending process of the smoke machine, determining potential collision points in each frame of second point cloud data based on the point cloud plane safety distance, controlling the smoke machine to stop descending if the number of continuous target point cloud data is larger than a preset threshold value, screening the potential collision points through the safety distance, continuously monitoring the potential collision points, triggering a stop instruction in advance before physical contact between an obstacle and the smoke machine, and avoiding the problems of equipment shell deformation, pot damage and the like caused by rigid collision.

Inventors

GUO ZHONGYUAN
ZHANG XI
JIA ZHIBO

Assignees

宁波方太厨具有限公司

Dates

Publication Date: 20260505
Application Date: 20260107

Claims (10)

1. A method of controlling a smoke machine, comprising: acquiring multi-frame first point cloud data of a first area below a smoke machine, wherein the first point cloud data is point cloud data of the initial stage of descent of the smoke machine; Determining a point cloud plane safety distance based on the multi-frame first point cloud data; acquiring multi-frame second point cloud data at different heights in the descending process of the smoke machine; Determining potential collision points in the second point cloud data of each frame based on the point cloud plane safety distance; And if the number of the continuous target point cloud data is larger than a preset threshold value, controlling the smoke machine to stop descending, wherein the target point cloud data is the point cloud data with the potential collision point in the multi-frame second point cloud data.
2. The method of claim 1, wherein determining a point cloud plane safe distance based on the multi-frame first point cloud data comprises: preprocessing the multi-frame first point cloud data to obtain multi-frame preprocessed first point cloud data; Determining a point cloud average value and a point cloud standard deviation based on the first point cloud data after the multi-frame preprocessing; And determining the point cloud plane safety distance based on the point cloud average value, the point cloud standard deviation and a preset standard deviation coefficient.
3. The method of claim 2, wherein preprocessing the multi-frame first point cloud data to obtain multi-frame preprocessed first point cloud data, comprises: and carrying out statistical filtering processing on the first point cloud data of each frame to obtain the first point cloud data of the frames after preprocessing.
4. The smoke machine control method of claim 1, wherein said determining potential collision points in each frame of said second point cloud data based on said point cloud plane safety distance comprises: performing, for each frame of the second point cloud data: determining the second point cloud data currently being executed as current point cloud data, wherein the current point cloud data comprises a plurality of points; determining current height data corresponding to each point based on the current point cloud data; If the current height data is larger than the point cloud plane safety distance, determining a point corresponding to the current height data as the potential collision point; and determining potential collision points in the second point cloud data of each frame based on the current point cloud data of each frame.
5. The method according to claim 1, wherein controlling the smoke machine to stop descending if the number of continuous target point cloud data is greater than a preset threshold value, comprises: If a target point exists in the potential collision angle range of the second point cloud data, determining the second point cloud data as the target point cloud data, wherein the potential collision angle range is the angle range of the potential collision point; if the number of the continuous cloud data of the target point is larger than the preset threshold value, determining that an obstacle exists below the smoke machine; And controlling the smoke machine to stop descending.
6. The method according to claim 5, wherein determining that the second point cloud data is the target point cloud data if the target point exists in the range of the potential collision angle of the second point cloud data includes: converting the second point cloud data into a polar coordinate system, and obtaining third point cloud data in the polar coordinate system, wherein the polar coordinate system is established by taking the smoke machine as a center; determining the potential collision angle range based on the potential collision point; Determining fourth point cloud data in the third point cloud data based on the potential collision angle range; And if the target point exists in the fourth point cloud data, determining the second point cloud data as the target point cloud data.
7. The method of claim 1, wherein the obtaining multi-frame first point cloud data for a first area under the smoke machine comprises: The method comprises the steps of obtaining a hearth image, wherein the hearth image comprises a plurality of edge feature points; Determining the first region based on the plurality of edge feature points; acquiring fifth point cloud data below the smoke machine; the first point cloud data is determined in the fifth point cloud data based on the first region.
8. A smoke machine control device, comprising: the system comprises a first acquisition module, a first control module and a second acquisition module, wherein the first acquisition module is used for acquiring multi-frame first point cloud data of a first area below a smoke machine, and the first point cloud data are point cloud data in the initial stage of descending of the smoke machine; the first determining module is used for determining the safe distance of the point cloud plane based on the multi-frame first point cloud data; The second acquisition module is used for acquiring multi-frame second point cloud data at different heights in the descending process of the smoke machine; The second determining module is used for determining potential collision points in the second point cloud data of each frame based on the point cloud plane safety distance; And the smoke machine control module is used for controlling the smoke machine to stop descending if the number of the continuous target point cloud data is larger than a preset threshold value, wherein the target point cloud data is the point cloud data with the potential collision point in the multi-frame second point cloud data.
9. A smart kitchen appliance comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by the processor to implement a smoke machine control method according to any one of claims 1-7.
10. A computer readable storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the smoke machine control method of any one of claims 1-7.

Description

Smoke machine control method, device, equipment and storage medium Technical Field The application relates to the technical field of intelligent kitchen electricity, in particular to a method, a device, equipment and a storage medium for controlling a smoke machine. Background With the improvement of life quality of people, popularization and popularization of technologies such as Internet, big data, artificial intelligence, voice interaction and the like, more and more traditional life modes are gradually changed, and use of kitchen electric equipment is gradually moved towards an intelligent direction. In modern family kitchen, the kitchen ventilator is used as an electrical equipment essential to the cooking process, and its core function is to suck the cooking fume, peculiar smell and harmful gas generated by cooking through air flow, thereby keeping the kitchen air clean. At present, the mainstream range hoods in the market generally adopt mechanical resistance feedback type anti-collision control, when the range hoods are in physical contact with obstacles in the descending process, the transmission device triggers the pressure sensor due to the sudden increase of resistance, the system immediately stops descending and reversely lifts the range hoods, but the method still can cause rigid collision between the obstacles such as cookers and the range hoods, and the deformation of the shell of the range hood equipment or damage of the cookers are easily caused. Disclosure of Invention In order to solve the technical problem that the existing anti-collision method causes rigid collision between an obstacle and a smoke machine, the invention provides a smoke machine control method, a device, equipment and a storage medium, wherein the point cloud plane safety distance is calculated through point cloud data in the initial stage of the descent of the smoke machine, potential collision points are screened out through the safety distance, the potential collision points are continuously monitored, the descent of the smoke machine is stopped in time before collision, a stop instruction can be triggered in advance before the physical contact between the obstacle and the smoke machine occurs, and the problems of equipment shell deformation, pot damage and the like caused by rigid collision can be avoided; meanwhile, the safety distance is calculated dynamically, and the safety distance is not dependent on a fixed threshold value, so that the safety distance can adapt to environmental noise, erroneous judgment of non-obstacle is avoided, and accuracy is improved. In a first aspect, an embodiment of the present application provides a method for controlling a smoke machine, where the method includes: Acquiring multi-frame first point cloud data of a first area below the smoke machine, wherein the first point cloud data is point cloud data of the initial stage of the descent of the smoke machine; determining a point cloud plane safety distance based on the multi-frame first point cloud data; Acquiring multi-frame second point cloud data at different heights in the descending process of the smoke machine; determining potential collision points in the second point cloud data of each frame based on the point cloud plane safety distance; And if the number of the continuous target point cloud data is greater than a preset threshold value, controlling the smoke machine to stop descending, wherein the target point cloud data is point cloud data with potential collision points in the multi-frame second point cloud data. In an alternative embodiment, determining the point cloud plane security distance based on the plurality of frames of first point cloud data includes: preprocessing a plurality of frames of first point cloud data to obtain the preprocessed plurality of frames of first point cloud data; determining a point cloud average value and a point cloud standard deviation based on the first point cloud data after multi-frame preprocessing; And determining the safe distance of the point cloud plane based on the point cloud average value, the point cloud standard deviation and a preset standard deviation coefficient. In an alternative embodiment, preprocessing the multi-frame first point cloud data to obtain multi-frame preprocessed first point cloud data includes: And carrying out statistical filtering processing on the first point cloud data of each frame to obtain the first point cloud data after multi-frame preprocessing. In an alternative embodiment, determining potential collision points in each frame of second point cloud data based on the point cloud plane safety distance includes: Performing, for each frame of second point cloud data: Determining second point cloud data currently being executed as current point cloud data; determining current height data corresponding to each point based on the current point cloud data; if the current height data is larger than the point cloud plane safety distance, determining a