CN-121990448-A - Door opening detection method, equipment and storage medium

CN121990448ACN 121990448 ACN121990448 ACN 121990448ACN-121990448-A

Abstract

The invention provides a method, equipment and storage medium for detecting door opening, wherein a depth sensor is arranged on a door of an elevator, and the top of the door of the elevator is divided into a plurality of sections along the opening and closing direction; the method comprises the steps of converting depth values of pixel points in depth image data into height values when the depth sensor collects the depth image data to the elevator door, writing the pixel points into intervals according to the height values, identifying index points representing the side face of the elevator door according to the pixel points in each interval, screening out two index points which are symmetrical about the elevator door and are level to the height as candidate point groups, performing speed verification on the candidate point groups to obtain target point groups, and determining the opening of the elevator door according to the intervals mapped by the two index points in the target point groups. According to the method and the device, the opening of the door of the elevator is continuously and stably detected according to the factors such as symmetry, height and speed aiming at the depth image data, so that the interference of users entering and exiting the elevator is effectively reduced, and the accuracy of detecting the opening of the door of the elevator is improved.

Inventors

Du Huiran
CHENG WEI
TANG QIWEI

Assignees

日立楼宇技术（广州）有限公司

Dates

Publication Date: 20260508
Application Date: 20260121

Claims (10)

1. A method for detecting the opening degree of a door is characterized in that a depth sensor is arranged on the door of an elevator, the top of the door of the elevator is divided into a plurality of sections along the opening and closing direction, and the method comprises the following steps: when the depth sensor collects depth image data from the door of the elevator, converting depth values of pixel points in the depth image data into height values; writing the pixel points into the interval according to the height value; identifying an index point representing a side of a door of the elevator from within the interval; screening out two index points which are symmetrical about the door of the elevator and are level with the height, and taking the two index points as candidate point groups; Performing speed verification on the candidate point group to obtain a target point group; and determining the opening degree of the door of the elevator according to the intervals mapped by the two index points in the target point group.
2. The method of claim 1, wherein writing the pixel point into the interval in accordance with the height value comprises: Querying the height range associated with each section, wherein the height range comprises a height upper limit value and a height lower limit value of a door of the elevator under the visual field of the depth sensor, and a preset distance value is arranged between the height upper limit value and the height lower limit value; and if the height value is in the height range, writing the pixel point into the section.
3. The method according to claim 1, characterized in that said identifying an index point representing a side of a door of the elevator from within the zone comprises: Counting the number of the pixel points in each interval to obtain a point cloud number sequence; Identifying peak points for the point cloud number sequence; an index point representing a side of a door of the elevator is determined in the sequence of point clouds using a neighborhood of the peak point.
4. A method according to claim 3, wherein said identifying peak points for said point cloud sequence of numbers comprises: adding a window to the point cloud number sequence; Calculating an average value of the number within the window as a moving average line during sliding of the window, and calculating a standard deviation of the number within the window; Adding a multiple value of the standard deviation on the basis of the moving average line to obtain a moving upper limit line; a peak point is identified in the upper line of movement.
5. A method according to claim 3, characterized in that the determining an index point representing the side of the door of the elevator using the neighborhood of peak points in the sequence of point clouds comprises: In the point cloud number sequence, taking the peak point as a reference, expanding to the first proportion of the peak point to the left and expanding to the second proportion of the peak point to the back to obtain a neighborhood of the peak point; and determining that a center point in the neighborhood of the peak point represents the side face of the door of the elevator, and taking the side face as an index point.
6. The method according to any one of claims 1-5, characterized in that the screening out two index points that are symmetrical and level with respect to the door of the elevator comprises, as candidate point groups: screening out two index points positioned on two sides of the central line of the elevator door as a matching point group; Calculating a first error value between two index points in the matching point group, wherein the first error value represents door symmetry about the elevator; if the first error value is smaller than or equal to a preset offset threshold value, calculating a second error value which is high in level between adjacent domains of two index points in the matching point group; Fusing the first error value and the second error value into a total error value for the matching point group; And if the matching point groups map the same interval, determining the matching point group with the minimum total error value as a candidate point group.
7. The method of claim 6, wherein the step of providing the first layer comprises, Said calculating a first error value between two of said index points in said set of matching points representing door symmetry about said elevator comprises: Taking absolute values of sum values between two index points in the matching point group to obtain first error values symmetrical about the elevator door; The calculating a second error value representing high level between the neighborhoods of two index points in the matching point group comprises the following steps: calculating an average value of the index points and the maximum height value of the pixel points in a plurality of intervals adjacent to the index points aiming at each index point in the matching point group to obtain a reference value; and taking an absolute value of the sum value between the reference values to obtain a second error value representing high level.
8. The method according to any one of claims 1-5 and 7, wherein the performing a velocity check on the candidate point set to obtain a target point set includes: calculating a total offset value representing the door position movement of the elevator between the candidate point group of the current frame and the target point group of the previous frame; if all the total offset values are larger than a preset speed threshold value, setting the last frame target point group as a current frame target point group; And if the total offset value is smaller than or equal to a preset speed threshold value, determining the candidate point group with the minimum total offset value as a target point group of the current frame.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of detecting a door opening according to any one of claims 1-8 when executing the computer program.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method of detecting a door opening as claimed in any one of claims 1 to 8.

Description

Door opening detection method, equipment and storage medium Technical Field The invention belongs to the technical field of elevators, and particularly relates to a method and equipment for detecting door opening and a storage medium. Background In buildings such as houses, markets and office buildings, an elevator is one of the common vertical transportation means, and when the elevator stops at different floors, the elevator door is controlled to open and close, and the opening of the elevator door is detected, so that a user can safely enter and exit the elevator. Currently, one of the methods for detecting the opening of an elevator door is to detect the door frame edge of the elevator door by using a depth sensor, and calculate the opening of the elevator door based on the door frame edge of the elevator door. But elevator switch often can be accompanied user's business turn over at the in-process of closing the door, and the user can shelter from the signal of degree of depth sensor, leads to detecting the accuracy of the aperture of elevator door lower, influences the switch logic of elevator door, has the security risk. Disclosure of Invention In view of the above, the present invention provides a method, apparatus, and storage medium for detecting a door opening degree to improve accuracy in detecting an opening degree of an elevator door. The first aspect of the invention provides a method for detecting the opening degree of a door, which comprises the steps of arranging a depth sensor on the door of an elevator, dividing the top of the door of the elevator into a plurality of sections along the opening and closing direction, wherein the method comprises the following steps: when the depth sensor collects depth image data from the door of the elevator, converting depth values of pixel points in the depth image data into height values; writing the pixel points into the interval according to the height value; identifying an index point representing a side of a door of the elevator from within the interval; screening out two index points which are symmetrical about the door of the elevator and are level with the height, and taking the two index points as candidate point groups; Performing speed verification on the candidate point group to obtain a target point group; and determining the opening degree of the door of the elevator according to the intervals mapped by the two index points in the target point group. A second aspect of the present invention provides a door opening detection device, A depth sensor is arranged on a door of an elevator, and the top of the door of the elevator is divided into a plurality of sections along the switching direction; the device comprises: The depth image conversion module is used for converting the depth value of the pixel point in the depth image data into a height value when the depth sensor collects the depth image data from the door of the elevator; the pixel point dividing module is used for writing the pixel points into the interval according to the height value; An index point identification module for identifying an index point representing a side surface of a door of the elevator according to the section; the candidate point group screening module is used for screening two index points which are symmetrical about the door of the elevator and are level with the height, and the index points are used as candidate point groups; the target point group checking module is used for checking the speed of the candidate point group to obtain a target point group; And the door opening determining module is used for determining the opening of the door of the elevator according to the intervals mapped by the two index points in the target point group. A third aspect of the present invention provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of detecting a door opening as described in the first aspect when executing the computer program. A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of detecting a door opening as described in the first aspect above. A fifth aspect of the invention provides a computer program product for, when run on a computer, causing the computer to perform the method of detecting a door opening as described in the first aspect above. Compared with the background technology, the embodiment of the invention has the following beneficial effects: In the embodiment, a depth sensor is arranged on a door of an elevator, the top of the door of the elevator is divided into a plurality of sections along a switching direction, when the depth sensor collects depth image data from the door of the elevator, depth values of pixel points in the depth image data are converted into height values, the pixel points are wr