CN111444763A - Security control method and device, storage medium and air conditioner - Google Patents

Abstract

The invention discloses a security control method, a security control device, a storage medium and an air conditioner, wherein the method comprises the following steps: under the condition that an object to be protected exists in a room where an air conditioner belongs, determining whether the object to be protected is close to a set dangerous area or not by using a binocular camera; if the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using a binocular camera; determining whether the current distance is less than a set safe distance; if the current distance is smaller than the set safety distance, initiating a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safety distance; and if the current distance is greater than or equal to the set safe distance, continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera. According to the scheme provided by the invention, the problem that the safety in the household environment is not good enough can be solved, and the effect of improving the safety in the household environment is achieved.

Description

Security control method and device, storage medium and air conditioner

Technical Field

The invention belongs to the technical field of air conditioners, and particularly relates to a security control method and device, a storage medium and an air conditioner, in particular to a control method and device of an air conditioner child safety alarm system based on a binocular camera, a storage medium and an air conditioner.

Background

In the society, family members often take care of children, and safety accidents occur after the children leave the sight range, for example, the children climb onto a balcony or a windowsill and hang on an anti-theft net or directly fall off. The safety accident can be avoided before occurrence, but the early warning can not be obtained, and the crowd caring for children can not stop the occurrence of the safety accident.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention aims to provide a security control method, a security control device, a storage medium and an air conditioner to solve the problem that the security in a home environment is not good enough and achieve the effect of improving the security in the home environment.

The invention provides a security control method, which comprises the following steps: under the condition that an object to be protected exists in a room where an air conditioner belongs, determining whether the object to be protected is close to a set dangerous area or not by using a binocular camera; if the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using a binocular camera; determining whether the current distance between an object to be protected and a set dangerous area is smaller than a set safety distance or not; if the current distance between the object to be protected and the set dangerous area is less than the set safe distance, initiating a reminding message that the current distance between the object to be protected and the set dangerous area is less than the set safe distance; and if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera.

Optionally, determining whether the object to be protected is approaching a set dangerous area by using a binocular camera includes: acquiring image information of an object to be protected in an environment to which an air conditioner belongs by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs moves; if the image information of the object to be protected in the environment to which the air conditioner belongs is determined to move, determining the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs; and if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is towards the set dangerous area, determining that the object to be protected is close to the set dangerous area.

Optionally, determining a current distance between the object to be protected and the set dangerous area by using a binocular camera includes: acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera; and calculating to obtain a distance according to the target depth information of each pixel, wherein the distance is used as the current distance between the object to be protected and the set dangerous area.

Optionally, acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera, including: calibrating the binocular camera to obtain a calibration result; correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other; matching pixel points of two images acquired by the binocular camera in the correction result to obtain a matching result; and according to the matching result, calculating the depth of the pixel corresponding to each pixel point in the two images to obtain the target depth information of each pixel.

Optionally, calibrating the binocular camera includes: calibrating the binocular camera two-phase machine by a Zhang-friend calibration method to obtain a calibration result influencing the view field of a binocular camera intersection region; the calibration result comprises the following steps: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

In another aspect, the invention provides a security control device, which includes: the determining unit is used for determining whether the object to be protected is close to a set dangerous area or not by using the binocular camera under the condition that the object to be protected is in the room where the air conditioner belongs; the determining unit is also used for determining the current distance between the object to be protected and the set dangerous area by using the binocular camera if the object to be protected is determined to be close to the set dangerous area; the determining unit is also used for determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safety distance or not; the control unit is used for initiating a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance; and the control unit is also used for continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance.

Optionally, the determining unit determines whether the object to be protected is approaching the set dangerous area by using a binocular camera, and includes: acquiring image information of an object to be protected in an environment to which an air conditioner belongs by using a binocular camera; determining whether image information of an object to be protected in an environment to which an air conditioner belongs moves; if the image information of the object to be protected in the environment to which the air conditioner belongs is determined to move, determining the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs; and if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is towards the set dangerous area, determining that the object to be protected is close to the set dangerous area.

Optionally, the determining unit determines the current distance between the object to be protected and the set dangerous area by using a binocular camera, and includes: acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera; and calculating to obtain a distance according to the target depth information of each pixel, wherein the distance is used as the current distance between the object to be protected and the set dangerous area.

Optionally, the determining unit obtains target depth information of each pixel in the image information of the object to be protected by using a binocular camera, and includes: calibrating the binocular camera to obtain a calibration result; correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other; matching pixel points of two images acquired by the binocular camera in the correction result to obtain a matching result; and according to the matching result, calculating the depth of the pixel corresponding to each pixel point in the two images to obtain the target depth information of each pixel.

Optionally, the determining unit calibrates the binocular camera, including: calibrating the binocular camera two-phase machine by a Zhang-friend calibration method to obtain a calibration result influencing the view field of a binocular camera intersection region; the calibration result comprises the following steps: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

In accordance with another aspect of the present invention, there is provided an air conditioner including: the security control device is described above.

In accordance with the above method, a further aspect of the present invention provides a storage medium comprising: the storage medium has stored therein a plurality of instructions; the plurality of instructions are used for being loaded by the processor and executing the security control method.

In accordance with the above method, another aspect of the present invention provides an air conditioner, comprising: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; the plurality of instructions are stored by the memory, and are loaded by the processor and execute the security control method.

According to the scheme, the safety distance between the child and the balcony or the windowsill is detected through the air conditioner binocular camera, when the child is close to the balcony or the windowsill, potential life safety hazards exist, the air conditioner sends alarm early warning, and the home safety is improved.

Furthermore, according to the scheme of the invention, target tracking and distance real-time testing are carried out by using the binocular camera, so that the distance between the child and surrounding objects can be monitored, and the home safety of the child is improved.

Further, according to the scheme of the invention, the distance information between the child and the balcony can be acquired through the binocular camera and is used as the depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, intelligent warning reminding of potential safety hazards is realized, and the home safety of the child is improved.

Further, according to the scheme of the invention, the air conditioner is matched with the binocular camera, the binocular camera can acquire the depth information of the image, the air conditioner sends alarm early warning and pushes alarm information to family members, the family members take care of children in time, and the life safety of the children is effectively protected.

Furthermore, according to the scheme of the invention, the binocular camera is adopted to measure the distance of the target, the camera is utilized to monitor the behavior of the child, the child is monitored by people and the child is monitored in a double-layer mode, and early warning is sent in advance, so that the air conditioner can more intelligently help the life of human beings.

Therefore, according to the scheme of the invention, the binocular camera is used for acquiring the distance information between the child and the balcony or the window, judging whether the child is safe or not and sending an alarm, so that the problem that the safety in the household environment is not good enough is solved, and the effect of improving the safety in the household environment is achieved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a security control method of the present invention;

FIG. 2 is a schematic flow chart illustrating an embodiment of determining whether an object to be protected is approaching a set dangerous area by using a binocular camera in the method of the present invention;

FIG. 3 is a schematic flow chart illustrating an embodiment of determining a current distance between an object to be protected and a set danger zone by using a binocular camera in the method of the present invention;

FIG. 4 is a schematic flowchart of an embodiment of acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera in the method of the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of a security control apparatus according to the present invention;

FIG. 6 is a schematic flow chart of monitoring and sending an alarm according to an embodiment of the air conditioner of the present invention;

fig. 7 is a schematic flow chart illustrating a process of detecting depth information by using a binocular camera according to an embodiment of the air conditioner of the present invention.

The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:

102-a determination unit; 104-control unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the present invention, a security control method is provided, as shown in fig. 1, which is a schematic flow diagram of an embodiment of the method of the present invention. The security control method can comprise the following steps: step S110 to step S150.

In step S110, in the case where there is an object to be protected in the room to which the air conditioner belongs, it is determined whether the object to be protected is approaching a set dangerous area using a binocular camera. The object to be protected may include: the elderly, children, etc. Setting a dangerous area can comprise: balcony, window and other areas in the room where the air conditioner belongs.

Optionally, a specific process of determining whether the object to be protected is approaching the set dangerous area by using a binocular camera in step S110 may be referred to as the following exemplary description.

With reference to the flowchart of fig. 2 showing an embodiment of determining whether the object to be protected is approaching the set dangerous area by using the binocular camera in the method of the present invention, a specific process of determining whether the object to be protected is approaching the set dangerous area by using the binocular camera in step S110 will be further described, which may include: step S210 to step S240.

And step S210, acquiring image information of an object to be protected in the environment to which the air conditioner belongs by using a binocular camera.

Step S220, determining whether the image information of the object to be protected in the environment to which the air conditioner belongs is moving.

In step S230, if it is determined that the image information of the object to be protected in the environment to which the air conditioner belongs moves, the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is determined.

In step S240, if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is toward the set dangerous area, it is determined that the object to be protected is approaching the set dangerous area.

For example: but the air conditioner networking has pronunciation, speaker, camera, with the ecological interconnection of intelligent house, connects APP, accessible APP control to can the propelling movement information give APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire the depth information of the image, and the distance of the target can be actually measured according to the triangulation distance measuring principle.

For example: the air conditioner is arranged in a room, the balcony and the window are both in the field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a distance measurement function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle distance measurement principle, and performs logical comparison with a preset safe distance s, if d is greater than s, the distance d between the child and the balcony or the window is continuously monitored, and then comparison is performed; if d < s, then the air conditioner triggers safety alarm suggestion, and air conditioner main control board control speaker module carries out pronunciation safety alarm and reports this moment, sends safety alarm information to user's APP end immediately simultaneously, APP end propelling movement alarm, dual suggestion adult's safety of going to protect child.

Therefore, whether the object to be protected is close to the set dangerous area or not is determined by the binocular camera, whether the distance between the object to be protected and the set dangerous area is started or not is determined by the binocular camera, and the safety of the home environment can be improved.

At step S120, if it is determined that the object to be protected is approaching the set dangerous area, a current distance between the object to be protected and the set dangerous area is determined using the binocular camera.

Optionally, a specific process of determining the current distance between the object to be protected and the set dangerous area by using a binocular camera in step S120 may be referred to as the following exemplary description.

Referring to the schematic flow chart of an embodiment of determining the current distance between the object to be protected and the set dangerous area by using a binocular camera in the method of the present invention shown in fig. 3, a specific process of determining the current distance between the object to be protected and the set dangerous area by using the binocular camera in step S120 is further described, and may include: step S310 and step S320.

And step S310, acquiring target depth information of each pixel in the image information of the object to be protected by using the binocular camera.

More optionally, with reference to a flowchart of an embodiment of the method shown in fig. 4, in which a binocular camera is used to obtain the target depth information of each pixel in the image information of the object to be protected, further describing a specific process of obtaining the target depth information of each pixel in the image information of the object to be protected in step S310, the method may include: step S410 to step S440.

And S410, calibrating the binocular camera to obtain a calibration result.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix.

And step S420, correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that the two images acquired by the binocular camera are positioned on the same plane and are parallel to each other.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.

And step S430, performing pixel point matching on the two images acquired by the binocular camera in the correction result to obtain a matching result.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And matching pixel points of the two corrected target images, and calculating the parallax d. Performing pixel point matching on the two corrected target images, and calculating the parallax d, which may include: and matching pixel points of the two corrected images by adopting an image matching algorithm based on gray scale, wherein the image matching algorithm based on gray scale can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The implementation adopts a sequential similarity detection algorithm, which refers to a process that an image matching technology searches for a corresponding or similar module in another image (a search graph) according to a known image module (a template graph).

Step S440, according to the matching result, the depth of the pixel corresponding to each pixel point in the two images is calculated, so as to obtain the target depth information of each pixel.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And matching pixel points of the two corrected target images, and calculating the parallax d. Performing pixel point matching on the two corrected target images, and calculating the parallax d, which may include: and matching pixel points of the two corrected images by adopting an image matching algorithm based on gray scale, wherein the image matching algorithm based on gray scale can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. A sequential similarity detection algorithm can be adopted, wherein the sequential similarity detection algorithm refers to a process that an image matching technology searches for a corresponding or similar module in another image (a search graph) according to a known image module (a template graph). And calculating the depth of each pixel according to the matching result, thereby obtaining the target depth z ═ f × b/d. Calculating the depth of each pixel according to the matching result may include: by the formula: z-f b/d, the depth z of each pixel in the image is calculated, the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of possible colors per pixel of the color image or determines the number of possible gray levels per pixel of the gray scale image. F in the formula of z is f, b and d is the focal length of the camera in the binocular camera, b is the transverse distance between the two cameras in the binocular camera, and d is the parallax.

Therefore, the target depth information of each pixel in the image information of the object to be protected is acquired by using the binocular camera, and the target depth information is used as the binocular camera to determine the current distance between the object to be protected and the set dangerous area, so that the acquired binocular camera determines the current distance between the object to be protected and the set dangerous area to be accurate and reliable, and the safety of the home environment can be improved.

Step S320, calculating a distance according to the target depth information of each pixel, and using the distance as a current distance between the object to be protected and the set dangerous area.

For example: the air conditioner recognizes that a child approaches a balcony or a window through an image recognition technology. The air conditioner triggers the binocular camera to measure distance. The binocular camera technology can be adopted to calculate the depth information of the target image, and modeling is achieved. The air conditioner measures the distance d between the child and the balcony or the window in real time, compares the distance d with the safe distance s, and judges whether the distance d between the child and the balcony or the window is smaller than the safe distance s. And if the distance d between the child and the balcony or the window is larger than or equal to the safe distance s, continuing monitoring. If child is less than safe distance s with the distance d of balcony or window, then the air conditioner triggers the early warning and reports, and the APP end of being connected with the air conditioner simultaneously also pushes away alarm information. The user can timely prevent potential safety hazards from occurring, and children are effectively protected. The distance between the child and the balcony is measured through air conditioning, when the distance that the child is close to reaches the range of safe distance, a safety alarm is triggered, and the safety of the child is protected by an adult in time.

From this, through utilizing the binocular camera to confirm that the object that needs to be protected and set for the current distance between the danger zone, it is good to acquire the accuracy that the binocular camera confirms that the object that needs to be protected and set for the current distance between the danger zone, is favorable to promoting the security of environment at home.

More optionally, calibrating the binocular camera in step S320 may include: calibrating the binocular camera two-phase machine by a Zhang-friend calibration method, and obtaining a calibration result influencing the view field of the binocular camera intersection region. The calibration result may include: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. Calibrating the binocular camera two-phase machine, which can include: calibrating the two cameras of the binocular camera by a Zhang-friend calibration method, and acquiring internal and external parameters, left and right camera baselines, camera focal length and homography matrix which affect the visual field of a binocular camera intersection region.

The homography matrix may be a mapping relationship between points of the same plane and different images. The internal and external parameters of the two cameras can comprise: the internal and external parameters may include internal parameters and external parameters, and the internal parameters may include: mapping relations of the object shot by the binocular camera and the actual object on an x axis and a y axis; the offset relationship between the camera center and the image center; the installation angle of the camera and the lens is different; the extrinsic parameters may include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.

Therefore, by calibrating the binocular camera, the accuracy and reliability of the acquired binocular camera for determining the object to be protected and setting the current distance between dangerous areas can be improved, and the safety of the home environment can be improved.

At step S130, it is determined whether the current distance between the object to be protected and the set dangerous area is less than the set safe distance.

At step S140, if the current distance between the object to be protected and the set dangerous area is less than the set safe distance, a reminding message that the current distance between the object to be protected and the set dangerous area is less than the set safe distance is initiated. For example: and/or sending a remote message that the current distance between the object to be protected and the set dangerous area is less than the set safe distance to the set client.

At step S150, if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, the binocular camera is continuously used to determine the current distance between the object to be protected and the set dangerous area.

For example: the binocular camera is adopted to measure the distance of the target, the camera is utilized to monitor the behavior of the child, the person and the monitored child monitor in a double-layer mode, early warning is sent in advance, accidents are prevented in time, and the air conditioner can help human life more intelligently. If can utilize the air conditioner to carry on the supplementary guardianship child safety of binocular camera, effectively avoid the emergence of security incident, can monitor child action through the air conditioner, detect child's dangerous hidden danger, when child is monitored to the air conditioner and is close to balcony or windowsill, the air conditioner sends the alarm early warning and propelling movement alarm information for the family, and the family in time attends to child, protects child's life safety effectively.

For example: the binocular camera is used for tracking a target and testing the distance in real time, if a child is used as a center, the distance between the child and a peripheral object can be monitored, and the distance is compared with the dangerous distance of the child. Specifically, a binocular distance measurement principle can be utilized, an air conditioner binocular camera detects the safe distance between a child and a balcony or a windowsill, the air conditioner acquires distance information between the child and the balcony or the window through the binocular camera, and whether safety is achieved or not is judged and an alarm is sent; when the child is close to the balcony or the windowsill, the potential safety hazard of life exists, and the air conditioner sends an alarm and early warning. Wherein, binocular camera can acquire the distance information of child and balcony, as degree of depth distance information, compares degree of depth distance information and safe distance, carries out safety precaution when degree of depth distance information is less than safe distance, realizes that the intelligent alarm of potential safety hazard reminds.

Therefore, when the binocular camera is used for determining that the object to be protected is close to the set dangerous area, the current distance between the object to be protected and the set dangerous area is measured, and a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated under the condition that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, so that the safety of the home environment can be improved.

Through a large amount of experimental verifications, adopt the technical scheme of this embodiment, detect child and balcony or windowsill's safe distance through the two mesh cameras of air conditioner, when child is nearer apart from balcony or windowsill, there is the life potential safety hazard, and the air conditioner sends the alarm early warning, promotes the security at home.

According to the embodiment of the invention, the invention further provides a security control device corresponding to the security control method. Referring to fig. 5, a schematic diagram of an embodiment of the apparatus of the present invention is shown. This security protection controlling means can include: a determination unit 102 and a control unit 104.

In an optional example, the determining unit 102 may be configured to determine whether the object to be protected is approaching the set dangerous area by using a binocular camera in a case where the object to be protected is in the room where the air conditioner belongs. The object to be protected may include: the elderly, children, etc. Setting a dangerous area can comprise: balcony, window and other areas in the room where the air conditioner belongs. The specific function and processing of the determination unit 102 are referred to in step S110.

Optionally, the determining unit 102 determines whether the object to be protected is approaching the set dangerous area by using a binocular camera, and may include:

the determining unit 102 may be further configured to obtain image information of an object to be protected in an environment to which the air conditioner belongs, by using a binocular camera. The specific function and processing of the determination unit 102 are also referred to in step S210.

The determining unit 102 may be further configured to determine whether image information of an object to be protected in an environment to which the air conditioner belongs moves. The specific function and processing of the determination unit 102 are also referred to in step S220.

The determining unit 102 may be further configured to determine a moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs, if it is determined that the image information of the object to be protected in the environment to which the air conditioner belongs moves. The specific function and processing of the determination unit 102 are also referred to in step S230.

The determining unit 102 may be further configured to determine that the object to be protected is close to the set dangerous area if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is toward the set dangerous area. The specific function and processing of the determination unit 102 are also referred to step S240.

For example: but the air conditioner networking has pronunciation, speaker, camera, with the ecological interconnection of intelligent house, connects APP, accessible APP control to can the propelling movement information give APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire the depth information of the image, and the distance of the target can be actually measured according to the triangulation distance measuring principle.

For example: the air conditioner is arranged in a room, the balcony and the window are both in the field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a distance measurement function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle distance measurement principle, and performs logical comparison with a preset safe distance s, if d is greater than s, the distance d between the child and the balcony or the window is continuously monitored, and then comparison is performed; if d < s, then the air conditioner triggers safety alarm suggestion, and air conditioner main control board control speaker module carries out pronunciation safety alarm and reports this moment, sends safety alarm information to user's APP end immediately simultaneously, APP end propelling movement alarm, dual suggestion adult's safety of going to protect child.

Therefore, whether the object to be protected is close to the set dangerous area or not is determined by the binocular camera, whether the distance between the object to be protected and the set dangerous area is started or not is determined by the binocular camera, and the safety of the home environment can be improved.

In an optional example, the determining unit 102 may be further configured to determine, by using a binocular camera, a current distance between the object to be protected and the set dangerous area if it is determined that the object to be protected is close to the set dangerous area. The specific function and processing of the determination unit 102 are also referred to in step S120.

Optionally, the determining unit 102 determines the current distance between the object to be protected and the set dangerous area by using a binocular camera, and may include:

the determining unit 102 may be further configured to obtain target depth information of each pixel in the image information of the object to be protected by using a binocular camera. The specific function and processing of the determination unit 102 are also referred to in step S310.

More optionally, the determining unit 102 acquires the target depth information of each pixel in the image information of the object to be protected by using a binocular camera, and the acquiring may include:

the determining unit 102 may be further configured to calibrate the binocular camera to obtain a calibration result. The specific function and processing of the determination unit 102 are also referred to in step S410.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix.

The determining unit 102 may be further configured to correct image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are located on the same plane and are parallel to each other. The specific function and processing of the determination unit 102 are also referred to step S420.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.

The determining unit 102 may be further configured to perform pixel point matching on two images acquired by the binocular camera in the correction result to obtain a matching result. The specific function and processing of the determination unit 102 are also referred to in step S430.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And matching pixel points of the two corrected target images, and calculating the parallax d. Performing pixel point matching on the two corrected target images, and calculating the parallax d, which may include: and matching pixel points of the two corrected images by adopting an image matching algorithm based on gray scale, wherein the image matching algorithm based on gray scale can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The implementation adopts a sequential similarity detection algorithm, which refers to a process that an image matching technology searches for a corresponding or similar module in another image (a search graph) according to a known image module (a template graph).

The determining unit 102 may be further configured to calculate a depth of a pixel corresponding to each pixel point in the two images according to the matching result, so as to obtain target depth information of each pixel. The specific function and processing of the determination unit 102 are also referred to in step S440.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. And correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other. And matching pixel points of the two corrected target images, and calculating the parallax d. Performing pixel point matching on the two corrected target images, and calculating the parallax d, which may include: and matching pixel points of the two corrected images by adopting an image matching algorithm based on gray scale, wherein the image matching algorithm based on gray scale can comprise an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. A sequential similarity detection algorithm can be adopted, wherein the sequential similarity detection algorithm refers to a process that an image matching technology searches for a corresponding or similar module in another image (a search graph) according to a known image module (a template graph). And calculating the depth of each pixel according to the matching result, thereby obtaining the target depth z ═ f × b/d. Calculating the depth of each pixel according to the matching result may include: by the formula: z-f b/d, the depth z of each pixel in the image is calculated, the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of possible colors per pixel of the color image or determines the number of possible gray levels per pixel of the gray scale image. F in the formula of z is f, b and d is the focal length of the camera in the binocular camera, b is the transverse distance between the two cameras in the binocular camera, and d is the parallax.

Therefore, the target depth information of each pixel in the image information of the object to be protected is acquired by using the binocular camera, and the target depth information is used as the binocular camera to determine the current distance between the object to be protected and the set dangerous area, so that the acquired binocular camera determines the current distance between the object to be protected and the set dangerous area to be accurate and reliable, and the safety of the home environment can be improved.

The determining unit 102 may be further configured to calculate a distance according to the target depth information of each pixel, where the distance is used as a current distance between the object to be protected and the set dangerous area. The specific function and processing of the determination unit 102 are also referred to in step S320.

For example: the air conditioner recognizes that a child approaches a balcony or a window through an image recognition technology. The air conditioner triggers the binocular camera to measure distance. The binocular camera technology can be adopted to calculate the depth information of the target image, and modeling is achieved. The air conditioner measures the distance d between the child and the balcony or the window in real time, compares the distance d with the safe distance s, and judges whether the distance d between the child and the balcony or the window is smaller than the safe distance s. And if the distance d between the child and the balcony or the window is larger than or equal to the safe distance s, continuing monitoring. If child is less than safe distance s with the distance d of balcony or window, then the air conditioner triggers the early warning and reports, and the APP end of being connected with the air conditioner simultaneously also pushes away alarm information. The user can timely prevent potential safety hazards from occurring, and children are effectively protected. The distance between the child and the balcony is measured through air conditioning, when the distance that the child is close to reaches the range of safe distance, a safety alarm is triggered, and the safety of the child is protected by an adult in time.

From this, through utilizing the binocular camera to confirm that the object that needs to be protected and set for the current distance between the danger zone, it is good to acquire the accuracy that the binocular camera confirms that the object that needs to be protected and set for the current distance between the danger zone, is favorable to promoting the security of environment at home.

More optionally, the determining unit 102 calibrates the binocular camera, and may include:

the determining unit 102 may be further configured to calibrate the two cameras of the binocular camera by a friend-making calibration method, and obtain a calibration result that affects a field of view of a cross region of the binocular camera. The calibration result may include: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

For example: calibrating the two cameras of the binocular camera to obtain the internal and external parameters of the two cameras, the left and right camera baselines b, the camera focal length f and the homography matrix. Calibrating the binocular camera two-phase machine, which can include: calibrating the two cameras of the binocular camera by a Zhang-friend calibration method, and acquiring internal and external parameters, left and right camera baselines, camera focal length and homography matrix which affect the visual field of a binocular camera intersection region.

The homography matrix may be a mapping relationship between points of the same plane and different images. The internal and external parameters of the two cameras can comprise: the internal and external parameters may include internal parameters and external parameters, and the internal parameters may include: mapping relations of the object shot by the binocular camera and the actual object on an x axis and a y axis; the offset relationship between the camera center and the image center; the installation angle of the camera and the lens is different; the extrinsic parameters may include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.

Therefore, by calibrating the binocular camera, the accuracy and reliability of the acquired binocular camera for determining the object to be protected and setting the current distance between dangerous areas can be improved, and the safety of the home environment can be improved.

In an optional example, the determining unit 102 may be further configured to determine whether a current distance between the object to be protected and the set dangerous area is smaller than a set safety distance. The specific function and processing of the determination unit 102 are also referred to in step S130.

In an optional example, the control unit 104 may be configured to initiate a warning message that a current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance. For example: and/or sending a remote message that the current distance between the object to be protected and the set dangerous area is less than the set safe distance to the set client. The specific function and processing of the control unit 104 are shown in step S140.

In an optional example, the control unit 104 may be further configured to continue to determine the current distance between the object to be protected and the set dangerous area by using the binocular camera if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance. The specific function and processing of the control unit 104 are also referred to in step S150.

For example: the binocular camera is adopted to measure the distance of the target, the camera is utilized to monitor the behavior of the child, the person and the monitored child monitor in a double-layer mode, early warning is sent in advance, accidents are prevented in time, and the air conditioner can help human life more intelligently. If can utilize the air conditioner to carry on the supplementary guardianship child safety of binocular camera, effectively avoid the emergence of security incident, can monitor child action through the air conditioner, detect child's dangerous hidden danger, when child is monitored to the air conditioner and is close to balcony or windowsill, the air conditioner sends the alarm early warning and propelling movement alarm information for the family, and the family in time attends to child, protects child's life safety effectively.

For example: the binocular camera is used for tracking a target and testing the distance in real time, if a child is used as a center, the distance between the child and a peripheral object can be monitored, and the distance is compared with the dangerous distance of the child. Specifically, a binocular distance measurement principle can be utilized, an air conditioner binocular camera detects the safe distance between a child and a balcony or a windowsill, the air conditioner acquires distance information between the child and the balcony or the window through the binocular camera, and whether safety is achieved or not is judged and an alarm is sent; when the child is close to the balcony or the windowsill, the potential safety hazard of life exists, and the air conditioner sends an alarm and early warning. Wherein, binocular camera can acquire the distance information of child and balcony, as degree of depth distance information, compares degree of depth distance information and safe distance, carries out safety precaution when degree of depth distance information is less than safe distance, realizes that the intelligent alarm of potential safety hazard reminds.

Therefore, when the binocular camera is used for determining that the object to be protected is close to the set dangerous area, the current distance between the object to be protected and the set dangerous area is measured, and a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance is initiated under the condition that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance, so that the safety of the home environment can be improved.

Since the processes and functions implemented by the apparatus of this embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to 4, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

Through a large number of tests, the technical scheme of the invention can monitor the distance between the child and the peripheral object by using the binocular camera to perform target tracking and distance real-time test, and improves the home safety of the child.

According to the embodiment of the invention, the air conditioner corresponding to the security control device is also provided. The air conditioner may include: the security control device is described above.

Air conditioning equipment becomes a necessity of modern families, can cool, prevent heatstroke and keep warm, and provides a comfortable living environment. The existing users are not limited to the cooling and warming functions of air conditioners any longer, more intelligent air conditioning equipment is needed, some voice air conditioners and audio air conditioners are frequently fermented in the market, and the voice control air conditioners and the air conditioners are more and more intelligent in playing music, news, weather finding, hundred-degree encyclopedia and the like. The air conditioner has also slowly accessed security protection control, air conditioner collocation camera.

In an optional embodiment, the scheme of the invention provides an air-conditioning child safety alarm system based on a binocular camera, the binocular camera is adopted to measure the distance of a target, the camera is utilized to monitor the behavior of a child, the child is monitored by people and double layers, early warning is sent in advance, accidents are prevented in time, and the air conditioner more intelligently helps the life of people.

Specifically, according to the scheme of the invention, the air conditioner can be used for carrying the binocular camera to assist in monitoring the safety of children, and the occurrence of safety events is effectively avoided. The air conditioner monitors the action behavior of the child, the dangerous hidden danger of the child is detected, when the air conditioner monitors that the child is close to a balcony or a windowsill, the air conditioner sends alarm early warning and pushes alarm information to family members, and the family members timely care for the child, so that the life safety of the child is effectively protected.

In an optional example, in the scheme of the invention, a binocular camera is used for target tracking and distance real-time testing. If the child is used as the center, the distance between the child and the peripheral objects can be monitored and compared with the dangerous distance of the child.

Specifically, according to the scheme of the invention, by using a binocular distance measuring principle, an air conditioner binocular camera detects the safe distance between a child and a balcony or a windowsill, and the air conditioner acquires the distance information between the child and the balcony or the window through the binocular camera, judges whether the child is safe or not and sends an alarm; when the child is close to the balcony or the windowsill, the potential safety hazard of life exists, and the air conditioner sends an alarm and early warning.

Wherein, binocular camera can acquire the distance information of child and balcony, as degree of depth distance information, compares degree of depth distance information and safe distance, carries out safety precaution when degree of depth distance information is less than safe distance, realizes that the intelligent alarm of potential safety hazard reminds.

In an alternative embodiment, reference may be made to the examples shown in fig. 6 and 7 to illustrate specific implementation procedures of the scheme of the present invention.

In the scheme of the invention, the air conditioner can be networked, has voice, a loudspeaker and a camera, is ecologically interconnected with the smart home, is connected with the APP, can be controlled by the APP, and can push information to the APP. The air conditioner is matched with the binocular camera, the binocular camera can acquire the depth information of the image, and the distance of the target can be actually measured according to the triangulation distance measuring principle.

The air conditioner is arranged in a room, the balcony and the window are both in the field range of the air conditioner binocular camera, when a child approaches the window or the balcony, the camera recognizes that the child approaches the balcony or the window through an image recognition technology, a distance measurement function is triggered at the moment, the air conditioner binocular camera measures the distance d between the child and the balcony or the window in real time through a triangle distance measurement principle, and performs logical comparison with a preset safe distance s, if d is greater than s, the distance d between the child and the balcony or the window is continuously monitored, and then comparison is performed; if d < s, then the air conditioner triggers safety alarm suggestion, and air conditioner main control board control speaker module carries out pronunciation safety alarm and reports this moment, sends safety alarm information to user's APP end immediately simultaneously, APP end propelling movement alarm, dual suggestion adult's safety of going to protect child.

Fig. 6 is a schematic flow chart of monitoring and sending an alarm according to an embodiment of the air conditioner of the present invention.

As shown in fig. 6, the process of monitoring and sending an alarm by an air conditioner may include:

and step 11, recognizing that the child approaches to a balcony or a window through an image recognition technology by the air conditioner.

And step 12, triggering the binocular camera to measure the distance by the air conditioner.

And step 13, the air conditioner measures the distance d between the child and the balcony or the window in real time, compares the distance d with the safe distance s, judges whether the distance d between the child and the balcony or the window is smaller than the safe distance s, and executes step 14 or step 15.

And 14, if the distance d between the child and the balcony or the window is greater than or equal to the safe distance s, returning to the step 13 to continue monitoring.

Step 15, if the distance d between the child and the balcony or the window is smaller than the safe distance s, the air conditioner triggers early warning broadcasting, and meanwhile, the APP end connected with the air conditioner also pushes alarm information to execute step 16.

And step 16, the user timely prevents potential safety hazards from occurring, and effectively protects children.

Therefore, in the scheme of the invention, the air conditioner enters the operation of measuring the distance between the child and the balcony, and when the distance that the child approaches reaches the range of the safe distance, the safety alarm is triggered to remind the adult to protect the safety of the child in time.

Fig. 7 is a schematic flow chart illustrating a process of detecting depth information by using a binocular camera according to an embodiment of the air conditioner of the present invention.

As shown in fig. 7, the binocular camera technology may be used to calculate the depth information of the target image, thereby realizing modeling. Specifically, the process of using the binocular camera to detect the depth information may include:

step 21, calibrating the two cameras of the binocular camera to obtain internal and external parameters of the two cameras, a left camera baseline b, a right camera baseline b, a camera focal length f and a homography matrix.

Optionally, calibrating the binocular camera two-phase machine may include: calibrating the two cameras of the binocular camera by a Zhang-friend calibration method, and acquiring internal and external parameters, left and right camera baselines, camera focal length and homography matrix which affect the visual field of a binocular camera intersection region.

Alternatively, the homography matrix may be a mapping relationship of points of the same plane between different images.

Optionally, the internal and external parameters of the two cameras may include: the internal and external parameters comprise internal parameters and external parameters, wherein the internal parameters comprise: mapping relations of the object shot by the binocular camera and the actual object on an x axis and a y axis; the offset relationship between the camera center and the image center; the installation angle of the camera and the lens is different; the external parameters include: translation and rotation parameters in the x-direction; translation and rotation parameters in the y-direction; translation and rotation parameters in the z-direction.

And step 22, correcting the original target image according to the calibration result, wherein the two corrected images are positioned on the same plane and are parallel to each other.

And step 23, matching pixel points of the two corrected target images, and calculating the parallax d.

Optionally, performing pixel matching on the two corrected target images, and calculating the parallax d may include: and matching pixel points of the two corrected images by adopting an image matching algorithm based on gray level, wherein the image matching algorithm based on gray level comprises an average absolute difference algorithm, an absolute error sum algorithm, an error square sum algorithm, an average error square sum algorithm, a sequential similarity detection algorithm and the like. The embodiment adopts a sequential similarity detection algorithm, which refers to a process that an image matching technology searches for a corresponding or similar module in another image (a search graph) according to a known image module (a template graph).

And 24, calculating the depth of each pixel according to the matching result, thereby obtaining the target depth z-f b/d.

Optionally, calculating the depth of each pixel according to the matching result may include: by the formula: z-f b/d, the depth z of each pixel in the image is calculated, the pixel depth refers to the number of bits used to store each pixel, and is used to measure the resolution of the image. The pixel depth determines the number of possible colors per pixel of the color image or determines the number of possible gray levels per pixel of the gray scale image. F in the formula of z is f, b and d is the focal length of the camera in the binocular camera, b is the transverse distance between the two cameras in the binocular camera, and d is the parallax.

Since the processing and functions of the air conditioner of this embodiment are basically corresponding to the embodiments, principles and examples of the apparatus shown in fig. 5, the description of this embodiment is not given in detail, and reference may be made to the related descriptions in the embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention can acquire the distance information between the child and the balcony through the binocular camera to serve as the depth distance information, the depth distance information is compared with the safety distance, safety early warning is carried out when the depth distance information is smaller than the safety distance, intelligent alarm reminding of potential safety hazards is realized, and the home safety of the child is improved.

According to the embodiment of the invention, the storage medium corresponding to the security control method is also provided. The storage medium may include: the storage medium has stored therein a plurality of instructions; the plurality of instructions are used for being loaded by the processor and executing the security control method.

Since the processing and functions implemented by the storage medium of this embodiment substantially correspond to the embodiments, principles, and examples of the methods shown in fig. 1 to fig. 4, details are not described in the description of this embodiment, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention is adopted, and the air conditioner is matched with the binocular camera, and the binocular camera can acquire the depth information of the image, so that the air conditioner sends alarm early warning and pushes alarm information to family members, and the family members take care of children in time, thereby effectively protecting the life safety of the children.

According to the embodiment of the invention, the invention further provides the air conditioner corresponding to the security control method. The air conditioner may include: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; the plurality of instructions are stored by the memory, and are loaded by the processor and execute the security control method.

Since the processing and functions of the air conditioner of this embodiment are basically corresponding to the embodiments, principles and examples of the methods shown in fig. 1 to 4, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention can measure the distance of the target by adopting the binocular camera, monitor the behavior of the child by utilizing the camera, monitor the child by people and monitor the child in double layers, and send early warning in advance, so that the air conditioner can more intelligently help the life of human beings.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (12)

1. A security control method is characterized by comprising the following steps:

under the condition that an object to be protected exists in a room where an air conditioner belongs, determining whether the object to be protected is close to a set dangerous area or not by using a binocular camera;

if the object to be protected is determined to be close to the set dangerous area, determining the current distance between the object to be protected and the set dangerous area by using a binocular camera;

determining whether the current distance between an object to be protected and a set dangerous area is smaller than a set safety distance or not;

if the current distance between the object to be protected and the set dangerous area is less than the set safe distance, initiating a reminding message that the current distance between the object to be protected and the set dangerous area is less than the set safe distance;

and if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance, continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera.

2. The security control method according to claim 1, wherein determining whether the object to be protected is approaching the set dangerous area by using a binocular camera comprises:

acquiring image information of an object to be protected in an environment to which an air conditioner belongs by using a binocular camera;

determining whether image information of an object to be protected in an environment to which an air conditioner belongs moves;

if the image information of the object to be protected in the environment to which the air conditioner belongs is determined to move, determining the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs;

and if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is towards the set dangerous area, determining that the object to be protected is close to the set dangerous area.

3. The security control method according to claim 1 or 2, wherein determining the current distance between the object to be protected and the set dangerous area by using a binocular camera comprises:

acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera;

and calculating to obtain a distance according to the target depth information of each pixel, wherein the distance is used as the current distance between the object to be protected and the set dangerous area.

4. The security control method according to claim 3, wherein the obtaining of the target depth information of each pixel in the image information of the object to be protected by using a binocular camera comprises:

calibrating the binocular camera to obtain a calibration result;

correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other;

matching pixel points of two images acquired by the binocular camera in the correction result to obtain a matching result;

and according to the matching result, calculating the depth of the pixel corresponding to each pixel point in the two images to obtain the target depth information of each pixel.

5. The security control method according to claim 4, wherein calibrating the binocular camera comprises:

calibrating the binocular camera two-phase machine by a Zhang-friend calibration method to obtain a calibration result influencing the view field of a binocular camera intersection region; the calibration result comprises the following steps: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

6. A security control device, comprising:

the determining unit is used for determining whether the object to be protected is close to a set dangerous area or not by using the binocular camera under the condition that the object to be protected is in the room where the air conditioner belongs;

the determining unit is also used for determining the current distance between the object to be protected and the set dangerous area by using the binocular camera if the object to be protected is determined to be close to the set dangerous area;

the determining unit is also used for determining whether the current distance between the object to be protected and the set dangerous area is smaller than the set safety distance or not;

the control unit is used for initiating a reminding message that the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance if the current distance between the object to be protected and the set dangerous area is smaller than the set safe distance;

and the control unit is also used for continuously determining the current distance between the object to be protected and the set dangerous area by using the binocular camera if the current distance between the object to be protected and the set dangerous area is greater than or equal to the set safe distance.

7. The security control device according to claim 6, wherein the determining unit determines whether the object to be protected is approaching the set dangerous area using a binocular camera, comprising:

acquiring image information of an object to be protected in an environment to which an air conditioner belongs by using a binocular camera;

determining whether image information of an object to be protected in an environment to which an air conditioner belongs moves;

if the image information of the object to be protected in the environment to which the air conditioner belongs is determined to move, determining the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs;

and if the moving direction of the image information of the object to be protected in the environment to which the air conditioner belongs is towards the set dangerous area, determining that the object to be protected is close to the set dangerous area.

8. The security control device according to claim 6 or 7, wherein the determining unit determines the current distance between the object to be protected and the set dangerous area by using a binocular camera, and comprises:

acquiring target depth information of each pixel in image information of an object to be protected by using a binocular camera;

and calculating to obtain a distance according to the target depth information of each pixel, wherein the distance is used as the current distance between the object to be protected and the set dangerous area.

9. The security control device according to claim 8, wherein the determining unit obtains the target depth information of each pixel in the image information of the object to be protected by using a binocular camera, and comprises:

calibrating the binocular camera to obtain a calibration result;

correcting the image information of the object to be protected according to the calibration result to obtain a correction result, so that two images acquired by the binocular camera are positioned on the same plane and are parallel to each other;

matching pixel points of two images acquired by the binocular camera in the correction result to obtain a matching result;

and according to the matching result, calculating the depth of the pixel corresponding to each pixel point in the two images to obtain the target depth information of each pixel.

10. The security control device of claim 9, wherein the determining unit calibrates the binocular camera, and comprises:

calibrating the binocular camera two-phase machine by a Zhang-friend calibration method to obtain a calibration result influencing the view field of a binocular camera intersection region; the calibration result comprises the following steps: internal and external parameters, left and right camera baselines, camera focal length, and/or homography matrix.

11. An air conditioner, comprising: the security control device of any one of claims 6 to 10;

alternatively, it comprises:

a processor for executing a plurality of instructions;

a memory to store a plurality of instructions;

the plurality of instructions are stored by the memory, and loaded and executed by the processor according to any one of claims 1 to 5.

12. A storage medium having a plurality of instructions stored therein; the plurality of instructions for being loaded by a processor and executing the security control method of any one of claims 1 to 5.

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