CN108269270A - Sun detection, tracks of device, method and application - Google Patents

Abstract

The invention discloses a sun detection and tracking device, method and application. The detection device includes a processing unit electrically connected to an image acquisition device. The image acquisition device collects an image of a detected target to form a detectable signal, and the processing unit recognizes the detectable signal. The target image signal in is used to detect the target image according to the target image signal to obtain the detection information of the detected target. Based on the detection device, a target tracking device, as well as related methods and applications are disclosed. The invention can significantly improve the accuracy of target detection, and at the same time, can realize real-time processing and calculation, and improve efficiency and accuracy.

Description

Sun detection and tracking device, method and application

technical field

The present invention relates to detection and tracking technology, especially target detection and tracking technology and its application, and more particularly relates to sun detection and tracking technology and its application.

Background technique

Object detection and tracking technology is the basis of automation technology. Due to the difference of target objects, different technical solutions will be adopted according to different needs. The detection of all kinds of luminous, reflective (including diffuse reflection and specular reflection targets), heat generation and other targets is a detection technology with a wide range of applications.

Taking the sun detection and tracking technology as an example, at present, the commonly used photoelectric, photothermal detection and tracking technologies have many sensors and related circuit accessories, the technical solutions are relatively complicated, the sensitivity and precision are not high, and the response time is long, which restricts the application. Scene and apply effects.

Contents of the invention

In view of the above shortcomings, the technical problem to be solved by the present invention is to provide a new detection device and a corresponding tracking device; furthermore, to provide a corresponding application.

The detection device is characterized in that the image acquisition device is electrically connected to the processing unit, the image acquisition device collects the image of the detected target to form a detectable signal, the processing unit identifies the target image signal in the detectable signal, and processes the target image according to the target image signal Perform detection to obtain detection information of the detected target.

Preferably, the image acquisition device includes an optical imaging unit and an imaging unit arranged behind it, the optical imaging unit forms an optical image of the target and its background on the imaging unit, and the imaging unit converts the optical image into other types of detectable signal and sent to the processing unit.

Preferably, the imaging unit is a photoelectric imaging unit, which converts the optical image into an image electrical signal and sends it to the processing unit, and the processing unit identifies the target image signal in the image electrical signal, and obtains the target image signal according to the relevant parameters of the target image signal. The detection information of the target.

Preferably, a filter unit is further included, and the filter unit is arranged at the front end of the image acquisition device or the optical imaging unit.

Preferably, the filter unit is an optical filter; or, the filter unit is a pinhole imaging system, and the pinhole imaging system includes an imaging screen, an imaging pinhole arranged in front of the imaging screen, and an image acquisition device collects image on the imaging screen.

In the detection device, the image sensing unit is connected with the data processing unit, and an imaging pinhole is arranged in front of the image sensing unit, through which the detected target directly forms an optical image on the image sensing unit, and is imaged The sensing unit produces a digitized electrical signal.

The target tracking device includes the aforementioned detection device, the detection device is connected to the control unit, the control unit is connected to the tracking unit, the detection device judges the position of the target through the positional relationship of the target image signal, and controls the The unit controls the operation of the tracking unit.

The solar energy detection or tracking system includes the aforementioned target tracking device, the detection device collects images of the sun, and detects or tracks the sun.

The solar energy system includes the aforementioned system, the tracking unit is connected with the solar energy collection unit, and drives the movement or working state of the solar energy collection unit.

The target detection method uses image acquisition equipment to collect the image of the detected target, and realizes the detection and tracking of the target through the recognition, detection and positioning of the target image.

At the same time, the present invention also includes a target tracking method, a sun detection and tracking method, and a method and application of related detection and tracking devices.

In the above technical solution, since the image sensor has high image acquisition sensitivity (for example, the commonly used RGB24 is a 24-bit RGB format, each component occupies 8 bits, and the value range of each component is 0-255) and the pixel Fineness (the current conventional image sensor has reached the fineness of megapixels), which significantly improves the accuracy of target detection. At the same time, through appropriate image recognition algorithms, real-time processing and calculation can be realized to improve efficiency. For example, through the present invention, it is possible to detect and locate the subtle changes of the detection target. In terms of application, target tracking (including sun tracking, etc.), sampling the present invention, can directly use a camera to accurately identify the sun's position and angle, and perform real-time tracking. Of course, it can also be used in other target tracking, such as aircraft, fire detection, etc.

Description of drawings

In order to more clearly describe the relevant technical solutions involved in the present invention, the accompanying drawings will be briefly described below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings on the premise of not paying creative efforts.

Fig. 1 structural principle diagram of the present invention;

An embodiment of Fig. 2 detection assembly;

Another embodiment of Fig. 3 detection assembly;

An embodiment of Fig. 4 sun detection, tracking application system;

Another embodiment of Fig. 5 sun detection, tracking application system;

Another embodiment of Fig. 6 sun detection, tracking application system;

Another embodiment of Fig. 7 sun detection, tracking application system;

Figure 8 is a schematic diagram of the principle of pixel iterative processing;

Figure 9 is a schematic diagram of the measured results of image pixel iteration;

Figure 10 picture 1a pixel iterative processing effect diagram;

Fig. 11 Effect diagram of pixel iterative processing of picture 1b.

Explanation of reference signs:

Target A, the image A' of the target (that is, the image formed by the target on the image sensing unit 222); Picture 1, the target image 10 on the picture (referred to as the target image 10), the background image 13 on the picture (referred to as the background image 13 ), the picture 1a in the first state, the picture 1b in the second state, the target image 10a on the first state picture (referred to as the target image 10a), the target image 10b on the first state picture (referred to as the target image 10b); the detection component 2. Filter unit 21, imaging pinhole 211, imaging screen 212, camera 22, optical imaging unit 221, image sensing unit 222, data processing unit 23; pixel iteration curve 3 (referred to as iteration curve 3), target part curve 30 , target part curve peak/valley 301, boundary part curve 31, background part curve 33, background noise part curve 331, iterative difference curve 30a, noise iterative difference curve 332; application system 4, control unit 41, tracking unit 42, A solar energy collection unit 43 , a control unit 44 , and a solar energy application system 45 .

Detailed ways

In order to make it easier for those skilled in the art to further understand the present invention, and to clearly understand the technical solutions described in this application, and to fully and fully disclose the relevant technical content of the present invention, the specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings Description, of course, the described specific implementation is only an example to give a part of the embodiments of the present invention, to help understand the present invention and its core idea.

Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work, and/or without departing from the spirit and essence of the present invention, even if the implementation of each step The order (partial connection relationship or structure) has been changed, and various corresponding changes and deformations have been made according to the present invention, but these corresponding changes and deformations should all belong to the protection scope of the present invention. At the same time, relevant parts of the various embodiments can be replaced with each other to form a new embodiment. The specific implementation manner can be fully understood and known by those skilled in the art, and will not be repeated in this application.

The definitions of relevant terms involved in the present invention are as follows:

Picture refers to a digital picture, which is used to record the collected image information and is composed of several pixels, including background image and foreground image (referred to as the target image in this application); the description of pixels can be realized according to different protocols , and can be recorded, calculated and stored in a variety of encoding methods, and applied in modes specified by different protocols according to different needs. Of course, in the present invention, the picture may also be image information recorded in other forms, which can be understood without ambiguity according to the context of the application documents. The pixel point of the picture is used as the unit, and the row and field (column) directions are respectively the X-axis and the Y-axis to establish a coordinate system. The pixel is used as the unit, and the row direction is the X-coordinate axis, and the field direction is the Y-axis to establish a coordinate system. When establishing coordinates, the upper left vertex pixel point is usually selected as the coordinate origin (0, 0)

Image sensor, or photosensitive element, is a device that converts optical images into digital electrical signals, and it is widely used in digital cameras and other electronic optical devices. The image sensor is an important part of a digital camera (camera for short). According to different components, it can be divided into CCD (Charge Coupled Device, charge-coupled device) and CMOS (Complementary Metal-Oxide Semiconductor, metal oxide semiconductor device). Of course, with the development of technology, other different image sensor technologies will continue to be formed and applied.

Camera (CAMERA or WEBCAM), also known as computer camera, computer eye, electronic eye, etc., is a video input device. Cameras can be divided into two categories: digital cameras and analog cameras. The digital camera can convert the analog video signal generated by the video capture device into a digital signal, and the video signal captured by the analog camera must be converted into a digital mode by a specific video capture card. In the technical solution of the present invention, the camera can also be replaced by other imaging devices or devices with the same function or a combination of related devices, and the technical effect of the present invention can also be achieved.

Basic technical scheme of the present invention is as follows:

Use imaging equipment (image acquisition equipment) to collect the image of the detection target, and realize the detection and tracking of the target through the recognition, detection and positioning of the target image. Since the imaging equipment records the target image information comprehensively and responds quickly, and the imaging system itself has high sensitivity and precision, the sensitivity, precision and response speed of target detection and tracking are effectively improved.

specifically,

In the detection device, the image sensing unit is connected with the data processing unit, and an imaging pinhole is arranged in front of the image sensing unit, through which the detected target directly forms an optical image on the image sensing unit, and is imaged The sensing unit produces a digitized electrical signal.

The target tracking device includes the aforementioned detection device, the detection device is connected to the control unit, the control unit is connected to the tracking unit, the detection device judges the position of the target through the positional relationship of the target image signal, and controls the The unit controls the operation of the tracking unit.

The solar energy detection or tracking system includes the aforementioned target tracking device, the detection device collects images of the sun, and detects or tracks the sun.

The solar energy system includes the aforementioned system, the tracking unit is connected with the solar energy collection unit, and drives the movement or working state of the solar energy collection unit.

The target detection method uses image acquisition equipment to collect the image of the detected target, and realizes the detection and tracking of the target through the recognition, detection and positioning of the target image.

The detection device is characterized in that the image acquisition device is electrically connected to the processing unit, the image acquisition device collects the image of the detected target to form a detectable signal, the processing unit identifies the target image signal in the detectable signal, and processes the target image according to the target image signal Perform detection to obtain detection information of the detected target.

The present invention can adopt following specific technical scheme, embodiment to realize:

The detection assembly of the present invention includes a processing unit electrically connected to the image acquisition device, the image acquisition device includes an optical imaging unit, and an image unit arranged behind it, the optical imaging unit forms an optical image of the target and its background on the imaging unit, and the imaging unit Transform optical images into other types of information. Preferably, as the most mature technical means at present, the imaging unit is a photoelectric imaging unit, which converts the optical image into an image electrical signal (such as an analog or digital electrical signal, such as a camera tube, etc., is one of the devices that generate an analog image electrical signal ), sent to the processing unit, the processing unit recognizes the target image signal in the image electrical signal, and realizes the detection of the target according to the relevant parameters of the target image signal; through the positional relationship of the target image signal, the position of the target is judged, which is the target Track lays the groundwork. The imaging unit converts the optical image into other types of information, in addition to the above-mentioned conversion into electrical signals, it can also be through the arrangement of particles on the imaging unit, chemical reaction, temperature change, etc., and adopt a detection method suitable for it. To detect and judge, etc. The recognition of the target image signal can be realized by using existing technical solutions (such as known signal detection and judgment technology), or by using the technical means provided in the following technical solutions of the present invention. In addition, as an improvement, a filter unit can be set at the front end of the optical imaging unit (towards the direction of the detected target, that is, between the optical imaging unit and the detected target), so as to improve the recognition efficiency of subsequent target images and simplify and extend the identification means. Image unit life lays the foundation.

Fig. 1 has provided the principle diagram of the technical solution based on the image sensor, in the figure detection assembly 2 comprises the image sensing unit 222 connected with the data processing unit 23, the optical imaging unit 221 is arranged in front of the image sensing unit 222, the optical imaging unit 221 forms an optical image of the target A and its background on the image sensing unit 222, and the image sensing unit 222 converts the optical image into a digitized electrical signal—the electrical signal representing the optical image with several pixels—digitized image (this application is referred to as a picture), the picture is sent to the data processing unit 23, and the data processing unit 23 recognizes the target image in the picture, and realizes the detection of the target according to the relevant parameters of the target image; through the positional relationship of the target image in the picture, the judgment The location of the target lays the foundation for the tracking of the target. The recognition of the target image can be realized by using existing technical solutions (such as known image recognition technology, etc.), or by using the technical means provided in the subsequent technical solutions of the present invention.

As an improvement, a filter unit 21 can be provided at the front end of the optical imaging unit 221 to lay a foundation for improving the recognition efficiency of subsequent target images, simplifying the recognition means and prolonging the life of the image unit.

The image sensing unit 222 is made up of an image sensor and related circuits. The image sensing unit 222 can be one of CCD or CMOS. It selects a device that meets the requirements according to the needs of the application. The selection of the device and the circuit composition adopt Existing technology just can realize.

Further, in order to realize the application of the detection result, or realize the tracking of the target, the data processing unit 23 sends the detected or obtained target tracking data to the application system 44 .

As shown in FIG. 1 , the target A at the first position and its background pass through the filter unit 21 and the optical imaging unit 221 to form an optical image projected to the image sensing unit 222 (the optical image of the target A is A'), the image The sensing unit 222 converts the optical image into a digitized electrical signal, that is, a picture 1a, in which there is a target image 10a. In the same way, the target A at the second position (the target given by the dotted line, in order to simplify the drawings, does not give the reference symbol A, and the corresponding optical image A' is not given the reference symbol, but is only shown with a dotted line. shown) and its background form picture 1b, on which there is target image 10b. It can be seen from the same figure that the position of the target image 10 on the picture 1 of the target A in two different positions has also changed. The data processing unit 23 recognizes the target images 10a and 10b on the pictures 1a and 1b, and judges the target image 10a , 10b on the picture 1a, 1b position change (can be obtained by changing the pixel coordinates) can obtain the position change of the target A, and at the same time reflect the change of the target A through the change of the 10 pixel value of the target image and the number of occupied pixels Changes in the color, state, distance, size, shape, etc. of the object, so as to realize the detection of the target. The detection results are sent to the application system 4 to meet relevant application requirements.

FIG. 2 shows an embodiment of the integrated design of the detection component 2 . In this solution, an existing standardized camera 22 is used, and the camera 22 is connected to a data processing unit 23 . The camera 22 includes an image sensor and related circuits, as well as an optical imaging system. If the camera 22 is an analog camera, a video capture card or an AD conversion module that converts analog signals into digital signals is connected between the camera 22 and the data processing unit 23 . Of course, the camera 22 can also be an infrared camera as required.

As an application, the filter unit 21 adopts an optical filter suitable for requirements. Of course, the filter unit 21 can also be omitted as required, and the data processing unit 23 can be used to implement software filters or precise image recognition techniques, but this will have a negative impact on the processing efficiency. At the same time, if the target is such as For objects with high brightness such as the sun, if no filter is used, it will also damage the relevant components of the camera 22, especially the service life of the image sensor.

The difference between the improved embodiment in Fig. 3 and that in Fig. 2 is that the filter unit 21 adopts a pinhole imaging system, and the pinhole imaging system includes an imaging screen 212, and an imaging pinhole 211 arranged in front of it, and at the same time, the The imaging screen 212 is made of translucent material, and the target and the background form an upside-down real image on the imaging screen 212 through the small hole, and the camera 22 collects the imaging on the imaging screen 212 to form a picture 1 . Since the brightness of the target can be reduced through the imaging pinhole 211 (especially for high-brightness targets such as the sun and flame targets), at the same time, through the selection of the light transmission of the imaging screen 212, the light intensity can be further reduced to reduce the burning of the camera , prolong its lifespan, and at the same time, due to the low brightness of the background image, the imaging effect is poor, supplemented by the obstruction of the imaging screen 212, the filtering of the background image is realized, the interference of the background image on the target image recognition is reduced, and the target recognition effect is enhanced.

Of course, as a simplification, the image sensing unit 222 may be used instead of the camera 22 and the imaging screen 212 , and an optical image is directly formed on the image sensing unit 222 through the imaging aperture 211 .

In the above technical solution, since the image sensor has high image acquisition sensitivity (for example, the commonly used RGB24 is a 24-bit RGB format, each component value (or channel value) of a pixel - pixel value - occupies 8 The value range of each component is 0-255. Changes in the light intensity and color of the target are reflected in the target image through different pixel values. If the 16-bit encoding and the corresponding image sensor are used, the fineness is still will be further improved) and the fineness of pixels (the current conventional image sensor has reached the fineness of megapixels), which significantly improves the accuracy of target detection. At the same time, through appropriate image recognition algorithms, real-time processing and operations to improve efficiency. For example, through the present invention, it is possible to detect and locate the subtle changes of the detection target.

In view of the characteristics of the above-mentioned detection component 2, it can be specifically applied in many fields. For example, the detection, positioning and tracking of the sun is helpful for the collection and utilization of solar energy, etc.; it is used for the observation and positioning of air targets (such as birds, airplanes and other flying objects, rockets, etc.); it is used for the detection of floating objects on the ocean and water surface , positioning and tracking; fire detection, positioning and tracking, etc.; display brightness adjustment and control of mobile phones and other terminal equipment (through the camera on the terminal to detect information such as ambient light intensity, and dynamically adjust the brightness of the display screen, it can realize continuous, Precise and real-time adjustment); anti-glare control; car anti-high beam filter (through the acquisition component composed of a camera in front of the car, when strong light is collected, it is set on the light-transmitting screen on the windshield according to the light intensity control or driving On the special glasses worn by people to adjust the light transmittance; the acquisition component can also be set on the special glasses; similarly, special goggles can also be realized), etc. Of course, in specific applications, it is necessary to select suitable devices according to different needs to realize the present invention.

This application will take the detection, positioning and tracking of the sun as an example to illustrate related applications, especially the application in solar energy collection and utilization. Similarly, similar technical solutions can also be used in other related applications.

Figure 4 shows an embodiment of the sun detection and tracking application system. In the figure, the detection component 2 and the solar energy collection unit 43 are fixedly connected to each other or can move synchronously (the figure shows that the two are fixedly connected, and the structure is simple in this way), and the front end of the detection component 2 (the end of the image collection, such as Figure 3 The end of the imaging hole 211 of the given technical solution) The plane normal n is parallel to the normal N of the light-receiving surface of the solar energy collection unit 43 (such as the lighting surface of the solar panel or heat collector, the concentrating paraboloid, etc.) direction (the two may or may not be coplanar). The control unit 41 is respectively connected with the detection component 2 and the tracking unit 42 , and the tracking unit 42 drives the movement of the solar energy collection unit 43 . The detection component 2 sends the detected sun data to the control unit 41, and the control unit 41 forms a control signal according to the detection result, controls the action of the tracking unit 42, and realizes the tracking of the moving sun by the solar energy collection unit 43. Under this scheme, the detection component 2 and the solar energy collection unit 43 are facing the solar energy (the normal direction of both is parallel to the sun’s rays and pointing to the sun), and the detection component 2 records the pixel coordinate position (C , C), when the sun moves, the pixel coordinate position of the sun image changes. According to the pixel coordinate variation, the control unit 41 controls the action of the tracking unit 42, and rotates the solar energy collection unit 43 and the detection component 2. When the detection component 2 detects When the position of the sun image reaches the pixel coordinate position (C, C), the solar energy collection unit 43 is in the state of facing the sun. In some applications, relevant data logs can be established in the control unit 41, and if it is cloudy, the actions of the tracking unit 42 can be controlled according to the same data logs. The detection component 2 can collect the detection results of the sun in a continuous or discontinuous manner in real time, and the discontinuous collection can be, for example, video collection that meets the accuracy requirements or intermittent photo collection for a certain period of time. The location of the sun image can be positioned by the boundary or center of the sun image. If this boundary is positioned, the size of the sun image will change in different ways due to changes in the height of the sun. Therefore, one side or multiple sides are required for boundary positioning cooperation to achieve. Since the detection component 2 uses an image sensor to obtain solar image information, it has high precision, strong real-time performance and fast response.

Another embodiment of the sun detection and tracking application system shown in Fig. 5 is different from the technical solution in Fig. 4 in that the detection assembly 2 is not directly connected with the solar energy collection unit 43, the detection assembly 2 is in a fixed position, and the tracking unit 42 Only the movement of the solar energy collection unit 43 is controlled. When initially setting, the solar energy collection unit 43 is facing the sun, and the detection component 2 detects the position of the sun image. When the sun moves, the control unit 41 calculates the deviation according to the predetermined rule according to the current position of the sun image detected by the detection component 2. The amount of displacement controls the action of the tracking unit 42, and rotates the solar energy collection unit 43 so that it is in the state of facing the sun. In this embodiment, it is necessary to establish corresponding rules for the solar image position collected in the detection assembly 2 and the positional relationship of the solar energy collection unit 43 relative to the sun. The design of the control unit 41 is relatively complicated, but the advantage is that the solar image in the image sensor The position is moved, which can prolong the life of the image sensor.

Another embodiment of the sun detection and tracking application system provided in Fig. 6; in order to simplify the accompanying drawings, the control unit 41 is not drawn separately, and the control unit 41 can be set as one with the detection assembly 2 or the control unit 44 overall. The detection component 2 detects information such as the intensity and position of the sun's rays, and controls the control unit 44 arranged in front of the solar energy collection unit 43 (towards the direction of the sun), and the control unit 44 performs transmittance, refraction or The reflection angle enables the solar energy collection unit 43 to meet the requirements of solar energy collection efficiency or collection requirements. For example, if the sunlight is too strong, the control unit 44 reduces the amount of light transmitted to ensure the stable operation of the solar energy collection unit 43 .

Another embodiment of the sun detection and tracking application system shown in Fig. 7 is the application on other application systems of solar energy. In order to simplify the drawings, the control unit 41 is not drawn separately, and the control unit 41 can be integrated with the detection component 2 or the solar energy application system 45 . The solar energy application system 45 can adjust its state according to changes in sunlight intensity, location, etc., to meet application requirements.

In order to improve the recognition efficiency of the target image 10 in the picture 1, the present invention also provides the following technical solution for target image recognition.

Fig. 8 provides a schematic diagram of realizing the recognition and positioning of the target image 10 on picture 1 by pixel iterative processing; Fig. 9 shows the pixel iteration of a black and white picture based on the technical principle of Fig. 8 (iteration of the summation method) The graph of the measured results. The technical solution converts two-dimensional complex image information into simple one-dimensional data information by sequentially summing the row and column pixel values of image pixels and drawing corresponding curves, which is convenient for computer recognition applications. Of course, pixel iterations in other directions can also be performed as needed, so as to better realize the analysis and processing of image content. The technical solution is described by taking summation as an example. Establish a coordinate system in the direction of one row and field (column) of the picture, where (0, 0) is the pixel point on the upper left of the picture (Of course, other methods can also be used to establish a coordinate system, and this coordinate system is used in this application document) Explanation), in units of pixels; abscissa x (x=0, 1, 2...i) is the row direction, its scale is the column number of the picture, and ordinate y (y=0, 1, 2...j ) is the field direction, and its scale is the line number of the picture.

The pixel values of each row of picture 1 are sequentially accumulated and summed, and projected onto the vertical coordinate y of the pixel coordinates. At this time, the scale of the vertical coordinate y corresponds to the row number, and the sum of the pixel values of each row is obtained; similarly , sequentially accumulate and sum the pixel values of each column of picture 1, and project them onto the abscissa x of the pixel coordinates. At this time, the scale of the abscissa x corresponds to the column number, and the sum of the pixel values of each column is obtained. Since each pixel of picture 1 is generally composed of multiple channel values (the specific situation is related to the encoding protocol used, such as RGB format, each pixel includes 3 channel values, and each channel is calculated separately when summing, or Multiple channel values are summed according to a certain calculation relationship. For the present invention, it can be selected according to different needs. For sun detection and positioning, a single-channel black and white picture can meet the requirements) due to different images on picture 1 The pixel values are different, so the summation will intuitively reflect the row and column pixel values. The value obtained by the summation is drawn into a curve 30, therefore, the peaks and valleys of the iterative curve 30 correspond to different target images, and at the same time, the uniform noise of the background image is submerged and the features of the target image are enlarged by using the accumulation method, which can be very good be identified. Taking the effect shown in Figure 8 (in the figure, it is assumed that the circular target image 10 is white and the background image is black), the peak value of the iterative curve 30 corresponds to the peak value of the target image 10, and the row and column numbers corresponding to the peak value are its pixels on the picture position, so as to quickly obtain the position information of the target image 10 .

Figure 9 shows the time iteration effect of the real picture 1. Picture 1 in the figure is a black and white picture, the target image 10 on the picture is the same black, Beijing is white, and the sum of the pixel values in the row and column directions is shown in the figure. . In the figure, iteration curve 3 includes background curve 33 (white, maximum value, 8-bit single-channel value is 255), target curve 30 (black, small value, pure black is 0), among which the target curve valley 301 is the target The part with the largest size in the image 10 and the boundary position of the target image 10 is the boundary curve 31 , which is the mutation point of the iterative curve 3 . It can be seen from the figure that through the analysis and processing of the iterative curve 3, the pixel coordinates (corresponding to row and column numbers) such as the boundary and peak of the target image 10 on the picture 1 can be directly obtained. In a specific application, it can be set to determine whether it is a target image based on the peak value or the target part curve 30 satisfying a certain threshold value relationship, or limit the acquisition in combination with the width of the target image 10 .

Fig. 10 shows the pixel iterative processing effect diagram of picture 1a in Fig. 1; the dotted line in the figure is an artificially given auxiliary line for the convenience of referring to the corresponding relationship. The background of picture 1a is grayscale, the target image 10a is white, the size of picture 1 is 729×542 (width×height, the same below), and the target portion curve peak 301 on the iterative curve 30 corresponds to the center of the target image 10a (circle , the peak is the largest part of the geometric size, that is, the central position, which has a similar effect on the solar image imaged on the picture after filtering), according to the calculation, the coordinates and results of the peak of the target image 10a shown in Table 1 below are obtained. It can be seen from the figure that there is background noise in the y direction (representing the row number), and the peak value of the background noise part curve 331 is significantly larger than the target part curve peak 301. In the application, the target part curve 30 can satisfy the corresponding threshold range To judge whether it is the target part curve 30. Or judge by the curvature, gradient change, etc. of the iterative curve. In the figure, the iterative difference method is used to judge the boundary (accumulate the summation value of adjacent rows to calculate the difference, and assign the value to the corresponding row number, such as the row number corresponding to the subtrahend, or the row number corresponding to the subtrahend; The same column direction) to obtain the iterative difference curve 30a, the peak and valley on the curve satisfying the threshold is the boundary. If the boundary width of the difference curve of the background noise is smaller than the width of the target image, it is discarded.

Fig. 11 provides the pixel iterative processing effect diagram of the picture 1b in Fig. 1; the dotted line in the figure is an auxiliary line artificially given for the convenience of referring to the corresponding relationship. In order to simplify the accompanying drawings, no reference numerals are given in Fig. 11, The reference numerals are similar to those in FIG. 10 . The relevant results are shown in Tables 1 and 2, and the relevant descriptions are the same as those in Figure 10.

Table 1: Iteration Curve 30 Peak Situation

Table 2: The peak value of the iterative gradient curve

From the above table, it can be seen that no matter through the peak value or the boundary, or the combination of the two, the target image can be well identified, and the position coordinates of the target image can be obtained. Through the target images 10a, 10b on pictures 1a, 1b Coordinate changes, so as to judge the position changes of the target in the two states. With appropriate algorithms, relevant detection and location judgments can be made, laying the foundation for subsequent tracking and positioning.

The technical solution can obtain the spatial distribution characteristics of image pixels by iterating (such as summing) pixel values in different directions, so as to better reflect the characteristics of the image. At the same time, it has a small amount of calculation, a computational complexity of n (n is the number of pixels in the image), and a small resource occupation, which can be easily performed on various mobile computing terminals, embedded devices, and even single-chip computers with extremely limited computing resources. application, which notably provides its application scenarios. Moreover, its stability, robustness and robustness are all strong. Due to the iterative method, the difference between the pixel value of the target image and the pixel value of the background image is amplified through iteration. At the same time, there is no need to gradually compare the size of the pixel value in the whole process, which reduces the calculation load. Noise interference can better identify the target image. The scheme is used to identify the boundary of any target in the image, so as to automatically track the target, crop the picture, etc., and can identify and apply various situations of different shapes, different colors, and single to complex backgrounds. It has good effect, strong robustness and low complexity.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Optionally, they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be made into individual integrated circuit modules, or they can be integrated into Multiple modules or steps are fabricated into a single integrated circuit module to realize. As such, the present invention is not limited to any specific combination of hardware and software.

Claims (10)

1. The detection device is characterized in that the processing unit electrically connected to the image acquisition device, the image acquisition device collects the image of the detected target to form a detectable signal, the processing unit identifies the target image signal in the detectable signal, and according to the target image signal The target image is detected, and the detection information of the detected target is obtained. 2. The device according to claim 1, wherein the image acquisition device comprises an optical imaging unit, and an image unit arranged behind it, the optical imaging unit forms an optical image of the target and its background on the imaging unit, The imaging unit converts the optical images into other types of detectable signals and sends them to the processing unit. 3. The device according to claim 2, wherein the imaging unit is a photoelectric imaging unit, which converts the optical image into an image electrical signal and sends it to a processing unit, and the processing unit identifies the target in the image electrical signal The image signal is used to obtain the detection information of the target according to the relevant parameters of the target image signal. 4. The device according to any one of claims 1-3, further comprising a filter unit, the filter unit being arranged at a front end of an image acquisition device or an optical imaging unit. 5. The device according to claim 5, wherein the filter unit is an optical filter; or, the filter unit is a pinhole imaging system, and the pinhole imaging system includes an imaging screen arranged on The imaging hole in front of the imaging screen, the image acquisition device collects the image on the imaging screen. 6. The detection device is characterized in that the image sensing unit is connected to the data processing unit, an imaging aperture is arranged in front of the image sensing unit, and the detected target is directly formed on the image sensing unit through the imaging aperture. The optical image is produced by the image sensing unit as a digitized electrical signal. 7. A target tracking device, characterized in that it comprises the detection device according to any one of claims 1-7, the detection device is connected to a control unit, the control unit is connected to the tracking unit, and the detection device passes through The positional relationship of the target image signal is used to determine the position of the target, and the control unit controls the tracking unit to work. 8. The solar energy detection or tracking system, characterized in that it comprises the target tracking device according to claim 8, the detection device collects images of the sun, and detects or tracks the sun. 9. The solar energy system, comprising the system according to claim 9, the tracking unit is connected with the solar energy collection unit, and drives the movement or working state of the solar energy collection unit. 10. Target detection method, using image acquisition equipment to collect the image of the detected target, and realize the detection and tracking of the target through the recognition, detection and positioning of the target image.