CN116805987A - Relay protection cabinet terminal strip panorama acquisition system and acquisition method thereof - Google Patents
Relay protection cabinet terminal strip panorama acquisition system and acquisition method thereof Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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Abstract
The invention relates to the field of image acquisition and relay protection cabinets, in particular to a relay protection cabinet terminal row panorama acquisition system and a relay protection cabinet terminal row panorama acquisition method. According to the invention, the light supplementing module is adjusted to supplement light through the control module, so that panorama acquisition can be realized in a darker working environment. And the identification processing module is arranged to judge whether the relay protection cabinet terminal strip exists in the area shot by the camera module, so that the effectiveness of acquisition is ensured. And can guarantee to gather at suitable distance through the setting of range finding module. By means of these settings an efficient acquisition of a panorama of the darker working environment is achieved.
Description
Technical Field
The invention relates to the field of image acquisition and relay protection cabinets, in particular to a relay protection cabinet terminal block panorama acquisition system and a relay protection cabinet terminal block panorama acquisition method.
Background
At present, a large number of panoramic image acquisition devices are acquired by using multiple paths of camera sensors to acquire images in different angle views, and at least two paths of image sensors are generally required to acquire images with a certain overlapping area for panoramic image stitching.
The target detection algorithm can be divided into two types, two-stage and one-stage. For two-stage, the algorithm divides the detection problem into two stages, firstly generates a candidate region (region ppropossal) by a method such as a CNN (convolutional neural network) and then classifies the candidate region. Typical representatives are: although the error rate of the algorithm is low, the vulnerability recognition rate is low, the speed is low, and the algorithm is not suitable for real-time monitoring scenes.
For one-stage, the algorithm can directly generate the class probability and the position coordinate value of the object by using only one CNN network, and the final detection result can be directly obtained through single detection. Although not highly accurate, the speed is fast. Representative algorithms are: SSD, YOLO, etc.
In the daily maintenance and inspection process of the relay protection cabinet, the handheld terminal can be used for carrying out image shooting and acquisition on the relay protection cabinet terminal row, and due to the fact that the size of the photo shot independently is limited, archiving management and reference are not facilitated, the relay protection cabinet terminal row panorama acquisition equipment and the acquisition method thereof are necessary to provide, and panorama splicing is carried out on the acquired relay protection cabinet terminal row images.
The existing panorama acquisition device is usually a mobile phone and other edge devices, and panorama stitching is performed by continuously shooting a plurality of images with overlapping areas.
Aiming at the darker working environment of a relay protection cabinet, the existing panorama acquisition equipment is usually a mobile phone and other edge equipment cannot meet the field acquisition requirement, so that the panorama acquisition equipment and the panorama acquisition method for meeting the darker working environment in the electric power field are necessary.
Disclosure of Invention
The invention aims to overcome the defects of the traditional panorama acquisition equipment, and provides a panorama acquisition system and a panorama acquisition method for a relay protection cabinet terminal block, which realize panorama acquisition meeting the darker working environment in the electric power field.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a relay protection cabinet terminal row panorama acquisition system, includes control module, camera module, discernment processing module, range finding module, sensor module, light filling module, discernment processing module, range finding module, sensor module all are connected with the control module input, camera module, light filling module all are connected with the control module output.
According to the invention, the identification processing module, the ranging module, the sensor module and the light supplementing module are arranged, so that the light-dark place can be sensed by the sensor module, then signals are transmitted to the control module, and the light supplementing module is adjusted to supplement light by the control module, so that panorama acquisition can be realized in a darker working environment. And the identification processing module is arranged to judge whether the relay protection cabinet terminal strip exists in the area shot by the camera module, so that the effectiveness of acquisition is ensured. And can guarantee to gather at suitable distance through the setting of range finding module, avoid because the problem of distance leads to too big unable panorama of realization of image of gathering, or the image of gathering is too little unclear. By means of these settings an efficient acquisition of a panorama of the darker working environment is achieved.
Preferably, the sensor module comprises a gesture sensor module and a light sensor module, and the gesture sensor module and the light sensor module are connected with the input end of the control module.
The invention also provides a collecting method of the relay protection cabinet terminal strip panorama collecting system, which is characterized by comprising the following specific steps:
(1) Initial parameter setting is carried out on the ranging module, the camera module and the light supplementing module;
(2) Aligning the camera module with the relay protection cabinet terminal block, and identifying whether the relay protection cabinet terminal block exists in the picture or not through an identification processing module; if yes, the photographing or video recording button is changed into a usable state, and photographing or video recording is carried out; otherwise, the camera module is prompted and adjusted through the control module until the relay protection cabinet terminal block exists;
(3) After clicking a photographing or video recording button, acquiring a picture, sending the picture to a control module, judging the definition of the image by the control module, and adjusting to re-photograph or record the video if the image is fuzzy; if the image is clear, the image may be saved and the record numbered.
Preferably, in step (2) or step (3), adjusting the camera module by the control module includes adjusting a distance, adjusting an angle, and adjusting a light.
Preferably, the distance measuring module displays the distance between the distance measuring module and the relay protection cabinet terminal block in real time, and prompts an operation user to adjust the distance between the distance measuring module and the relay protection cabinet terminal block.
Preferably, the gesture sensor module obtains the gesture or angle of the camera module operated by the operation user, and prompts the operation user to adjust the gesture or angle if the inclination occurs.
Preferably, the light sensor module senses light rays when the camera module shoots in real time and sends signals to the control module, and the control module judges whether the light supplementing module is needed to supplement light through processing.
Preferably, the shake during photographing or video recording by the camera module may cause an error in sharpness of the photographing or video tape.
Preferably, the anti-shake method includes a mechanical stabilization method, an optical stabilization method, and a digital stabilization method.
Preferably, the recognition processing module recognizes that the terminal strip needs to be realized through a target detection algorithm, and a yolo series model is adopted, and the model training process is as follows: collecting terminal strip photos, marking terminal strip areas, dividing training sets and test sets, modifying network structures and parameters, training identification models, verifying model performance and model deployment.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the identification processing module, the ranging module, the sensor module and the light supplementing module are arranged, so that the light-dark place can be sensed by the sensor module, then signals are transmitted to the control module, and the light supplementing module is adjusted to supplement light by the control module, so that panorama acquisition can be realized in a darker working environment. And the identification processing module is arranged to judge whether the relay protection cabinet terminal strip exists in the area shot by the camera module, so that the effectiveness of acquisition is ensured. And can guarantee to gather at suitable distance through the setting of range finding module, avoid because the problem of distance leads to too big unable panorama of realization of image of gathering, or the image of gathering is too little unclear. By means of these settings an efficient acquisition of a panorama of the darker working environment is achieved.
Drawings
FIG. 1 is a schematic block diagram of a relay protection cabinet terminal block panorama acquisition system of the present invention;
FIG. 2 is a flowchart of an acquisition method of the relay protection cabinet terminal block panorama acquisition system of the present invention;
fig. 3 is a flowchart for guiding an operating user to correctly acquire an image.
Fig. 4 is a training flowchart of the object detection model provided by the present invention.
Fig. 5 is a flowchart of photo acquisition provided by the present invention.
Fig. 6 is a flowchart of video acquisition provided by the present invention.
Fig. 7 is a flowchart of an image jitter elimination algorithm provided by the present invention.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Examples
Fig. 1 to 7 show an embodiment of a relay protection cabinet terminal block panorama acquisition system and an acquisition method thereof, wherein the system comprises a control module, a camera module, an identification processing module, a ranging module, a sensor module and a light supplementing module, the identification processing module, the ranging module and the sensor module are connected with the input end of the control module, and the camera module and the light supplementing module are connected with the output end of the control module.
The sensor module comprises an attitude sensor module and a light sensor module, and the attitude sensor module and the light sensor module are connected with the input end of the control module.
The embodiment also provides a collecting method of the relay protection cabinet terminal block panorama collecting system, which comprises the following specific steps:
(1) Initial parameter setting is carried out on the ranging module, the camera module and the light supplementing module;
(2) Aligning the camera module with the relay protection cabinet terminal block, and identifying whether the relay protection cabinet terminal block exists in the picture or not through an identification processing module; if yes, the photographing or video recording button is changed into a usable state, and photographing or video recording is carried out; otherwise, the camera module is prompted and adjusted through the control module until the relay protection cabinet terminal block exists;
(3) After clicking a photographing or video recording button, acquiring a picture, sending the picture to a control module, judging the definition of the image by the control module, and adjusting to re-photograph or record the video if the image is fuzzy; if the image is clear, the image may be saved and the record numbered.
In step (2) or step (3), adjusting the camera module by the control module includes adjusting a distance, an angle, and a light.
In addition, the distance measuring module displays the distance between the distance measuring module and the relay protection cabinet terminal block in real time, and prompts an operation user to adjust the distance between the distance measuring module and the relay protection cabinet terminal block.
The gesture sensor module acquires the gesture or angle of the operation user for operating the camera module, and prompts the operation user to adjust the gesture or angle if inclination occurs.
In addition, the light sensor module senses light rays when the camera module shoots in real time and sends signals to the control module, and the control module judges whether the light supplementing module is needed to supplement light through processing.
The shake can bring errors to the definition of the photographing or video tape in the photographing or video recording process of the camera module.
In addition, the anti-shake method includes a mechanical stabilization method, an optical stabilization method, and a digital stabilization method.
The recognition processing module recognizes the terminal strip to be realized through a target detection algorithm, and a yolo series model is adopted, and the model training process is as follows: collecting terminal strip photos, marking terminal strip areas, dividing training sets and test sets, modifying network structures and parameters, training identification models, verifying model performance and model deployment.
Specifically:
the utility model provides a relay protection cabinet terminal row panorama acquisition equipment and acquisition method thereof, includes handheld terminal and acquisition method, and handheld terminal includes camera module, processing module, display module, range finding module, attitude sensor module, light filling module, and acquisition method still two kinds of modes, one is the mode of shooing, and another is the video mode, to the demand and the characteristics of relay protection cabinet terminal row panorama acquisition, panorama acquisition flow is:
1) Entering a handheld terminal, setting the number of pictures photographed in a panoramic manner, setting parameters of a light supplementing lamp module and a ranging module, and storing;
2) Aligning the camera module with the relay protection cabinet terminal block, enabling a photographing button to be in a usable state when the processing module recognizes that the terminal block exists in a picture, clicking to photograph, and prompting an operation user to align the camera with the relay protection cabinet terminal block by the handheld terminal when the processing module cannot recognize that the terminal block exists in the picture;
3) When the display distance of the ranging module is within the set range, the prompt can take a picture, and when the display distance of the ranging module is greater than or less than the set range, the prompt operation user adjusts the distance between the handheld terminal and the relay protection cabinet terminal strip.
4) The gesture sensor module acquires the gesture of the handheld terminal, and prompts an operation user to adjust the angle of the handheld terminal if the handheld terminal is inclined.
5) After clicking the photographing button, a picture is obtained, the processing module judges the definition of the image, if the image is blurred
Prompting an operation user to adjust the focal length of the handheld terminal to re-photograph, if the image is clear, saving the image, and recording the photographing sequence.
Further, the video anti-shake method includes a mechanical stabilization method, an optical stabilization method, and a digital stabilization method.
Mechanical video stabilization: mechanical image stabilization systems use motion detected by special sensors such as gyroscopes and accelerometers to move the image sensor to compensate for the motion of the camera.
Optical video stabilization: in this method, instead of moving the entire video camera, stabilization is achieved by moving portions of the lens, which uses a movable lens combination, the path length of the light can be variably adjusted as it passes through the lens system of the camera.
Digital video stabilization: the method does not need a special sensor to estimate the movement of the camera, and mainly comprises three steps of 1, movement estimation, 2, movement smoothing, 3 and image synthesis; the first step derives the transformation parameters between two successive coordinate systems, the second step filters unwanted movements and in the last step reconstructs a stable video.
Further, in order to solve the problem of jitter and blur of continuous pictures and videos, an image jitter elimination algorithm is adopted: the video anti-shake is realized by using point feature matching, and the steps are as follows: inputting two adjacent frames, converting to a gray map, finding movement between frames, calculating smooth motion between frames, and applying the smooth camera motion to the frames.
Further, in the operation process of converting into the gray scale map, the conversion formula of RGB values and gray scales: grey=0.299×r+0.587×g+0.114×b.
Further, the motion between the search frames adopts a Lucas Kanade sparse optical flow algorithm, and the Lucas Kanade sparse optical flow algorithm is an optical flow estimation algorithm of two-frame difference, and the basic idea is based on the following three assumptions:
constant brightness: the pixels of the target image in the scene appear unchanged from frame to frame movement. For gray scale images (as is true for color images) this means that the gray scale value of the pixel does not change with the tracking of the frame.
Time duration (micro movement): the movement of the camera over the image varies slowly with time. In practice this means that time variations do not cause a drastic change in the pixel position, so that the gray value of the pixel can only be used to derive the corresponding partial derivative of the position.
Spatial consistency: adjacent points of the same surface in the scene have similar motion and their projection onto the image plane is also closer.
The first two of the three basic hypotheses are basic hypotheses of the optical flow method, and the third is unique to the LK algorithm.
Based on the first two assumptions, we get the constraint equation for the image:
i (x, y, t) =i (x+δx, y+δy, t+δt), where I (x, y, t) is the luminance of the image at the (x, y) position at time t.
Further, a moving average filter (movingaverage filter) is employed to calculate the smooth motion between frames.
Further, the distance measuring module calculates the distance between the handheld terminal and the photographed object.
Further, for the shot picture, when the processing module recognizes that the image is inclined, the operation user is prompted to adjust the angle of the handheld terminal.
Furthermore, in order to eliminate the distortion of the camera module, the camera module is calibrated before photographing.
Furthermore, the processing module identifies the terminal strip to be realized through a target detection algorithm, a yolo series model is adopted, and the model training process is as follows: collecting terminal strip photos, marking terminal strip areas, dividing training sets and test sets, modifying network structures and parameters, training identification models, verifying model performance and model deployment.
Further, when the processing module identifies that the terminal strip exists in the picture, the prediction workflow is as follows:
1. and placing the picture into a network for processing.
2. After dividing into 49 grids, two boundingboxes can be obtained for each grid.
3. Each grid prediction category information (class) is multiplied by confidence information of the boundingboxes predictions to obtain probability PrIOU that the probability and the position of each candidate frame predicting a specific object overlap.
4. For each category, prIOU is ordered, prIOU less than a threshold is removed, and then non-maximum suppression is performed.
Further, the above-mentioned Non-maximum suppression (Non-maxsuppresion) refers to selecting a candidate box with highest confidence, and deleting a certain candidate box if the overlapping area IOU of the candidate box and the candidate box with the highest current score is greater than a certain threshold.
Further, for the processing of blurred and dark images, a dark channel defogging algorithm may be used, so called dark channel is a basic assumption that it is assumed that in most local areas other than sky, some pixels will always have at least one color channel with a very low value. This fact is readily understood to be why this assumption is made in real life, such as shadows in automobiles, buildings or cities, or objects or surfaces with vivid colors (such as green leaves, various vivid flowers, or blue-green sleep), objects or surfaces with darker colors, and dark channels of these scenes always become darker. Dark channel a priori theory states that: the dark channel is actually obtained by taking the minimum values in the three channels rgb to form a gray scale map and then performing a minimum value filtering.
Further, the image enhancement algorithm may employ a histogram equalization processing algorithm, the principle of which is as follows
1. Equalization process: histogram equalization ensures that the original size relationship remains unchanged in the image pixel mapping process, i.e. the brighter region remains brighter and the darker region remains darker, but the contrast is increased and the brightness cannot be reversed; the value range of the pixel mapping function is guaranteed to be between 0 and 255. The cumulative distribution function is a single growth function and the range of values is 0 to 1.
2. The cumulative distribution function implementation process: the probability distribution function is compared with the cumulative distribution function, the two-dimensional image of the former is jagged, and the latter is monotonically increasing. In the histogram equalization process, the mapping method is that
Where n is the sum of the pixels in the image, n k The number of pixels that are the current gray level, L, is the total number of gray levels possible in the image.
Referring to fig. 3, the panorama acquisition process is as follows:
1) Entering a handheld terminal, manually setting the number of pictures photographed in a panoramic manner, setting parameters of a light supplementing lamp module and a ranging module, and storing;
2) Aligning the camera module with the relay protection cabinet terminal block, enabling a photographing button to be in a usable state when the processing module recognizes that the terminal block exists in a picture, clicking to photograph, and prompting an operation user to align the camera with the relay protection cabinet terminal block by the handheld terminal when the processing module cannot recognize that the terminal block exists in the picture;
3) When the display distance of the ranging module is within the set range, the prompt can take a picture, and when the display distance of the ranging module is greater than or less than the set range, the prompt operation user adjusts the distance between the handheld terminal and the relay protection cabinet terminal strip.
4) The gesture sensor module acquires the gesture of the handheld terminal, and prompts an operation user to adjust the angle of the handheld terminal if the handheld terminal is inclined.
5) After clicking a photographing button, obtaining a picture, judging the definition of the picture by a processing module, prompting an operation user to adjust the focal length of the handheld terminal to re-photograph if the picture is blurred, saving the picture if the picture is clear, recording the photographing sequence, and saving the pictures of the same batch under the same folder.
Referring to fig. 4, the processing module identifies that the terminal strip needs to be implemented by a target detection algorithm, and adopts a yolov5 model, and the model training process is as follows: collecting terminal strip photos, marking terminal strip areas, dividing training sets and test sets, modifying network structures and parameters, training identification models, verifying model performance and model deployment.
Referring to fig. 5, in the photographing and collecting mode, the flow is as follows: setting the photographing quantity, identifying that terminal rows exist in a picture, satisfying photographing distance, photographing angle and image definition, and storing the pictures as pictures through image processing
Referring to fig. 6, in the video acquisition mode, the flow is as follows: shooting continuous video, extracting pictures in a frame skip mode, recognizing that terminal blocks exist in the pictures and the image definition meets the requirements, and storing the pictures as pictures through image processing, wherein the specific flow is as follows:
1) Entering a handheld terminal, setting parameters of a light supplementing lamp module and a ranging module, and storing;
2) Aligning the camera module with a relay protection cabinet terminal block to record video;
3) The distance measuring module displays the distance between the terminal and the terminal strip in real time, and prompts an operation user to adjust the distance between the handheld terminal and the terminal strip of the relay protection cabinet.
4) The gesture sensor module acquires the gesture of the handheld terminal, and prompts an operation user to adjust the angle of the handheld terminal if the handheld terminal is inclined.
5) And (3) frame skipping to extract pictures, judging whether terminal rows exist in the images or not and whether the image definition is met or not, and finally storing the pictures in the same batch under the same folder through image processing operation.
The image processing operations described in fig. 3 and 4 include image enhancement algorithms, blur processing algorithms, and the like. It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. The utility model provides a relay protection cabinet terminal row panorama acquisition system which characterized in that, including control module, camera module, discernment processing module, range finding module, sensor module, light supplementing module, discernment processing module, range finding module, sensor module all are connected with the control module input, camera module, light supplementing module all are connected with the control module output.
2. The relay protection cabinet terminal strip panorama acquisition system according to claim 1, wherein the sensor module comprises an attitude sensor module and a light sensor module, and the attitude sensor module and the light sensor module are connected with the input end of the control module.
3. The acquisition method of the relay protection cabinet terminal block panorama acquisition system according to claim 2, wherein the method comprises the following specific steps:
(1) Initial parameter setting is carried out on the ranging module, the camera module and the light supplementing module;
(2) Aligning the camera module with the relay protection cabinet terminal block, and identifying whether the relay protection cabinet terminal block exists in the picture or not through an identification processing module; if yes, the photographing or video recording button is changed into a usable state, and photographing or video recording is carried out; otherwise, the camera module is prompted and adjusted through the control module until the relay protection cabinet terminal block exists;
(3) After clicking a photographing or video recording button, acquiring a picture, sending the picture to a control module, judging the definition of the image by the control module, and adjusting to re-photograph or record the video if the image is fuzzy; if the image is clear, the image may be saved and the record numbered.
4. The method for collecting a panorama of a relay protection cabinet terminal block according to claim 3, wherein in the step (2) or the step (3), adjusting the camera module by the control module comprises adjusting a distance, an angle, and a light.
5. The method for collecting the panorama of the relay protection cabinet terminal block according to claim 4, wherein the distance measuring module displays the distance between the relay protection cabinet terminal block and the relay protection cabinet terminal block in real time, and prompts the operation user to adjust the distance between the relay protection cabinet terminal block and the relay protection cabinet terminal block.
6. The method for collecting the panorama of the terminal block of the relay protection cabinet according to claim 4, wherein the gesture sensor module obtains a gesture or an angle of the operation of the camera module by the operation user, and prompts the operation user to adjust the gesture or the angle if the inclination occurs.
7. The method for collecting the panorama of the terminal block of the relay protection cabinet according to claim 4, wherein the light sensor module senses light rays of the camera module in real time when photographing, and sends signals to the control module, and the control module processes the signals to determine whether the light supplementing module is needed to supplement light.
8. The method for collecting the panorama acquisition system for the terminal block of the relay protection cabinet according to any one of claims 3 to 7, wherein the shake during the photographing or video recording of the camera module causes an error in the sharpness of the photographing or video recording tape.
9. The method for collecting a panorama acquisition system for a relay protection cabinet terminal block according to claim 8, wherein the anti-shake method comprises a mechanical stabilization method, an optical stabilization method and a digital stabilization method.
10. The method for collecting the panorama of the terminal block of the relay protection cabinet according to claim 3, wherein the identification processing module identifies the terminal block to be realized by a target detection algorithm, and a yolo series model is adopted, and the model training process is as follows: collecting terminal strip photos, marking terminal strip areas, dividing training sets and test sets, modifying network structures and parameters, training identification models, verifying model performance and model deployment.
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| CN117840604A (en) * | 2024-02-09 | 2024-04-09 | 深圳市妙笔天成科技有限公司 | Global scanning laser engraving method, device, electronic equipment and storage medium |
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