CN103997622A - Automatic cleaning method of unattended monitoring camera - Google Patents
Automatic cleaning method of unattended monitoring camera Download PDFInfo
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- CN103997622A CN103997622A CN201410118049.7A CN201410118049A CN103997622A CN 103997622 A CN103997622 A CN 103997622A CN 201410118049 A CN201410118049 A CN 201410118049A CN 103997622 A CN103997622 A CN 103997622A
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Abstract
The invention discloses an automatic cleaning method of an unattended monitoring camera, and an automatic cleaning and alarming device of the unattended monitoring camera using the automatic cleaning method. The automatic cleaning method comprises six steps respectively: initializing a system, sampling a monitoring image, performing edge sharpening processing on the sampled image, comparing numbers of lines of the sampled image and a prestored image, comparing shapes of the sampled image and the prestored image, and cleaning and alarming. The invention further provides an automatic cleaning and alarming device of the unattended monitoring camera using the automatic cleaning method. The automatic cleaning and alarming device comprises a monitoring camera, a monitoring host, a DSP (Digital Signal Processor)-based identification module, a memory, an alarm circuit and an automatic camera cleaning circuit, an alarm device and an automatic cleaning device. The cleaning method and device provided by the invention are capable of carrying out unattended monitoring on the monitoring image, and automatically cleaning the camera or sending an alarm signal out under a proper condition.
Description
Technical field
The automation that the present invention relates to camera detects, and specifically relates to a kind of auto-cleaning method of unattended monitoring camera.
Background technology
There is no at present intelligent monitoring automatic flushing device patent, only there is the patent of the device that needs the automatic cleaning monitoring that people operates, prior art is to utilize switch or button to carry out the automatic flushing device of remote control watch-dog, needs artificial judging and operate.
There are following two large shortcomings in prior art:
1) erroneous judgement of people to image sharpness.In this case, be exactly obviously on camera lens, to have the part that messy and needs clean, it is clear that but the static picture image of seeing from display can be said to be on the whole, when being so just easy to cause reviewing video recording, in picture, the details of parts of images is imperfect, thereby omit important image information, particularly under the many especially conditions of the quantity of monitoring camera.
2) not strong to the real-time of picture quality monitoring.Carrying out under condition artificial on duty, the situation that there will be unavoidably personnel to leave, during this period of time, when there is sudden problem if there is monitored picture, for example: unexpected picture signal interruption or paroxysmal camera lens are contaminated, operator on duty also cannot obtain relevant information, when waiting until artificial the intervention, has perhaps missed many important monitor messages.The present invention can greatly reduce needs artificial operation, alleviates attendant's workload, can intelligence be cleanly judged as sordid camera lens, make the image information of storage can be more complete.In the problem that simultaneously can also occur automatically solving at the image frame of monitoring in real time, in time to attendant's signal that gives the alarm.
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Summary of the invention
Main purpose of the present invention is to provide a kind of auto-cleaning method of unattended monitoring equipment to overcome above shortcoming.Specifically relate to the automatic cleaning that is operated in open air or the more severe monitoring camera of operational environment, be especially operated in the automatic cleaning of the monitoring camera in the environment that dust more seriously or is easily subject to man's activity.
Whether, because the operating state that more often need to monitor is 24 hours, rotational personnel is continual on duty at Control Room all the time like this, normal and clear to observe the picture that watch-dog passes back.The problem that the present invention solves is whether the definition of picture and the operating state of watch-dog passed back by the next real-time monitoring watch-dog of the image processing techniques based on DSP be normal, and under suitable condition, tell timely the operating state of attendant's watch-dog.Thereby realize the unattended operation to watch-dog and automatically clean.
Monitoring image picture when the present invention first records by memory that one group camera lens is unclean in the same time time, then carry out computing comparison with the sampled picture of actual photographed, if the picture of finding sampling is than the poor equipment (motor of rain brush, the shower nozzle of cleaning solution etc.) to starting clean lens time certain threshold value of the definition of picture of storage, after clean, again compare, if definition just stops the work of motor after higher than certain threshold value.If but after repeatedly cleaning, definition, not higher than threshold value, will provide an alarm signal, give administrative staff with prompting.If incomplete words of picture signal or when being subject to larger interference, also can provide alarm signal.
In normal circumstances, the captured corresponding shooting background of picture of camera is constant.Then carry out in the process of picture storage at DVR, all can adopt the storage mode of " dynamic detection " in order to save memory space general user, only storage is when there being the picture of dynamic object in picture.In contrast,, in the time that DVR starts stored picture, it does not carry out picture samples to discriminating gear in the present invention; In the time that DVR does not carry out storage operation, it starts to carry out the picture samples of intermittent.The picture of sampling back by the image processing method of sharpen edges, whether the quantity of distinguishing lines in image reduces or increases with the lines quantity in the image prestoring, when both differences are greater than after certain value, just be judged as image blurringly, start cleaning device, device to be cleaned after hours, again sample and carry out picture processing and comparison, if both dwindle at difference, and be less than certain value, just judge that this cleaning finishes; If difference does not narrow down to desired value, just again start cleaning device, if after repeatedly cleaning finishes, the lines quantity in real-time pictures does not still reach in the scope of expection, just starts circuit for alarming, notifies attendant.If when there is mud point or other shelters on camera lens, the position that in image, lines distribute so can be changed, and distributes and differs too many with the lines of the picture that prestores if lines distribute, and equally also can be judged as camera lens need to clean.
The variation that also can be subject to weather and light intensity due to the environment of taking in addition affects, in order to make this system can adapt to the operational environment of different weather, need to store corresponding pre-stored image according to different weather and light intensity, then in carrying out monitoring in real time, choose suitable pre-stored image according to the change of environment and compare.If cause the triggering of circuit for alarming because of the variation of environment, attendant can improve by the mode of replacement pre-stored image the reliability of this system.
Concrete, first step that the present invention cleans is automatically system initialization: first default one group not in the same time time, monitoring image picture when camera lens is clean is as pre-stored image, and is stored in memory.The second step that the present invention cleans is automatically monitoring image picture samples: in the time that monitoring host computer does not carry out storage operation, image capturing system starts to carry out the monitoring image picture samples of intermittent.The 3rd step that the present invention cleans is automatically the processing of sampled images sharpen edges: sampled images is carried out to image sharpening edge treated, and tentatively judge, judge that whether sharpening lines quantity after treatment is too much or very few, too much or very few words, just the image of explanation sampling is invalid, enter the 6th step of the present invention, otherwise enter next step.The lines quantity comparison that the 4th step that the present invention automatically cleans is sampled images and pre-stored image: the lines quantity of the sampled images through sharpen edges processing and also the lines quantity of the pre-stored image of process sharpen edges processing contrast, if difference is less than given threshold value, enter next step; If difference is more than or equal to given threshold value, be just judged as camera image fuzzy, continue the 6th step of the present invention.The five steps that the present invention cleans is automatically the shape matching of sampled images and pre-stored image: carrying out the mode of displacement through the sampled images of sharpen edges processing and carrying out overlapping computing through the pre-stored image of sharpen edges processing, take out the wherein value of both overlapping rear lines minimums and default threshold value comparison, it is clear that the image that is less than or equal to threshold value is judged as camera lens, returns to second step; If be greater than threshold value, enter the 6th step of the present invention.The 6th step that the present invention cleans is automatically to clean and warning link: start cleaning device, and the wash number of this step accumulative total is counted, when accumulative total Cleaning count is less than given number of times, return to the 4th step of the present invention; When accumulative total Cleaning count is more than or equal to given number of times, be judged to be to need manual intervention, start circuit for alarming, notify attendant, wash number is made zero simultaneously.
The present invention provides a kind of unattended monitoring camera that uses described auto-cleaning method automatically to clean and alarm device simultaneously, and this device comprises: monitoring camera, monitoring host computer, the automatic cleaning circuit of identification module, memory, circuit for alarming and camera based on DSP, alarm device, automatic flushing device.Monitoring host computer is not in carrying out storage operation, monitoring camera is carried out to the image sampling of intermittent, and the sampled images obtaining is sent to the identification module based on DSP, identification module based on DSP is chosen monitoring image picture when one group camera lens is unclean in the same time as pre-stored image, and be stored in memory, meanwhile, the identification module based on DSP can be from memory fetch pre-stored image in the time judging the definition of camera.The automatic cleaning circuit of circuit for alarming and camera is connected respectively with alarm device and automatic flushing device, and unattended monitoring camera of the present invention automatically cleans and alarm device uses above-mentioned auto-cleaning method clean and report to the police.
beneficial effect
The present invention can realize the unattended monitored picture of monitoring camera and monitor, and suitable in the situation that, automatically cleans camera or provide alarm signal.
Auto-cleaning method of the present invention has used following 3 Main Means:
One. by prestoring of static object in monitored picture relatively judged to the definition of monitoring camera with sampling.Like this, just can avoid because there is dynamic object in picture, and cause the good object of reference of neither one to judge the situation that whether has pollution on the camera lens of whole camera;
Two. by adopting the method for the edge sharpening in image processing to judge the definition of picture.Can make the edge between the static object in picture become more clear by the method for edge sharpening, it is more obvious that the sudden change of color becomes, and adds up thereby be convenient to processor the number of lines comprising;
Three. by whether having within a period of time carry out repeatedly cleaning and come that the such picture of intelligent decision is unintelligible whether can be cleaned.Whether words can effectively to judge taked cleaning effective like this, just can not be because of because clean operation does not act on the order that ceaselessly sends clean operation causing for the definition of image.
Brief description of the drawings
Fig. 1 is the process of image recognition;
Fig. 2 is working-flow figure.
embodiment:
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with brief description of the drawings, the present invention is further elaborated.
First step that the present invention cleans is automatically system initialization: first, and system power-on reset.Program is booted from FLASH, completes the importing of image processing program, and the internal memory of pre-stored image imports, and default one group not in the same time time, monitoring image picture when camera lens is clean is as pre-stored image, and is stored in memory.Next carries out some initial work, as SDRAM of initialization EMIF interface etc., the then triggering of waiting signal.The second step that the present invention cleans is automatically monitoring image picture samples: in the time that monitoring host computer does not carry out storage operation, image capturing system starts to carry out the monitoring image picture samples of intermittent.Specifically in the time there is no dynamic menu in the captured image of monitoring camera, the triggering signal that DVR provides will make to produce DSP and interrupt, DSP utilizes I2C bus, by serial line interface, the register of image collection chip is write to relevant parameter, impels it to carry out IMAQ.CPLD completes the address signal of frame control, sequential logic and generation necessity of acquisition chip, and secondly, CPLD also carries out necessary logic control to the interface FIFO of image capture module and image processing module.IMAQ form is the 16bitRGB of 512x512, can generate the RGB image of 24bit by image collection chip peripheral circuit and latch.Image by the DMA passage of DSP, deposits SDRAM in through FIFO on the one hand, so that DSP carries out image processing, can import PC into through pci bus by DMA on the other hand and show for reference.The 3rd step that the present invention cleans is automatically the processing of sampled images sharpen edges: sampled images is carried out to image sharpening edge treated, and tentatively judge, judge that whether sharpening lines quantity after treatment is too much or very few, too much or very few words, just the image of explanation sampling is invalid, enter the 6th step of the present invention, otherwise enter next step.In this step, FLASH deposits image processing algorithm in, is imported in DSP and is carried out image processing operations by the EMIF of DSP.The lines quantity comparison that the 4th step that the present invention automatically cleans is sampled images and pre-stored image: the lines quantity of the sampled images through sharpen edges processing and also the lines quantity of the pre-stored image of process sharpen edges processing contrast, if difference is less than given threshold value, enter next step; If difference is more than or equal to given threshold value, be just judged as camera image fuzzy, continue the 6th step of the present invention.The five steps that the present invention cleans is automatically the shape matching of sampled images and pre-stored image: carrying out the mode of displacement through the sampled images of sharpen edges processing and carrying out overlapping computing through the pre-stored image of sharpen edges processing, take out the wherein value of both overlapping rear lines minimums and default threshold value comparison, it is clear that the image that is less than or equal to threshold value is judged as camera lens, returns to second step; If be greater than threshold value, enter the 6th step of the present invention.The 6th step that the present invention cleans is automatically to clean and warning link: start cleaning device, and the wash number of this step accumulative total is counted, when accumulative total Cleaning count is less than given number of times, return to the 4th step of the present invention; When accumulative total Cleaning count is more than or equal to given number of times, be judged to be to need manual intervention, start circuit for alarming, notify attendant, wash number is made zero simultaneously.
Unattended monitoring camera provided by the invention automatically cleans and alarm device comprises: monitoring camera, monitoring host computer, the automatic cleaning circuit of identification module, memory, circuit for alarming and camera based on DSP, alarm device, automatic flushing device.Monitoring host computer is not in carrying out storage operation, the picture that identification module based on DSP is passed back monitoring camera carries out the image sampling of intermittent, then the sampled images obtaining is sent to the identification module based on DSP, whether clearly the picture that identification module based on DSP is chosen prestore monitoring image picture and sampling when a group the corresponding moment, camera lens was clean compares, be used as and judge camera foundation; The automatic cleaning circuit of circuit for alarming and camera is connected respectively with alarm device and automatic flushing device.It is as follows that system is moved concrete flow process:
1. first, system power-on reset.Program is booted from FLASH, completes the importing of image processing program, and the internal memory of pre-stored image imports and some initial work, as the SDRAM of initialization EMIF interface etc., and the then triggering of waiting signal.
2. in the time there is no dynamic menu in the captured image of monitoring camera, the triggering signal that DVR provides will make to produce DSP and interrupt, and DSP utilizes I2C bus, by serial line interface, the register of image collection chip is write to relevant parameter, impels it to carry out IMAQ.
3.CPLD completes the address signal of frame control, sequential logic and generation necessity of acquisition chip, and secondly, CPLD also carries out necessary logic control to the interface FIFO of image capture module and image processing module.IMAQ form is the 16bitRGB of 512x512, can generate the RGB image of 24bit by image collection chip peripheral circuit and latch.
4. image, through FIFO by the DMA passage of DSP, deposits SDRAM on the one hand, so that DSP carries out image processing, can import PC into through pci bus by DMA on the other hand and show for reference.
5.FLASH deposits image processing algorithm in, is imported in DSP and is carried out image processing operations by the EMIF of DSP.
6. processing result image judges whether to provide alarm signal and starts cleaning device.
More than show and what describe is general principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and specification, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (2)
1. an auto-cleaning method for unattended monitoring camera, comprises following 6 steps:
One. system initialization: first default a group not in the same time time, monitoring image picture when camera lens is clean is as pre-stored image, and is stored in memory;
Two. monitoring image picture samples: in the time that monitoring host computer does not carry out storage operation, image capturing system starts to carry out the monitoring image picture samples of intermittent;
Three. sampled images sharpen edges processing: sampled images is carried out to image sharpening edge treated, and tentatively judge, judge that whether sharpening lines quantity after treatment is too much or very few, too much or very few words, just the image of explanation sampling is invalid, enter the 6th step of the present invention, otherwise enter next step;
Four. the lines quantity comparison of sampled images and pre-stored image: the lines quantity of the sampled images that passes through sharpen edges processing is contrasted with the lines quantity of also passing through the pre-stored image of sharpen edges processing, if difference is less than given threshold value, enter next step; If difference is more than or equal to given threshold value, be just judged as camera image fuzzy, continue the 6th step of the present invention;
Five. the shape matching of sampled images and pre-stored image: carrying out the mode of displacement through the sampled images of sharpen edges processing and carrying out overlapping computing through the pre-stored image of sharpen edges processing, take out the wherein value of both overlapping rear lines minimums and default threshold value comparison, it is clear that the image that is less than or equal to threshold value is judged as camera lens, returns to second step; If be greater than threshold value, enter the 6th step of the present invention;
Six. clean and warning link: start cleaning device, and the wash number of this step accumulative total is counted, when accumulative total Cleaning count is less than given number of times, return to the 4th step of the present invention; When accumulative total Cleaning count is more than or equal to given number of times, be judged to be to need manual intervention, start circuit for alarming, notify attendant, wash number is made zero simultaneously.
2. right to use requires the unattended monitoring camera of the auto-cleaning method of unattended monitoring camera described in 1 automatically to clean and an alarm device, and this device comprises: monitoring camera, monitoring host computer, the automatic cleaning circuit of identification module, memory, circuit for alarming and camera based on DSP, alarm device, automatic flushing device; Monitoring host computer is not in carrying out storage operation, monitoring camera is carried out to the image sampling of intermittent, and the sampled images obtaining is sent to the identification module based on DSP, identification module based on DSP is chosen monitoring image picture when one group camera lens is unclean in the same time as pre-stored image, and be stored in memory, meanwhile, the identification module based on DSP can be from memory fetch pre-stored image in the time judging the definition of camera; The automatic cleaning circuit of circuit for alarming and camera is connected respectively with alarm device and automatic flushing device.
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| CN104539839A (en) * | 2014-12-10 | 2015-04-22 | 北京中星微电子有限公司 | Control method of camera and camera |
| CN105487430A (en) * | 2014-09-19 | 2016-04-13 | 中国科学院沈阳自动化研究所 | Method and system for automatic cleaning of underwater holder |
| CN106251430A (en) * | 2015-06-09 | 2016-12-21 | 福特全球技术公司 | The system and method for parts is entered for controlling vehicle |
| CN107248160A (en) * | 2017-05-31 | 2017-10-13 | 浙江远望信息股份有限公司 | Video monitoring image distortion detection method and system |
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| CN109177929A (en) * | 2018-09-29 | 2019-01-11 | 北京经纬恒润科技有限公司 | A kind of cleaning method, cleaning device and the vehicle of vehicle-mounted optical detector |
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| CN111055814A (en) * | 2019-12-12 | 2020-04-24 | 新石器慧通（北京）科技有限公司 | Cleaning method and cleaning system of environment perception sensor and unmanned vehicle |
| CN111064870A (en) * | 2019-12-13 | 2020-04-24 | 深圳拓邦股份有限公司 | Lens cleaning method, control device and storage medium of visual robot |
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| CN112087594A (en) * | 2019-06-14 | 2020-12-15 | 上海巍宇航天科技有限公司 | Monitoring camera system with automatic light supplementing lamp |
| WO2021179249A1 (en) * | 2020-03-12 | 2021-09-16 | Covidien Lp | Methods and systems for realtime monitoring and cleaning of a laparoscopic lens |
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| CN112087594A (en) * | 2019-06-14 | 2020-12-15 | 上海巍宇航天科技有限公司 | Monitoring camera system with automatic light supplementing lamp |
| CN110891136A (en) * | 2019-11-14 | 2020-03-17 | 重庆特斯联智慧科技股份有限公司 | Thing networking camera for security protection |
| CN111055814A (en) * | 2019-12-12 | 2020-04-24 | 新石器慧通（北京）科技有限公司 | Cleaning method and cleaning system of environment perception sensor and unmanned vehicle |
| CN111064870A (en) * | 2019-12-13 | 2020-04-24 | 深圳拓邦股份有限公司 | Lens cleaning method, control device and storage medium of visual robot |
| CN111147761A (en) * | 2019-12-28 | 2020-05-12 | 中国第一汽车股份有限公司 | Vehicle camera equipment cleaning method and system, vehicle and storage medium |
| WO2021179249A1 (en) * | 2020-03-12 | 2021-09-16 | Covidien Lp | Methods and systems for realtime monitoring and cleaning of a laparoscopic lens |
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