CN105898242A - Sun tracking system and method based on image collection and processing - Google Patents
Sun tracking system and method based on image collection and processing Download PDFInfo
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- CN105898242A CN105898242A CN201610413856.0A CN201610413856A CN105898242A CN 105898242 A CN105898242 A CN 105898242A CN 201610413856 A CN201610413856 A CN 201610413856A CN 105898242 A CN105898242 A CN 105898242A
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- flush bonding
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- sun
- tracking system
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000006870 function Effects 0.000 claims description 9
- 239000006002 Pepper Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
The invention discloses a sun tracking system and method based on image collection and processing. The system comprises a camera, a storage module, an embedded processor, a level conversion chip, a PC and a servo motor. The camera is connected with the embedded processor by the storage module. The PC is connected with the embedded processor by the level conversion chip. The control end of the servo motor is connected with the embedded processor. The output shaft of the servo motor contacts the camera. The camera collects image data and stores the image data in the storage module. The embedded processor invokes the image data from the storage module and uploads to the PC. The PC estimates the real time mass center coordinate of the sun according to the uploaded image data, generates motor control signals and transmits the signals to the embedded processor. The embedded processor drives the servo motor to operate according to the motor control signals, thus driving the camera to track the mass center of the sun. According to the system and the method, the sun tracking timeliness and precision can be improved.
Description
Technical field
The invention belongs to image procossing and application technology, particularly to a kind of based on image acquisition and the solar tracking system of process with method.
Background technology
Sun tracker is a basic element of character in scattering actinometry, and its degree of accuracy directly affects the radiometric precision of scattering and accuracy.Photo-electric sun tracing method is because of its simple in construction, it is easy to accomplish, there is higher tracking accuracy simultaneously and be widely used in the fields such as solar radiation measurement and Application of Solar Energy.But although traditional instantaneous tracking accuracy of photo-electric tracking is higher, but most employings are directly based upon the tracking of embedded platform, it is limited to calculating speed and the development difficulty of the main control chips such as flush bonding processor, tend not to the most accurate location sun barycenter, cumulative error easily occurs, affects stability and the seriality of solar tracking.
Modern image acquisition and process quickly grows, and various acquisition methods are the most ripe.Most of image capturing system in the market can be divided into two kinds, a kind of based on embedded system, and a kind of is the acquisition system of Based PC.It is limited to development difficulty or the arithmetic speed of embedded system, cannot be used widely in some application needing complicated image to process based on Embedded image capturing system.The development platform supported in the acquisition system of Based PC is limited, and needs designer to have deeper programming basis, and difficulty is bigger.
Summary of the invention
In order to solve the technical problem that above-mentioned background technology proposes, it is desirable to provide it is a kind of based on image acquisition and the solar tracking system of process with method, PC is combined with embedded system, and by using interrupt function in image acquisition process, it is thus possible to quickly process the every two field picture gathered, improve the real-time and precision followed the tracks of.
In order to realize above-mentioned technical purpose, the technical scheme is that
A kind of based on image acquisition with the solar tracking system of process, including photographic head, memory module, flush bonding processor, electrical level transferring chip, PC and servomotor, the stored module of described image acquisition device is connected with flush bonding processor, PC is connected with flush bonding processor by electrical level transferring chip, the control end of servomotor is connected with flush bonding processor, and the output shaft of servomotor contacts with photographic head；Camera collection view data is also stored in memory module, flush bonding processor is transferred view data from memory module and is uploaded to PC, PC estimates the real-time center-of-mass coordinate of the sun according to the view data uploaded, generate motor control signal further according to center-of-mass coordinate and send flush bonding processor to, flush bonding processor drives servomotor operating according to motor control signal, thus drives photographic head to follow the tracks of sun barycenter.
Preferred version based on technique scheme, the model of described photographic head is OV7725.
Preferred version based on technique scheme, the model of described electrical level transferring chip is CP2102.
Preferred version based on technique scheme, described memory module is FIFO memory.
Preferred version based on technique scheme, described flush bonding processor uses STM32 type single-chip microcomputer.
The invention allows for sun tracing method based on above-mentioned solar tracking system, comprise the following steps:
(1) PC initiation parameter, opens serial ports, is ready for communication；
(2) PC sends handshake to flush bonding processor, after flush bonding processor receives handshake, transfers a frame image data and be uploaded to PC from memory module；
(3) when PC receives the full stop of this frame image data, representing that PC has been successfully received a two field picture, now PC triggers interrupt function, stops the data transmission between PC and flush bonding processor, and carries out following image procossing in interrupt function:
A the image received is converted into gray level image by (), and remove Gaussian noise and the salt-pepper noise of image；
B () uses maximum variance between clusters to calculate the threshold value of image binaryzation, recycle this threshold value and carry out image binaryzation；
C () presets area threshold, binary image is carried out connected component labeling, finds out wherein area maximum and area and is more than the connected domain of area threshold, and this region is the extraction target comprising solar limb information；
D the edge extracting target is carried out traveling through interative computation by (), obtain 2 a and b of lie farthest away on edge, carry out again traveling through interative computation with the midpoint c of ab, obtain range points c point furthest d on edge, centered by a d, edgewise edge sets out to some a, a b respectively, samples these two sections of curves in edges of regions respectively；
E sampled point that () uses method of least square to obtain two sections of curves is fitted, and obtains fitting circle, and the center of circle of this circle is the barycenter of the sun；
(4) PC generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends flush bonding processor to, and flush bonding processor drives servomotor operating according to motor control signal, thus drives the photographic head real-time tracking sun；
(5) returning step (2), PC sends handshake to flush bonding processor again.
Further, before the step (a), needing the view data received by PC to be converted into the matrix of M*N from ASCII fromat, wherein M*N is pixel count set in advance.
Further, in step (a)., wiener sef-adapting filter is used to remove Gaussian noise and the salt-pepper noise of image.
The beneficial effect that employing technique scheme is brought:
(1) present invention proposes the upper and lower computer system that PC combines with embedded system, compensate for existing single dependence PC or defect that embedded system is brought, it is achieved have complementary advantages, promote the precision of tracking system；
(2) present invention uses interrupt function in image acquisition process, realizes image procossing and the estimation of sun center-of-mass coordinate in interrupt function such that it is able to quickly process the every two field picture gathered, and improves the real-time and precision followed the tracks of.
Accompanying drawing explanation
Fig. 1 is present system composition frame chart.
Fig. 2 is the inventive method flow chart.
Detailed description of the invention
Below with reference to accompanying drawing, technical scheme is described in detail.
As shown in Figure 1, a kind of based on image acquisition with the solar tracking system of process, including photographic head, memory module, flush bonding processor, electrical level transferring chip, PC and servomotor, the stored module of described photographic head is connected with flush bonding processor, PC is connected with flush bonding processor by electrical level transferring chip, the control end of servomotor is connected with flush bonding processor, and the output shaft of servomotor contacts with photographic head；Camera collection view data is also stored in memory module, flush bonding processor is transferred view data from memory module and is uploaded to PC, PC estimates the real-time center-of-mass coordinate of the sun according to the view data uploaded, generate motor control signal further according to center-of-mass coordinate and send flush bonding processor to, flush bonding processor drives servomotor operating according to motor control signal, thus drives photographic head to follow the tracks of sun barycenter.
In the present invention, PC is as the host computer of system, and flush bonding processor is as the core of slave computer.Flush bonding processor typically exports Transistor-Transistor Logic level signal, and the serial ports Standard General of PC is RS232, therefore when both communicate, need to access between electrical level transferring chip, realize the conversion between Transistor-Transistor Logic level and RS232 level, in the present embodiment, the model of electrical level transferring chip selects CP2102.
In the present embodiment, the model of photographic head selects OV7725.Memory module selects FIFO memory.
Flush bonding processor selects STM32 type single-chip microcomputer.
The invention allows for sun tracing method based on said system, as in figure 2 it is shown, comprise the following steps:
Step 1:PC machine initiation parameter, opens serial ports, is ready for communication.
Step 2:PC machine sends handshake to flush bonding processor, after flush bonding processor receives handshake, transfers a frame image data and be uploaded to PC from memory module.
Step 3: when PC receives the full stop of this frame image data, represent that PC has been successfully received a two field picture, now PC triggers interrupt function, stop data transmission between PC and flush bonding processor, the view data collected is converted into from ASCII fromat the matrix of M*N, wherein M*N is pixel count set in advance, then carries out following image procossing in interrupt function:
A the image received is converted into gray level image by (), and remove Gaussian noise and the salt-pepper noise of image；
B () uses maximum variance between clusters to calculate the threshold value of image binaryzation, recycle this threshold value and carry out image binaryzation；
C () presets area threshold, binary image is carried out connected component labeling, finds out wherein area maximum and area and is more than the connected domain of area threshold, and this region is the extraction target comprising solar limb information；
D the edge extracting target is carried out traveling through interative computation by (), obtain 2 a and b of lie farthest away on edge, carry out again traveling through interative computation with the midpoint c of ab, obtain range points c point furthest d on edge, centered by a d, edgewise edge sets out to some a, a b respectively, samples these two sections of curves in edges of regions respectively；
E sampled point that () uses method of least square to obtain two sections of curves is fitted, and obtains fitting circle, and the center of circle of this circle is the barycenter of the sun.
Step 4:PC machine generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends flush bonding processor to, and flush bonding processor drives servomotor operating according to motor control signal, thus drives the photographic head real-time tracking sun.
Returning step 2, PC sends handshake to flush bonding processor again, starts the image transmitting of a new round, processes and send motor control signal.
Above example is only the technological thought that the present invention is described, it is impossible to limiting protection scope of the present invention with this, every technological thought proposed according to the present invention, any change done on the basis of technical scheme, within each falling within scope.
Claims (8)
1. one kind based on image acquisition and the solar tracking system of process, it is characterized in that: include photographic head, memory module, flush bonding processor, electrical level transferring chip, PC and servomotor, the stored module of described photographic head is connected with flush bonding processor, PC is connected with flush bonding processor by electrical level transferring chip, the control end of servomotor is connected with flush bonding processor, and the output shaft of servomotor contacts with photographic head；Camera collection view data is also stored in memory module, flush bonding processor is transferred view data from memory module and is uploaded to PC, PC estimates the real-time center-of-mass coordinate of the sun according to the view data uploaded, generate motor control signal further according to center-of-mass coordinate and send flush bonding processor to, flush bonding processor drives servomotor operating according to motor control signal, thus drives photographic head to follow the tracks of sun barycenter.
It is a kind of based on image acquisition with the solar tracking system of process, it is characterised in that: the model of described photographic head is OV7725.
It is a kind of based on image acquisition with the solar tracking system of process, it is characterised in that: the model of described electrical level transferring chip is CP2102.
It is a kind of based on image acquisition with the solar tracking system of process, it is characterised in that: described memory module is FIFO memory.
It is a kind of based on image acquisition with the solar tracking system of process, it is characterised in that: described flush bonding processor uses STM32 type single-chip microcomputer.
6. sun tracing method based on solar tracking system described in claim 1, it is characterised in that comprise the following steps:
(1) PC initiation parameter, opens serial ports, is ready for communication；
(2) PC sends handshake to flush bonding processor, after flush bonding processor receives handshake, transfers a frame image data and be uploaded to PC from memory module；
(3) when PC receives the full stop of this frame image data, representing that PC has been successfully received a two field picture, now PC triggers interrupt function, stops the data transmission between PC and flush bonding processor, and carries out following image procossing in interrupt function:
A the image received is converted into gray level image by (), and remove Gaussian noise and the salt-pepper noise of image；
B () uses maximum variance between clusters to calculate the threshold value of image binaryzation, recycle this threshold value and carry out image binaryzation；
C () presets area threshold, binary image is carried out connected component labeling, finds out wherein area maximum and area and is more than the connected domain of area threshold, and this region is the extraction target comprising solar limb information；
D the edge extracting target is carried out traveling through interative computation by (), obtain 2 a and b of lie farthest away on edge, carry out again traveling through interative computation with the midpoint c of ab, obtain range points c point furthest d on edge, centered by a d, edgewise edge sets out to some a, a b respectively, samples these two sections of curves in edges of regions respectively；
E sampled point that () uses method of least square to obtain two sections of curves is fitted, and obtains fitting circle, and the center of circle of this circle is the barycenter of the sun；
(4) PC generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends flush bonding processor to, and flush bonding processor drives servomotor operating according to motor control signal, thus drives the photographic head real-time tracking sun；
(5) returning step (2), PC sends handshake to flush bonding processor again.
Sun tracing method the most according to claim 6, it is characterised in that: before the step (a), needing the view data received by PC to be converted into the matrix of M*N from ASCII fromat, wherein M*N is pixel count set in advance.
Sun tracing method the most according to claim 6, it is characterised in that: in step (a)., use wiener sef-adapting filter to remove Gaussian noise and the salt-pepper noise of image.
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Cited By (3)
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| CN108513414A (en) * | 2018-03-26 | 2018-09-07 | 中国地质大学（武汉） | A kind of stage follow spotlight system and method for focus autotracking |
| CN110045754A (en) * | 2019-04-26 | 2019-07-23 | 西安理工大学 | The high-precision sun tracing means for correcting and method handled using embedded image |
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Application publication date: 20160824 Assignee: Nanjing Qiyun Zhongtian Technology Co.,Ltd. Assignor: Nanjing University of Information Science and Technology Contract record no.: X2023320000238 Denomination of invention: A Sun Tracking System and Method Based on Image Acquisition and Processing Granted publication date: 20181002 License type: Common License Record date: 20231121 |
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Application publication date: 20160824 Assignee: Fujian hefuyun Information Technology Co.,Ltd. Assignor: Nanjing University of Information Science and Technology Contract record no.: X2023980051730 Denomination of invention: A Sun Tracking System and Method Based on Image Acquisition and Processing Granted publication date: 20181002 License type: Common License Record date: 20231212 |
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