CN105898242B - A kind of solar tracking system and method based on Image Acquisition and processing - Google Patents
A kind of solar tracking system and method based on Image Acquisition and processing Download PDFInfo
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- CN105898242B CN105898242B CN201610413856.0A CN201610413856A CN105898242B CN 105898242 B CN105898242 B CN 105898242B CN 201610413856 A CN201610413856 A CN 201610413856A CN 105898242 B CN105898242 B CN 105898242B
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- 238000012545 processing Methods 0.000 title claims abstract description 13
- 230000006870 function Effects 0.000 claims description 9
- 239000006002 Pepper Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 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
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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
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- 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
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- 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 kind of solar tracking system and method based on Image Acquisition and processing, system includes camera, memory module, embeded processor, electrical level transferring chip, PC machine and servo motor, the stored module of camera is connected with embeded processor, PC machine is connected by electrical level transferring chip with embeded processor, the control terminal of servo motor is connected with embeded processor, and the output shaft of servo motor is in contact with camera；Camera collection image data are simultaneously stored in memory module, embeded processor transfers image data from memory module and is uploaded to PC machine, PC machine estimates the real-time center-of-mass coordinate of the sun according to the image data of upload, it generates motor control signal and sends embeded processor to, embeded processor drives servo motor operating according to motor control signal, and camera is driven to track sun barycenter.The present invention improves the real-time and precision of solar tracking.
Description
Technical field
The invention belongs to image procossings and application technology, more particularly to a kind of sun based on Image Acquisition and processing with
Track system and method.
Background technology
Sun tracker is the basic element of character scattered in actinometry, and accuracy directly affects scattering radiation and surveys
The precision and accuracy of amount.Photo-electric sun tracing method has higher tracking essence because it has the advantages of simple structure and easy realization
It spends and is widely used in the fields such as solar radiation measurement and application of solar energy.Although but traditional photo-electric tracking
Instantaneous tracking accuracy is higher, but most using the tracking for being directly based upon embedded platform, is limited to embeded processor etc.
The calculating speed and development difficulty of main control chip tend not to position sun barycenter precisely in real time, accumulated error, shadow easily occur
Ring the stability and continuity of solar tracking.
Modern image acquisition and process is quickly grown, and various acquisition methods are quite ripe.Currently on the market big
Parts of images acquisition system can be divided into two kinds, and one is based on embedded system, one is the acquisition systems based on PC.By
It is limited to the development difficulty or arithmetic speed of embedded system, complicated image is needed at some based on Embedded image capturing system
It is unable to get extensive use in the application of processing.The development platform supported in acquisition system based on PC is limited, and needs to design
Personnel have deeper programming basis, difficulty larger.
Invention content
In order to solve the technical issues of above-mentioned background technology proposes, the present invention is intended to provide a kind of being based on Image Acquisition and place
PC machine is combined by the solar tracking system and method for reason with embedded system, and by the use in image acquisition process
Disconnected function improves the real-time and precision of tracking so as to quickly handle every frame image of acquisition.
In order to achieve the above technical purposes, the technical scheme is that：
A kind of solar tracking system based on Image Acquisition and processing, including camera, memory module, embedded processing
Device, electrical level transferring chip, PC machine and servo motor, the stored module of described image collector are connected with embeded processor, PC
Machine is connected by electrical level transferring chip with embeded processor, and the control terminal of servo motor is connected with embeded processor, servo
The output shaft of motor is in contact with camera；Camera collection image data are simultaneously stored in memory module, embeded processor
Image data is transferred from memory module and is uploaded to PC machine, and PC machine estimates that the real-time barycenter of the sun is sat according to the image data of upload
Mark generates motor control signal further according to center-of-mass coordinate and sends embeded processor to, and embeded processor is according to motor control
Signal driving servo motor operating processed, to drive camera to track sun barycenter.
Preferred embodiment based on the above-mentioned technical proposal, the model OV7725 of the camera.
Preferred embodiment based on the above-mentioned technical proposal, the model CP2102 of the electrical level transferring chip.
Preferred embodiment based on the above-mentioned technical proposal, the memory module are FIFO memory.
Preferred embodiment based on the above-mentioned technical proposal, the embeded processor use STM32 type microcontrollers.
The invention also provides the sun tracing methods based on above-mentioned solar tracking system, include the following steps：
（1）PC machine initiation parameter opens serial ports, is ready for communicating；
（2）PC machine sends handshake to embeded processor, after embeded processor receives handshake, from storage
A frame image data is transferred in module is uploaded to PC machine；
（3）When PC machine receives the full stop of the frame image data, indicate that PC machine has been successfully received a frame image, this
When PC machine trigger interrupt function, stop the data transmission between PC machine and embeded processor, and carried out such as in interrupt function
Hypograph processing：
（a）It converts the image received to gray level image, and removes the Gaussian noise and salt-pepper noise of image；
（b）The threshold value that image binaryzation is calculated using maximum variance between clusters recycles the threshold value to carry out image binaryzation；
（c）Area threshold is preset, connected component labeling is carried out to binary image, finds out wherein area maximum and area
More than the connected domain of area threshold, which is the extraction target for including solar limb information；
（d）Edge to extracting target carries out traversal interative computation, two point a and b of lie farthest away on edge is obtained, with ab
Midpoint c carry out traversal interative computation again, obtain the farthest point d of range points c on edge, centered on point d, along edge respectively to
Point a, b set out, and are sampled respectively to this two sections of curves in edges of regions；
（e）The sampled point obtained with two sections of curves of least square method pair is fitted, and obtains fitting circle, the center of circle of the circle
The as barycenter of the sun；
（4）PC machine generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends to embedded
Processor, embeded processor drives servo motor to operate according to motor control signal, to drive camera real-time tracking too
Sun；
（5）Return to step（2）, PC machine is again to embeded processor transmission handshake.
Further, in step（a）Before, it needs the image data that PC machine receives being converted into M*N from ASCII fromat
Matrix, wherein M*N be preset pixel number.
Further, in step（a）In, the Gaussian noise of image is removed using wiener sef-adapting filter and the spiced salt is made an uproar
Sound.
The advantageous effect brought using above-mentioned technical proposal：
（1）The present invention proposes the upper and lower computer system that PC machine is combined with embedded system, compensates for existing single
The defect that PC machine or embedded system are brought is relied on, realizes and has complementary advantages, promote the precision of tracking system；
（2）The present invention uses interrupt function in image acquisition process, and image procossing and too is realized in interrupt function
The estimation of positive center-of-mass coordinate improves the real-time and precision of tracking so as to quickly handle every frame image of acquisition.
Description of the drawings
Fig. 1 is present system composition frame chart.
Fig. 2 is the method for the present invention flow chart.
Specific implementation mode
Below with reference to attached drawing, technical scheme of the present invention is described in detail.
As shown in Figure 1, a kind of solar tracking system based on Image Acquisition and processing, including it is camera, memory module, embedding
Enter formula processor, electrical level transferring chip, PC machine and servo motor, the stored module of camera and embeded processor phase
Even, PC machine is connected by electrical level transferring chip with embeded processor, and the control terminal of servo motor is connected with embeded processor,
The output shaft of servo motor is in contact with camera；Camera collection image data are simultaneously stored in memory module, embedded place
Reason device transfers image data from memory module and is uploaded to PC machine, and PC machine estimates the real-time matter of the sun according to the image data of upload
Heart coordinate generates motor control signal further according to center-of-mass coordinate and sends embeded processor to, and embeded processor is according to electricity
Machine control signal drives servo motor operating, to drive camera to track sun barycenter.
In the present invention, host computer of the PC machine as system, and core of the embeded processor as slave computer.It is embedded
Processor generally exports Transistor-Transistor Logic level signal, and the serial ports Standard General of PC machine is RS232, therefore when the two is communicated, and needs
Electrical level transferring chip is accessed therebetween, realizes the conversion between Transistor-Transistor Logic level and RS232 level, in the present embodiment, level
The model of conversion chip selects CP2102.
In the present embodiment, the model of camera selects OV7725.Memory module selects FIFO memory.
Embeded processor selects STM32 type microcontrollers.
The invention also provides the sun tracing methods based on above system, as shown in Fig. 2, including the following steps：
Step 1：PC machine initiation parameter opens serial ports, is ready for communicating.
Step 2：PC machine sends handshake to embeded processor, after embeded processor receives handshake, from
A frame image data is transferred in memory module is uploaded to PC machine.
Step 3：When PC machine receives the full stop of the frame image data, indicate that PC machine has been successfully received a frame figure
Picture, the interrupt function of PC machine triggering at this time, stops data transmission between PC machine and embeded processor, by the image collected data
The matrix of M*N is converted into from ASCII fromat, wherein M*N is preset pixel number, is then carried out in interrupt function as follows
Image procossing：
（a）It converts the image received to gray level image, and removes the Gaussian noise and salt-pepper noise of image；
（b）The threshold value that image binaryzation is calculated using maximum variance between clusters recycles the threshold value to carry out image binaryzation；
（c）Area threshold is preset, connected component labeling is carried out to binary image, finds out wherein area maximum and area
More than the connected domain of area threshold, which is the extraction target for including solar limb information；
（d）Edge to extracting target carries out traversal interative computation, two point a and b of lie farthest away on edge is obtained, with ab
Midpoint c carry out traversal interative computation again, obtain the farthest point d of range points c on edge, centered on point d, along edge respectively to
Point a, b set out, and are sampled respectively to this two sections of curves in edges of regions；
（e）The sampled point obtained with two sections of curves of least square method pair is fitted, and obtains fitting circle, the center of circle of the circle
The as barycenter of the sun.
Step 4：PC machine generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends insertion to
Formula processor, embeded processor drives servo motor to operate according to motor control signal, to drive camera real-time tracking
The sun.
Return to step 2, PC machine send handshake to embeded processor again, start image transmitting, the place of a new round
Manage and send out motor control signal.
Above example is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within the scope of the present invention
Within.
Claims (7)
1. the sun tracing method of the solar tracking system based on Image Acquisition and processing, the sun of described image acquisition and processing
Tracking system includes camera, memory module, embeded processor, electrical level transferring chip, PC machine and servo motor, the camera shooting
Stored module is connected with embeded processor, and PC machine is connected by electrical level transferring chip with embeded processor, servo electricity
The control terminal of machine is connected with embeded processor, and the output shaft of servo motor is in contact with camera；Camera collection image number
According to and be stored in memory module, embeded processor transfers image data from memory module and is uploaded to PC machine, PC machine according to
The real-time center-of-mass coordinate of the image data estimation sun of upload, generates motor control signal further according to center-of-mass coordinate and sends to embedding
Enter formula processor, embeded processor drives servo motor to operate according to motor control signal, to drive camera tracking too
Positive barycenter；It is characterized by comprising the following steps：
(1) PC machine initiation parameter opens serial ports, is ready for communicating；
(2) PC machine sends handshake to embeded processor, after embeded processor receives handshake, from memory module
In transfer a frame image data and be uploaded to PC machine；
(3) when PC machine receives the full stop of the frame image data, indicate that PC machine has been successfully received a frame image, at this time PC
Machine triggers interrupt function, stops the data transmission between PC machine and embeded processor, and such as figure below is carried out in interrupt function
As processing：
(a) it converts the image received to gray level image, and removes the Gaussian noise and salt-pepper noise of image；
(b) it uses maximum variance between clusters to calculate the threshold value of image binaryzation, the threshold value is recycled to carry out image binaryzation；
(c) area threshold is preset, connected component labeling is carried out to binary image, wherein area maximum is found out and area is more than
The connected domain of area threshold, the region are the extraction target for including solar limb information；
(d) traversal interative computation is carried out to the edge for extracting target, two point a and b of lie farthest away on edge is obtained, in ab
Point c carries out traversal interative computation again, obtains the farthest point d of range points c on edge, centered on point d, along edge respectively to point a,
B sets out, and is sampled respectively to this two sections of curves in edges of regions；
(e) sampled point obtained with two sections of curves of least square method pair is fitted, and obtains fitting circle, the center of circle of the circle is
The barycenter of the sun；
(4) PC machine generates corresponding motor control signal according to the sun center-of-mass coordinate estimated, and sends embedded processing to
Device, embeded processor drives servo motor to operate according to motor control signal, to drive the camera real-time tracking sun；
(5) return to step (2), PC machine send handshake to embeded processor again.
2. sun tracing method according to claim 1, it is characterised in that：Before step (a), need to receive PC machine
Image data the matrix of M*N is converted into from ASCII fromat, wherein M*N is preset pixel number.
3. sun tracing method according to claim 1, it is characterised in that：In step (a), using wiener adaptive-filtering
Device removes the Gaussian noise and salt-pepper noise of image.
4. sun tracing method according to claim 1, it is characterised in that：The model OV7725 of the camera.
5. sun tracing method according to claim 1, it is characterised in that：The model of the electrical level transferring chip
CP2102。
6. sun tracing method according to claim 1, it is characterised in that：The memory module is FIFO memory.
7. sun tracing method according to claim 1, it is characterised in that：The embeded processor uses STM32 type lists
Piece machine.
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| CN107992102B (en) * | 2018-01-24 | 2021-04-16 | 包头市艾派克自动化科技有限公司 | Single-shaft double-closed-loop sun tracking control method |
| CN108513414B (en) * | 2018-03-26 | 2023-12-19 | 中国地质大学（武汉） | Stage light-following lamp system and method with self-tracking focus |
| 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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| CN202003114U (en) * | 2011-01-27 | 2011-10-05 | 北京高普乐光电科技有限公司 | Automatic focusing control module for lens |
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Address after: Room 420, block C, Kechuang headquarters building, No. 320, pubin Road, Jiangpu street, Pukou District, Nanjing, Jiangsu Patentee after: Nanjing University of Information Science and Technology Address before: 210000 No. 69 Olympic Sports street, Jianye District, Jiangsu, Nanjing Patentee before: Nanjing University of Information Science and Technology |
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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 |