CN106353952A - Polarizer-containing transformer substation indoor inspection robot image acquisition system and method - Google Patents
Polarizer-containing transformer substation indoor inspection robot image acquisition system and method Download PDFInfo
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- CN106353952A CN106353952A CN201610962944.6A CN201610962944A CN106353952A CN 106353952 A CN106353952 A CN 106353952A CN 201610962944 A CN201610962944 A CN 201610962944A CN 106353952 A CN106353952 A CN 106353952A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/565—Optical accessories, e.g. converters for close-up photography, tele-convertors, wide-angle convertors
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- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a polarizer-containing transformer substation indoor inspection robot image acquisition system and method. The system disclosed by the invention comprises a camera and at least one light source which are arranged in an indoor inspection robot pan-tilt box body, a light source polarization direction adjusting unit and a camera polarization direction adjusting unit, wherein a direction adjustable polarizer is respectively fixed in front of the camera and the light source; the light source polarization direction adjusting unit is used for adjusting the direction of a light source polarizer and enabling a light vibration plane to be parallel to an incident plane when a single light source or dual light source scheme is used; and the camera polarization direction adjusting unit is used for adjusting the direction of the polarizer on the camera, enabling the polarization direction of the polarizer on the camera to be vertical to the polarization direction of the light source polarizer when the single light source or dual light source scheme is adopted and filtering out reflected light of the light source on glass, so that the shadow of equipment is effectively eliminated. Though the two light sources illuminate on screen cabinet equipment in an inclined manner, the shadow can be effectively eliminated as the two light sources are symmetrically placed and an illumination dark space does not exist.
Description
Technical field
The present invention relates to substation equipment image collection field is and in particular to have polariscopic transformer station interior survey monitor
Device people's image capturing system and method.
Background technology
At present, when substation equipment image being gathered, screen cabinet equipment image is gathered using indoor track machine people, it is to avoid
Artificial collection in worksite, safe and reliable, but there is screen cabinet in transformer station's interior crusing robot collection screen cabinet equipment image
The phenomenon of glass reflecting.
In related art in this area, No. 201510290300.2 patent of China describe one kind have adaptive
Answer crusing robot image processing system and the method for polarizer regulation, polarizer is set in front of video camera, reduces scenery table
Face reflective.The optical axis of video camera passes perpendicularly through polariscopic center, and polarizer with the optical axis of Visible Light Camera can be
Central shaft rotates, and according to the polarization polarity direction of the meter reflection light calculating, to adjust polarizer placed angle.But only
When the angle of incidence of natural light is Brewster's angle, reflected light is complete polarized light, if incident angle of light is improper, eliminates anti-
The effect that light can not reach.
It is two that No. 201310312020.8 patent of China controls the angle intending being photographed object to light source and camera line
Brewster's angle again, arranges the polaroid of vertical camera optical axis in the front of camera lens, by rotatory polarization piece, point
When shoot the polarization image that several have different polarization angle, pixel window delimited to polarization image, by pixel in window
Gray value is compared with threshold value, chooses pixel in the gray value window minimum more than the pixel number of threshold value and is fused into
Picture.Although it is Brewster's angle that the method makes angle of incidence, can only make light source just according to local shooting clear.If clapped
The target area taken the photograph is very big, will not make all places all shooting clears.
No. 201410014250.0 patent of China describes a kind of membrane envelope light source and irradiates elimination during capture
The method of exposure point, when window letter moves to reading image region, the light source for the scanning camera of reading image is inclined through bilayer
Shake, ground floor polarizes the diverging light of light source, becomes directive polarized light, reduce diverging light and impinge upon window letter plastic foil table
Face produces the probability of reflected light, weakens the intensity of light simultaneously, the angle that second layer polarization is polarized by adjustment, filter out through
The superimposed light of the bright spot still suffering from after ground floor polarization, the image entering camera just reduces the clear information of window, thus disappearing
Except reflective bright spot when taking pictures, accurately identify the complete information of whole envelope window letter.But if subject has protrusion
Part, will result in shade, the identification of impact target.
Indoor track machine people patrols and examines shown in scene photo such as Fig. 1 (a)-Fig. 1 (b) of screen cabinet equipment, and side view such as Fig. 2 (a)-
Shown in Fig. 2 (b).When carrying out image acquisition using video camera to equipment in screen cabinet, the reflected light of glass can be in the equipment of collection
Form big hot spot in image, the identification of power equipment working condition in impact screen cabinet, as shown in figure 3, schematic diagram such as Fig. 4 institute
Show.It is thus desirable to glass-reflected light is reduced using necessary measure.
Indoor track machine people is acquired shielding cabinet equipment image and is primarily present following several respects problem at present:
If 1. only in front of camera, biasing galvanometer, it is desirable to the angle of incidence of light source must be Brewster's angle, can be only achieved
The reflective effect of best elimination.
2., if the absorbance increasing glass using anti-reflection film reduces reflective, the glass of plated film is optical glass, and
Common industrial glass, and coated glass size restricted it is impossible to too big, and anti-reflection film simply reduce reflective, and
Can not eliminate.Transformer station's interior screen cabinet equipment quantity is various, and pad pasting work increased manpower, financial resources cost input.
3., if increasing camera attenuator between camera lens and object to reduce the reflective speck causing, image can be led to
Overall dimmed, details can not be differentiated.
Accordingly, it would be desirable to indoor track machine people is acquired with screen cabinet equipment image further be improved.
Content of the invention
For solving the deficiency that prior art exists, the invention discloses having polariscopic transformer station interior crusing robot
Image capturing system and method, the purpose of the present invention is: solves glass reflecting during indoor intelligent crusing robot image acquisition
Problem, improves the quality of collection image, improves the discrimination of status of electric power in screen cabinet.
For achieving the above object, the concrete scheme of the present invention is as follows:
There is polariscopic transformer station interior crusing robot image capturing system, including installation crusing robot indoors
Video camera in head casing and at least one light source, the front of described video camera and light source is respectively and fixedly provided with the adjustable polarization in direction
Mirror；
Light source polarization direction adjustment unit, for adjusting the polariscopic direction of light source, when using single light source or double light source,
Make the vibration plane of light parallel with the plane of incidence, that is, polariscopic polarization direction and polarizer to the line of video camera in straight line
On；When using other light sources scheme, adjust light source polarizer direction according to setting polariscopic polarization direction method to set up；
Video camera polarization direction adjustment unit, for adjusting polariscopic direction on video camera；When using single light source or double
During light source, make that on video camera, polariscopic polarization direction is vertical with the polariscopic polarization direction of light source, filter out light source in glass
On reflected light；When using other light sources scheme, according to setting, the method to set up regulation of polariscopic polarization direction is polariscopic
Direction.
Further, when the quantity of described light source is one, described light source is placed on the circle with video camera as the center of circle, takes the photograph
Towards dead ahead, light source incidence direction and camera light direction of principal axis have certain angle to the optical axis direction of camera, and this angle makes to take the photograph
Camera photograph light source just according to place.
Further, described light source incidence direction and camera optical axis are coplanar, and both angles are
arctan(d/l)
Wherein l is the distance to video camera for the light source, and d is the distance that video camera arrives screen cabinet glass.
Further, when the quantity of described light source is two, two light sources and video camera are placed in the head in three storehouses, two
The front of light source and video camera is respectively and fixedly provided with the adjustable polarizer in direction, and a light is respectively placed in the symmetrical both sides of described video camera
Source is it is adaptable to contain the screen cabinet equipment protruding.
Further, described two light sources are placed in the symmetric position centered on video camera, polariscopic polarization side
To the line with polarizer to video camera point-blank.
Especially, described two light sources are placed on the video camera left and right sides, and the polariscopic polarization direction of light source is then level.
Especially, described two light sources are placed on the upper and lower both sides of video camera, and the polariscopic polarization direction of light source is then vertical.
The invention also discloses having polariscopic transformer station interior crusing robot image-pickup method, including
Video camera and light source are installed indoors in the head casing of crusing robot, the optical axis direction of video camera is towards before just
Side, adjustment light source incidence direction and camera light direction of principal axis angle make video camera photograph light source just according to place；
Fix a direction scalable polarizer in front of video camera, a direction scalable polarization is fixed on light source
Mirror；
Adjust the polariscopic direction of light source so that the vibration plane of light is parallel with the plane of incidence, that is, polariscopic polarization side
To the line with polarizer to video camera point-blank；
Adjust on video camera polariscopic direction so as to orthogonal with the polariscopic direction of light source；
Open light source and carry out image acquisition.
Further, also needed to determine each polariscopic polarization direction before polarizer is installed, and make a mark, with
Continue the adjustment facilitating travel direction after an action of the bowels.
Especially, if placing a light source respectively in the video camera left and right sides, the polariscopic polarization direction of light source is then
Level；If placing a light source respectively in the upper and lower both sides of video camera, the polariscopic polarization direction of light source is then vertical.
Especially, when adjusting polariscopic direction on video camera, if light source is placed on the video camera left and right sides, video camera
On polariscopic polarization direction be vertical；If light source is placed on the upper and lower both sides of video camera, polariscopic inclined on video camera
Shake direction for level.
Further, light source package is not limited only to single light source and double light source, when using other light sources scheme, before light source
Polariscopic polarization direction method to set up:
The vibration relation of plane of the vibration plane of light source incidence light and reflected light is
Wherein i is the angle of incidence of polarized light, and γ is the refraction angle of polarized light, and α is vibration plane and the plane of incidence of incident illumination
Angle, α ' is the angle with the plane of incidence for the vibration plane of reflected light；
After the position of light source determines, incident direction is irradiated to video camera image-region to be gathered, i, γ and the plane of incidence
Just it is known that after the polariscopic polarization direction before video camera determines, its orthogonal direction is exactly the direction of vibration of reflected light, α '
It is also known that, just can obtain α.
If a light source and the line of video camera are θ with the angle of horizontal direction, polariscopic inclined in front of video camera
The direction that shakes is set to level, when the direction of vibration of source reflection light is vertical, i.e. the angle of the vibration plane of reflected light and the plane of incidence
During for 90 ° of-θ, eliminate reflected light, therefore can show that the vibration plane of incident illumination and the angle of the plane of incidence are
Due to the plane of incidence it is also known that, just can determine that the polarization direction of light source front side polarization mirror, i be polarized light angle of incidence,
γ is the refraction angle of polarized light.
Further, above-mentioned have polariscopic transformer station interior crusing robot image-pickup method and be also applied for working as cloud
Situation when stage translation or rotation, still according to the light source position setting and the work of polariscopic direction.
Beneficial effects of the present invention:
(1) weaken glass reflecting: transformer station's interior screen cabinet equipment has glass door, light source be irradiated to can be formed above strong
Reflective, lead to the hot spot having sheet in the image shooting, the equipment in glass door in image.Video camera and light source add partially
Galvanometer and after being adjusted to suitable angle, can effectively weaken the reflective of glass, but in glass door equipment surface unrestrained anti-
Penetrating light then affects less.In addition, indoor daylight lamp is closed, other objects indoor are dark, will not be formed reflective in glass cabinet.
(2) light source incidence angle is unrestricted: is normally applied when polarizer slackens reflective it is desirable to the angle of incidence of light source is cloth scholar
This special angle, because reflected light now is just polarized light, greatly limit its range of application.Because in the present invention, light source has added partially
Galvanometer, the light source inherently polarized light of light out, is still polarized light, so not needing the incidence of light source after glass-reflected
Angle is Brewster's angle it is possible to reach the effect eliminating glass reflecting.
(3) after adjusting polariscopic angle, in robot kinematics, just without adjusting polarization mirror angle again.
(4) gather the equipment drawing picture of diverse location under same illumination.
(5) shade of effective abatement apparatus.Although two light source inclines shine on screen cabinet equipment, due to two light source left sides
Right symmetrically placed, there is not irradiation dark space, can effectively eliminate shade.
(6) saves energy.Light source is provided by robot itself, and the equipment region only illuminating current identification is it is not necessary to open
Indoor all light.
Brief description
Fig. 1 (a) interior track machine people patrols and examines screen cabinet equipment scene photo one；
Fig. 1 (b) interior track machine people patrols and examines screen cabinet equipment scene photo two；
Fig. 2 (a) interior track machine people patrols and examines screen cabinet equipment side view one；
Fig. 2 (b) interior track machine people patrols and examines screen cabinet equipment side view two；
The large spot that Fig. 3 screen cabinet glass-reflected light causes；
Fig. 4 light source can form reflective impact equipment identification on glass surface；
Fig. 5 source polarizer and the camera polaroid plan of establishment；
Fig. 6 natural light passes through dual-polarization mirror；
Before Fig. 7 light source and video camera, the elimination of biasing galvanometer is reflective；
Fig. 8 uses two light source abatement apparatus shades；
The regulation of mirror angle is polarized when Fig. 9 light source is arbitrarily placed；
Figure 10 polarizer eliminates screen cabinet glass reflecting design sketch.
Specific embodiment:
The present invention is described in detail below in conjunction with the accompanying drawings:
As shown in figure 5, the flow chart with polariscopic transformer station interior crusing robot image-pickup method, concrete step
Suddenly following (this illustrates as a example sentencing double light sources):
Step 1, determines each polariscopic polarization direction, and makes a mark.
Step 2, installs light source, video camera and polarizer.Video camera and light source are arranged in head casing, light source is being taken the photograph
The camera left and right sides (or upper and lower both sides) is placed, and the optical axis direction of video camera is towards dead ahead, light source incidence direction and camera light
Axle is coplanar, and both angles are
arctan(d/l)
Make video camera photograph light source just according to place.Wherein l is the distance to video camera for the light source, and d is that video camera arrives
The distance of screen cabinet glass.Fix a polarizer in front of video camera, a polarizer is fixed on each light source, polariscopic
Direction can be adjusted.
Step 3, adjusts the polariscopic direction of each light source so that the vibration plane of light is parallel with the plane of incidence, that is, polarizes
The polarization direction of mirror and polarizer to video camera line point-blank, so so that light glass surface reflectance
Minimum.Especially, if light source is placed on the video camera left and right sides, the polariscopic polarization direction of light source is then level；If light
Source is placed on the upper and lower both sides of video camera, and the polariscopic direction of light source is then vertical.
Step 4, adjusts on video camera polariscopic direction so as to orthogonal with the polariscopic direction of light source.Especially, if
Light source is placed on the video camera left and right sides, and the polariscopic polarization direction on video camera is vertical；If light source is placed on shooting
The upper and lower both sides of machine, the polariscopic polarization direction on video camera is level.
Step 5, opens all of light source and carries out image acquisition, and when head translation or when rotating, still according to setting
The light source position put and the work of polariscopic direction.
In order to preferably explain the innovative point of the present invention, it is described below with regard to dual-polarization mirror elimination reflective mechanism:
Fig. 6 is the process that natural light passes through dual-polarization mirror.Two polariscopic polarization directions are vertical, and first polarizer is inclined
The direction that shakes is vertical, and second polarizer polarization direction is level.Natural light is become in vertically side after first polarizer
To the polarized light of vibration, by during second polarizer, because the direction of vibration of polarized light is vertical with polariscopic polarization direction,
Project from second polarizer dull thread.
Based on above-mentioned principle, using the single light source reflective scheme of elimination:
Fig. 7 is that indoor crusing robot utilizes dual-polarization mirror collection screen cabinet image to eliminate reflective process.Before light source
Plus a polarizer is so that incident illumination is polarized light, there is reflection simultaneously and reflect in polarized light on screen cabinet glass.Polarized light is anti-
After penetrating, remain polarized light, simply vibration plane there occurs and rotates relative to the plane of polarization of incident illumination.Therefore before video camera, Jia one
Individual polarizer, so that its polarization direction is vertical with the polarization direction of reflected light, has thus filtered out reflected light, has essentially eliminated
Large spot in equipment imaging.
Eliminating reflective scheme: Fig. 8 using double light sources is the schematic diagram adding symmetric double light source, and wherein light source and video camera is placed on
In the head in three storehouses.Some screen cabinet equipments protrude a part, and unilateral light source irradiates, and can form shade, therefore left in video camera
A light source, abatement apparatus shade are respectively placed in right both sides.In addition also polariscopic for light source polarization direction is adjusted to level, because
When the vibration plane of polarized light is parallel with the plane of incidence, reflectance is minimum.
Other light sources arrangement: in addition to the scheme of above-mentioned single light source and double light source, light source can be with video camera
For the center of circle arbitrarily round on place, the number of light source and position are unrestricted.In order that light source is irradiated to setting of video camera shooting
Preparation area domain, light source incidence direction and camera optical axis are coplanar, and both angles are
arctan(d/l)
Wherein l is the distance to video camera for the light source, and d is the distance that video camera arrives screen cabinet glass.
If the line of certain light source and video camera is θ with the angle of horizontal direction, the polariscopic polarization in front of video camera
Direction is set to level, as shown in figure 9, now the polariscopic polarization direction method to set up before light source is as follows.
Theoretical according to optical correlation, the reflected light of line polarized light remains polarized light, but its vibration plane there occurs rotation,
The vibration relation of plane of the vibration plane of incident illumination and reflected light is
Wherein i is the angle of incidence of polarized light, and γ is the refraction angle of polarized light, and α is vibration plane and the plane of incidence of incident illumination
Angle, α ' is the angle with the plane of incidence for the vibration plane of reflected light.After the position of light source determines, incident direction is irradiated to video camera
Image-region to be gathered, i, γ and the plane of incidence are just it is known that after the polariscopic polarization direction before video camera determines, it is just
Hand over direction be exactly reflected light direction of vibration, α ' it is also known that, just can obtain α
Because the polariscopic polarization direction of video camera is level, when the direction of vibration of source reflection light is vertical, that is, reflect
When the angle of the vibration plane of light and the plane of incidence is 90 ° of-θ, could effectively eliminate reflected light.The vibration of incident illumination therefore can be drawn
The angle of face and the plane of incidence is
Due to the plane of incidence it is also known that, just can determine that the polarization direction of light source front side polarization mirror.
Especially, when the vibration plane of polarized light is parallel with the plane of incidence or vertical, the vibration plane of reflected light still with enter
Face of penetrating is parallel or vertical, and the direction of vibration of polarized light does not change.Therefore when light source is placed on the position up and down of video camera
When, the polariscopic polarization direction of light source is set to orthogonal with the polarization direction of video camera.
In addition, disclosed herein as well is having polariscopic transformer station interior crusing robot image capturing system, including
The video camera installed indoors in crusing robot head casing and at least one light source, the front of described video camera and light source is equal
It is fixed with the adjustable polarizer in direction；
Light source polarizer is fixed in front of light source on head with a rotatable device, and manual or motor drives and to adjust
The polariscopic polarization direction of light source.So that the vibration plane of light is parallel with the plane of incidence when using single light source or double light source package, that is,
Polariscopic polarization direction and polarizer to video camera line point-blank；When using other light sources scheme, according to
Methods described adjusts light source polarizer direction.
Video camera polarizer is fixed in front of video camera on head with a rotatable device, and manual or motor drives to be adjusted
Polariscopic polarization direction on section video camera.When using single light source or double light source package, make polariscopic polarization on video camera
Direction is vertical with the polariscopic polarization direction of light source, filters out reflected light on glass for the light source；When using other light sources scheme
When, adjust polariscopic direction according to methods described.
Present invention achieves transformer station's indoor intelligent crusing robot is to the image-pickup method shielding cabinet equipment and system, skill
Art key point is video camera and the layout placement of light source and the method to set up of polarization mirror angle.And disclose in detail single light source polarization
Mirror eliminates technical scheme reflective and that multiple light courcess polarizer elimination is reflective.The application can clap to obtain equipment clearly image, effect
Figure is as shown in Figure 10.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (10)
1. there is polariscopic transformer station interior crusing robot image capturing system, it is characterized in that, patrol indoors including installing
Video camera in inspection machine user tripod head casing and at least one light source, the front of described video camera and light source is respectively and fixedly provided with direction can
The polarizer adjusted；
Light source polarization direction adjustment unit, for adjusting the polariscopic direction of light source, when using single light source or double light source so that
The vibration plane of light is parallel with the plane of incidence, that is, polariscopic polarization direction and polarizer to video camera line point-blank；
When using other light sources scheme, the polarizer polarization direction method to set up according to setting adjusts light source polarizer direction；
Video camera polarization direction adjustment unit, for adjusting polariscopic direction on video camera；When using single light source or double light source
When, make that on video camera, polariscopic polarization direction is vertical with the polariscopic polarization direction of light source, filter out light source on glass
Reflected light；When using other light sources scheme, the polarizer polarization direction method to set up according to setting adjusts polariscopic direction.
2. there is polariscopic transformer station interior crusing robot image capturing system as claimed in claim 1, it is characterized in that,
When the quantity of described light source is one, described light source is placed on the circle with video camera as the center of circle, the optical axis direction court of video camera
Dead ahead, light source incidence direction and camera light direction of principal axis have certain angle, and this angle makes video camera just photograph light source
According to place.
3. there is polariscopic transformer station interior crusing robot image capturing system as claimed in claim 2, it is characterized in that,
Described light source incidence direction and camera optical axis are coplanar, and both angles are
arctan(d/l)
Wherein l is the distance to video camera for the light source, and d is the distance that video camera arrives screen cabinet glass.
4. there is polariscopic transformer station interior crusing robot image capturing system as claimed in claim 1, it is characterized in that,
When the quantity of described light source is two, two light sources and video camera are placed in the head in three storehouses, before two light sources and video camera
Side is respectively and fixedly provided with the adjustable polarizer in direction, and the symmetrical both sides of described video camera are respectively placed a light source and protruded it is adaptable to contain
Screen cabinet equipment.
5. there is polariscopic transformer station interior crusing robot image capturing system as claimed in claim 1, it is characterized in that,
Described two light sources are placed on the video camera left and right sides, and the polariscopic polarization direction of light source is then level；Or
Described two light sources are placed on the upper and lower both sides of video camera, and the polariscopic direction of light source is then vertical.
6. there is polariscopic transformer station interior crusing robot image-pickup method, it is characterized in that, including
Video camera and light source are installed indoors in the head casing of crusing robot, the optical axis direction of video camera towards dead ahead,
Adjustment light source incidence direction and camera light direction of principal axis angle make video camera photograph light source just according to place；
Fix a direction scalable polarizer in front of video camera, a direction scalable polarizer is fixed on light source；
Adjust the polariscopic direction of light source so that the vibration plane of light is parallel with the plane of incidence, that is, polariscopic polarization direction with
Polarizer to video camera line point-blank；
Adjust on video camera polariscopic direction so as to orthogonal with the polariscopic direction of light source；
Open light source and carry out image acquisition.
7. there is polariscopic transformer station interior crusing robot image-pickup method as claimed in claim 6, it is characterized in that,
Also needed to determine each polariscopic polarization direction before polarizer is installed, and make a mark, so that the follow-up conveniently side of carrying out
To adjustment.
8. there is polariscopic transformer station interior crusing robot image-pickup method as claimed in claim 6, it is characterized in that,
Place a light source in the video camera left and right sides respectively, the polariscopic polarization direction of light source is then level；Or it is upper and lower in video camera
Both sides place a light source respectively, and the polariscopic polarization direction of light source is then vertical.
9. there is polariscopic transformer station interior crusing robot image-pickup method as claimed in claim 6, it is characterized in that,
Polariscopic polarization direction method to set up before light source, the line of light source and video camera is with horizontal direction point-blank
When:
The vibration relation of plane of the vibration plane of light source incidence light and reflected light is
Wherein i is the angle of incidence of polarized light, and γ is the refraction angle of polarized light, and α is the angle with the plane of incidence for the vibration plane of incident illumination,
α ' is the angle with the plane of incidence for the vibration plane of reflected light；
After the position of light source determines, incident direction is irradiated to video camera image-region to be gathered, and i, γ and the plane of incidence are just
Know, after the polariscopic polarization direction before video camera determines, its orthogonal direction is exactly the direction of vibration of reflected light, and α ' is also
Know, just can obtain α.
10. there is polariscopic transformer station interior crusing robot image-pickup method, its feature as claimed in claim 6
It is, the polariscopic polarization direction method to set up before light source, if the line of a light source and video camera and horizontal direction
Angle is θ, and the polariscopic polarization direction in front of video camera is set to level, when the direction of vibration of source reflection light is vertical,
When i.e. the vibration plane of reflected light and the angle of the plane of incidence are 90 ° of-θ, eliminate reflected light, therefore can draw the vibration plane of incident illumination
Angle with the plane of incidence is
Due to the plane of incidence it is also known that, just can determine that the polarization direction of light source front side polarization mirror, i is the angle of incidence of polarized light, and γ is
The refraction angle of polarized light.
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| WO2019232963A1 (en) * | 2018-06-05 | 2019-12-12 | 北京瑞途科技有限公司 | Imaging system for tunnel detection of rail traffic |
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| CN113922270A (en) * | 2021-09-03 | 2022-01-11 | 东莞市简从科技有限公司 | Line patrol vehicle control method and line patrol vehicle |
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Address after: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant after: Shandong Luneng Intelligent Technology Co., Ltd. Address before: 250101 B block 626, Yinhe building, 2008 Xinjie street, Ji'nan high tech Zone, Shandong. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. |
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