CN107295257A - Detecting head oscillation damping method, detecting head vibration absorber and unmanned plane - Google Patents

Abstract

The invention discloses a vibration reduction method for a probe head, which is used for the probe head. A magnetic field generating device is provided in the probe head to generate a magnetic field, and a camera is suspended in the magnetic field. The method includes: step S1: receiving the detection target acquired by the camera in real time Step S2: determine whether the image position information changes, if so, perform step S3; step S3: determine whether the magnetic field environment in the probe head is in a stable state, if so, perform step S4, otherwise, perform step S6; step S4: Determine whether the deviation of the image position information exceeds the preset range, if so, perform step S5; step S5: control the magnetic field environment, and make the camera rotate at a corresponding angle; step S6: generate a vibration reduction command to stabilize the magnetic field environment. The vibration reduction method of the detection head can ensure the stability of the imaging environment, and can realize the rotation of the camera at any angle, so as to ensure the accuracy of detection results and improve the applicability. The invention also discloses a detection head vibration reduction device and an unmanned aerial vehicle.

Description

Detection head vibration reduction method, detection head vibration reduction device and unmanned aerial vehicle

technical field

The invention relates to the technical field of detectors, in particular to a vibration reduction method for a detector head. In addition, the present invention also relates to a detector and an unmanned aerial vehicle using the method for reducing vibration of the detector head.

Background technique

At present, detectors with camera functions are widely used in many fields to ensure the safety of people's living and working environments.

The detector has a certain imaging range, and when the current detection target exceeds the imaging range, the detector cannot adjust its imaging angle to continue to detect the detection target, which affects the accuracy of the detection results and limits the detector’s use.

Therefore, how to overcome the defects of existing detectors is a technical problem that those skilled in the art need to solve.

Contents of the invention

In view of this, the object of the present invention is to provide a method for reducing vibration of the probe head, which can realize the adjustment of the camera angle, ensure the accuracy of the detection results, and improve the applicability of the probe. Another object of the present invention is to provide a vibration damping device for the probe head, which can realize the adjustment of the camera angle, ensure the accuracy of the detection results, and improve the applicability of the probe. Another object of the present invention is to provide an unmanned aerial vehicle including the above-mentioned damping device for the probe head, which can realize the adjustment of the camera angle, ensure the accuracy of the detection results, and improve the applicability of the probe.

To achieve the above object, the present invention provides the following technical solutions:

A method for reducing vibration of a probe, which is used for a probe, wherein a magnetic field generating device is arranged in the probe to generate a magnetic field, and a camera is suspended in the magnetic field, the method comprising:

Step S1: receiving the image position information of the detection target acquired by the camera in real time;

Step S2: judging whether the image position information has changed, if so, execute step S3;

Step S3: judging whether the magnetic field environment in the probe head is in a stable state, if so, execute step S4, otherwise, execute step S6;

Step S4: judging whether the deviation of the image position information exceeds the preset range, if so, execute step S5;

Step S5: controlling the magnetic field environment to make the camera rotate at a corresponding angle;

Step S6: Generate a vibration reduction command to stabilize the magnetic field environment.

Preferably, said step S6 includes:

Based on the continuous penalty function anti-saturation algorithm in the saturation-constrained LMS algorithm, vibration reduction instructions are generated to stabilize the magnetic field environment.

Preferably, the step S1 includes:

receiving the initial environment image acquired by the camera, generating and setting the first system parameters through an image processing algorithm;

The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the first system parameters is determined through an image processing algorithm.

Preferably, after the step S6, it also includes:

Step S7: receiving the stabilized initial environment image acquired by the camera, generating and setting the second system parameters through an image processing algorithm;

The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the second system parameters is determined through an image processing algorithm.

Preferably, after the step S5, it also includes:

Step S8: receiving the rotated initial environment image acquired by the camera, generating and setting the third system parameter through an image processing algorithm;

The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the third system parameter is determined through an image processing algorithm.

A probe damping device is used for a probe, the probe is provided with a magnetic field generating device to generate a magnetic field, the camera is suspended in the magnetic field, and the probe damping device includes:

An image processing device, configured to receive in real time the image position information of the detection target acquired by the camera;

The first judging device is used to judge whether the image position information changes, and if so, drive the second judging device;

The second judging device is used to judge whether the magnetic field environment in the probe head is in a stable state, if so, drive the third judging device, otherwise, drive the magnetic field controller;

The third judging device is used to judge whether the deviation of the image position information exceeds a preset range, and if so, drive the magnetic field control device;

The magnetic field control device is used to control the magnetic field environment according to the judgment result of the second judgment device, to make the camera rotate by a corresponding angle, and to generate a vibration reduction instruction according to the judgment result of the third judgment device, so as to The magnetic field environment is stabilized.

Preferably, also include:

The anti-interference device is used to shield external signal interference.

Preferably, a wireless communication device is provided between the camera and the image processing device.

Preferably, the magnetic field generating device includes an electromagnetic coil wound on the camera and a magnetic induction base for placing the camera, and the magnetic field control device controls the current change in the electromagnetic coil and the magnetic induction base to The magnetic field variation is controlled.

An unmanned aerial vehicle, including a detection head, and also includes a vibration damping device for the detection head as described in any one of the above.

The detection head vibration reduction method provided by the present invention, when the received image position information acquired by the camera changes, it is judged whether the detection target is moving or the camera is vibrating, and if the detection target is moving, it is further judged whether the detection target has moved out If it is beyond the preset range, the magnetic field will be controlled to control the camera to rotate the corresponding angle; if the detection target does not move, it can be determined that the camera is vibrating, and the magnetic field environment can be stabilized to stabilize the camera.

This method of detecting head vibration reduction is based on magnetic levitation technology, which can distinguish whether the change of image position information is caused by the movement of the detection target or the vibration of the camera, and ensures the stability of the camera environment by controlling the magnetic field to achieve vibration reduction of the camera. And it can use the control of the magnetic field to realize the rotation of the camera at any angle, so as to accurately realize the adjustment of the shooting range and camera angle, adjust the working status of the detection head in time, ensure the accuracy and convenience of the detection results, and track and collect the target in real time , to improve the applicability of the detector.

The vibration damping device of the probe head provided by the invention can realize the adjustment of the camera angle, ensure the accuracy of the detection result, and improve the applicability of the probe.

The unmanned aerial vehicle provided by the present invention includes the above-mentioned probe head vibration reduction device, which can realize the adjustment of the camera angle, ensure the accuracy of the detection results, and improve the applicability of the probe.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the flow chart of the vibration reduction method of probe head provided by the present invention;

Fig. 2 is a structural diagram of the probe head provided by the present invention.

In Fig. 2, 1-magnetic field control device, 2-magnetic induction base, 3-detection head, 4-camera.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The core of the present invention is to provide a vibration reduction method for the probe, which can realize the adjustment of the camera angle, ensure the accuracy of the detection result and improve the applicability of the probe. Another core of the present invention is to provide a detector head vibration reduction device, which can realize the adjustment of the camera angle, ensure the accuracy of the detection result, and improve the applicability of the detector. Another core of the present invention is to provide an unmanned aerial vehicle including the above-mentioned damping device for the probe head, which can realize the adjustment of the camera angle, ensure the accuracy of the detection results, and improve the applicability of the probe.

Please refer to Fig. 1 and Fig. 2, Fig. 1 is a flow chart of the vibration reduction method of the probe head provided by the present invention; Fig. 2 is a structural diagram of the probe head provided by the present invention.

In a specific embodiment of the vibration reduction method for the probe head provided by the present invention, the method is used for the probe head, and a magnetic field generating device is provided in the probe head to generate a magnetic field, and the camera is suspended in the magnetic field. The detection head is a part of the detector. The method includes:

Step S1: Receive the image position information of the detection target acquired by the camera in real time.

Step S2: Determine whether the image position information has changed, and if so, execute step S3.

For the comparison of the image position information of the detection target acquired in real time, specifically, the image position information at this moment can be compared with the image position information at the previous moment. If the comparison result is inconsistent, it can be determined that the image position information has changed.

Step S3: Judging whether the magnetic field environment inside the probe is in a stable state, if yes, execute step S4, otherwise, execute step S6.

Step S4: Determine whether the deviation of the image position information exceeds a preset range, and if so, perform step S5.

Step S5: Control the magnetic field environment to make the camera rotate at a corresponding angle.

Wherein, the preset range refers to a preset shooting range of the camera, and the preset range may be specifically smaller than a maximum shooting range of the camera. When the detection target exceeds the preset range, step S5 is executed. By executing step S5 to control the magnetic field environment, the camera can be rotated accordingly, so that the detection target falls within the preset range again. Specifically, the detection target can be placed in the middle of the preset range by controlling the rotation angle of the camera. .

Step S6: Generate a vibration reduction command to stabilize the magnetic field environment.

In step S3, if the magnetic field is in an unstable state, it can be determined that the camera vibrates along with the detection head, so that a vibration reduction command can be generated to stabilize the magnetic field environment.

In this embodiment, when the received image position information acquired by the camera changes, it is judged whether the detection target is moving or the camera is vibrating, and if the detection target is moving, it is further judged whether the detection target has moved out of the preset range , if it exceeds, control the change of the magnetic field to control the camera to rotate the corresponding angle; if the detection target does not move, it can be determined that the camera is vibrating, and the camera can be stabilized by restoring the stability of the magnetic field environment.

It can be seen that this detection head vibration reduction method is based on the magnetic levitation technology, which can distinguish whether the change of the image position information is caused by the detection target moving or the vibration of the camera, and ensures the stability of the shooting environment by controlling the magnetic field, so as to realize the reduction of the camera. Vibration, and can use the control of the magnetic field to realize the rotation of the camera at any angle, so as to accurately realize the adjustment of the shooting range and camera angle, adjust the working status of the detection head in time, ensure the accuracy and convenience of the detection results, and monitor the target in real time Track and collect, improve the applicability of the detector. At the same time, the invention conforms to the national "Thirteenth Five-Year Plan" and promotes the innovative development of intelligent hardware and new sensors. Improve the technical level of smart hardware in smart devices and other fields. Accelerate the development and application of high-precision, low-power, high-reliability sensors.

In the above embodiment, step S6 specifically includes:

Based on the continuous penalty function anti-saturation algorithm in the saturation constraint LMS algorithm, the vibration reduction command is generated to stabilize the magnetic field environment, so that the vibration reduction effect can be further improved. Wherein, in the process of restoring the stable magnetic field, the camera can be quickly brought into a stable state by gradually adjusting the magnetic field multiple times.

In the above embodiment, step S1 may specifically include:

receiving the initial environment image acquired by the camera, generating and setting the first system parameters through an image processing algorithm;

The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the first system parameters is determined through an image processing algorithm.

Receive the initial environment image acquired by the camera, which may specifically include the detection target's azimuth, distance, and surrounding environment feature information, generate and set the first system parameters through an image processing algorithm, for example, establish the first coordinate system with the detection target as the origin. After the first system parameters are set, for the environment images received in real time, the image position information of the detection target under the first system parameters is determined through an image processing algorithm, for example, the position of the detection target in the first coordinate system.

In this method, through the establishment of the first system parameters, an accurate basis can be provided for the comparison of image position information, thereby further improving the accuracy of detection results.

In the above embodiment, after step S6, it may further include:

Step S7: Receive the stabilized initial environment image obtained by the camera, generate and set the second system parameters through the environment processing algorithm; receive the environment image obtained by the camera in real time, and determine the image position of the detection target under the second system parameters through the image processing algorithm information.

After the camera vibrates and returns to stability, the first system parameters may no longer be applicable as a benchmark for comparison, so the second system parameters are re-established to ensure the accuracy of the detection results. Under the condition of the second system parameters, step S2 is repeated.

In the above embodiment, after step S5, it may also include:

Also include after step S5:

Step S8: receiving the rotated initial environment image acquired by the camera, generating and setting the third system parameters through an image processing algorithm;

Receive the environmental image acquired by the camera in real time, and determine the image position information of the detection target under the parameters of the third system through the image processing algorithm.

After the camera angle is adjusted, the first system parameter or the second system parameter may no longer be applicable as a benchmark for comparison, so the third system parameter is re-established to ensure the accuracy of the detection result. Under the condition of the third system parameter, step S2 is repeated.

In addition to the above probe vibration reduction method, the present invention also provides a probe vibration damping device applying the probe vibration damping method, the probe vibration damping device is used for the probe 3, and the probe 3 is provided with a magnetic field generating device to A magnetic field is generated, the camera 4 is suspended in the magnetic field, and the probe vibration reduction device includes:

The image processing device is used to receive the image position information of the detection target acquired by the camera 4 in real time;

The first judging device is used to judge whether the image position information changes, and if so, drive the second judging device;

The second judging device is used to judge whether the magnetic field environment in the probe head 3 is in a stable state, if so, drive the third judging device, otherwise, drive the magnetic field controller;

The third judging device is used to judge whether the deviation of the image position information exceeds the preset range, and if so, drive the magnetic field control device 1;

The magnetic field control device 1 is used to control the magnetic field environment according to the judgment result of the second judgment device, so as to rotate the camera 4 by a corresponding angle, and to generate a vibration reduction instruction according to the judgment result of the third judgment device to stabilize the magnetic field environment.

Due to the application of the above-mentioned probe vibration reduction method, this probe vibration reduction device can ensure the stability of the imaging environment through the control of the magnetic field, and can use the control of the magnetic field to realize the rotation of the camera 4 at any angle, thereby accurately realizing the shooting range. Adjustment with the camera angle ensures the accuracy of the detection results and improves the applicability of the detector.

In the above embodiments, the vibration damping device for the probe head may further include an anti-interference device for shielding external signal interference, so as to further improve the accuracy of the detection result.

In the above embodiment, a wireless communication device can be installed between the camera 4 and the image processing device, and the cable arrangement in the detection head 3 can be reduced through wireless transmission, which is beneficial to expand the available space inside the detection head 3 .

In the above-mentioned embodiments, the magnetic field generating device may specifically include an electromagnetic coil wound on the camera 4 and a magnetic induction base 2 for placing the camera 4, which is generated through the interaction between the electromagnetic coil, the magnetic induction base 2 and the probe vibration reduction device. Stable magnetic field to realize the levitation of camera 4. Wherein, the magnetic field control device 1 can specifically control the change of the magnetic field by controlling the change of the current in the electromagnetic coil and the magnetic induction base 2 . Through the arrangement of the electromagnetic coil and the magnetic induction base 2 , the position of the camera 4 in the detection head 3 can be reliably controlled to fully control the orientation of the camera 4 .

In addition to the above-mentioned method and device for detecting head vibration reduction, the invention also provides an unmanned aerial vehicle including the above-mentioned detection head vibration reduction device. , can ensure the stability of the imaging environment through the control of the magnetic field, and can use the control of the magnetic field to realize the rotation of the camera at any angle, so as to accurately realize the adjustment of the shooting range and camera angle, ensure the accuracy of the detection results, and improve the detector. applicability. For the structures of other parts of the drone, please refer to the prior art, which will not be repeated here.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The vibration reduction method for the probe head, the vibration reduction device for the probe head and the unmanned aerial vehicle provided by the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. A probe damping method for probe, characterized in that, the probe is provided with a magnetic field generating device to generate a magnetic field, and the camera is suspended in the magnetic field, the method comprising: Step S1: receiving the image position information of the detection target acquired by the camera in real time; Step S2: judging whether the image position information has changed, if so, execute step S3; Step S3: judging whether the magnetic field environment in the probe head is in a stable state, if so, execute step S4, otherwise, execute step S6; Step S4: judging whether the deviation of the image position information exceeds the preset range, if so, execute step S5; Step S5: controlling the magnetic field environment to make the camera rotate at a corresponding angle; Step S6: Generate a vibration reduction command to stabilize the magnetic field environment. 2. The probe vibration reduction method according to claim 1, wherein the step S6 comprises: Based on the continuous penalty function anti-saturation algorithm in the saturation-constrained LMS algorithm, vibration reduction instructions are generated to stabilize the magnetic field environment. 3. The probe vibration reduction method according to claim 2, wherein the step S1 comprises: receiving the initial environment image acquired by the camera, generating and setting the first system parameters through an image processing algorithm; The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the first system parameters is determined through an image processing algorithm. 4. The probe vibration reduction method according to claim 3, characterized in that, after the step S6, it also includes: Step S7: receiving the stabilized initial environment image acquired by the camera, generating and setting the second system parameters through an image processing algorithm; The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the second system parameters is determined through an image processing algorithm. 5. The probe vibration reduction method according to claim 4, characterized in that, after the step S5, it also includes: Step S8: receiving the rotated initial environment image acquired by the camera, generating and setting the third system parameter through an image processing algorithm; The environmental image acquired by the camera is received in real time, and the image position information of the detection target under the third system parameter is determined through an image processing algorithm. 6. A probe damping device for a probe, characterized in that, the probe is provided with a magnetic field generating device to generate a magnetic field, and the camera is suspended in the magnetic field, and the probe damping device includes: An image processing device, configured to receive in real time the image position information of the detection target acquired by the camera; The first judging device is used to judge whether the image position information changes, and if so, drive the second judging device; The second judging device is used to judge whether the magnetic field environment in the probe head is in a stable state, if so, drive the third judging device, otherwise, drive the magnetic field controller; The third judging device is used to judge whether the deviation of the image position information exceeds a preset range, and if so, drive the magnetic field control device; The magnetic field control device is used to control the magnetic field environment according to the judgment result of the second judgment device, to make the camera rotate by a corresponding angle, and to generate a vibration reduction instruction according to the judgment result of the third judgment device, so as to The magnetic field environment is stabilized. 7. probe damping device according to claim 6, is characterized in that, also comprises: The anti-interference device is used to shield external signal interference. 8 . The probe vibration reduction device according to claim 6 , wherein a wireless communication device is provided between the camera and the image processing device. 9 . 9. The probe vibration reduction device according to claim 6, wherein the magnetic field generating device includes an electromagnetic coil wound on the camera and a magnetic induction base for placing the camera, the magnetic field control The device controls the change of the electric current in the electromagnetic coil and the magnetic induction base to control the change of the magnetic field. 10. An unmanned aerial vehicle, comprising a detection head, characterized in that it further comprises the vibration reduction device for the detection head according to any one of claims 6-9.