CN107295257A - Detecting head oscillation damping method, detecting head vibration absorber and unmanned plane - Google Patents
Detecting head oscillation damping method, detecting head vibration absorber and unmanned plane Download PDFInfo
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- CN107295257A CN107295257A CN201710569919.6A CN201710569919A CN107295257A CN 107295257 A CN107295257 A CN 107295257A CN 201710569919 A CN201710569919 A CN 201710569919A CN 107295257 A CN107295257 A CN 107295257A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
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- Studio Devices (AREA)
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Abstract
The invention discloses a kind of detecting head oscillation damping method, for detecting head, provided with magnetic field generating arrangement to generate magnetic field in detecting head, camera is suspended in the magnetic field, and this method includes：Step S1：The image location information for the detection target that real-time reception camera is obtained；Step S2：Judge whether image location information changes, if so, performing step S3；Step S3：Judge whether the magnetic field environment in detecting head is in stable state, if so, performing step S4, otherwise, perform step S6；Step S4：Judge whether the deviation of image location information exceeds preset range, if so, performing step S5；Step S5：Magnetic field environment is controlled, camera is rotated corresponding angle；Step S6：Vibration damping instruction is generated, with stabilizing magnetic field environment.Such a detecting head oscillation damping method ensure that the stabilization of imaging environment, and can realize that camera rotates any angle, it is ensured that result of detection is accurate, improves applicability.The invention also discloses a kind of detecting head vibration absorber and unmanned plane.
Description
Technical field
The present invention relates to detector technology field, more particularly to a kind of detecting head oscillation damping method.Moreover, it relates to
A kind of detector and unmanned plane of the above-mentioned detecting head oscillation damping method of application.
Background technology
At present, the detector with camera function in many fields by extensive use, to ensure people's life and work
Make the safety of environment.
Detector has certain image pickup scope, and current detection target is visited after outside the image pickup scope
Its camera angle can not be adjusted to continue to detect detection target by surveying device, so as to influence the accuracy of result of detection, be limited
The use of detector.
Therefore, the defect for how overcoming existing detector to exist, is the technology that those skilled in the art need to solve at present
Problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of detecting head oscillation damping method, the tune to camera angle can be realized
Section, it is ensured that the accuracy of result of detection, improves the applicability of detector.Subtract it is a further object of the present invention to provide a kind of detecting head
Vibrating device, can realize the regulation to camera angle, it is ensured that the accuracy of result of detection, improve the applicability of detector.This hair
Bright another object be to provide it is a kind of include the unmanned plane of above-mentioned detecting head vibration absorber, the tune to camera angle can be realized
Section, it is ensured that the accuracy of result of detection, improves the applicability of detector.
To achieve the above object, the present invention provides following technical scheme：
A kind of detecting head oscillation damping method, for detecting head, provided with magnetic field generating arrangement to generate magnetic field in the detecting head,
Camera is suspended in the magnetic field, and this method includes：
Step S1：The image location information for the detection target that camera described in real-time reception is obtained；
Step S2：Judge whether described image positional information changes, if so, performing step S3；
Step S3：Judge whether magnetic field environment in the detecting head is in stable state, if so, step S4 is performed, it is no
Then, step S6 is performed；
Step S4：Judge whether the deviation of described image positional information exceeds preset range, if so, performing step S5；
Step S5：Magnetic field environment is controlled, the camera is rotated corresponding angle；
Step S6：Vibration damping instruction is generated, to stablize the magnetic field environment.
Preferably, the step S6 includes：
Instructed based on the continuous penalty anti-saturation algorithm generation vibration damping in constraint of saturation LMS algorithm to stablize the magnetic
Field environment.
Preferably, the step S1 includes：
The initial environment image that the camera is obtained is received, is generated by image processing algorithm and sets the first system to join
Number；
The ambient image that camera described in real-time reception is obtained, determines the detection target in institute by image processing algorithm
State the image location information under the first system parameter.
Preferably, also include after the step S6：
Step S7：The initial environment image after the stabilization that the camera is obtained is received, is generated by image processing algorithm
And second system parameter is set；
The ambient image that camera described in real-time reception is obtained, determines the detection target in institute by image processing algorithm
State the image location information under second system parameter.
Preferably, also include after the step S5：
Step S8：The initial environment image after the rotation that the camera is obtained is received, is generated by image processing algorithm
And the 3rd systematic parameter is set；
The ambient image that camera described in real-time reception is obtained, determines the detection target in institute by image processing algorithm
State the image location information under the 3rd systematic parameter.
A kind of detecting head vibration absorber, for detecting head, provided with magnetic field generating arrangement to generate magnetic field in the detecting head,
Camera is suspended in the magnetic field, and the detecting head vibration absorber includes：
Image processing apparatus, the image location information of the detection target obtained for camera described in real-time reception；
First judgment means, for judging whether described image positional information changes, if so, driving second judges dress
Put；
Second judgment means, for judging whether the magnetic field environment in the detecting head is in stable state, if so,
The 3rd judgment means are driven, otherwise, driving magnetic field controller；
3rd judgment means, for judging whether the deviation of described image positional information exceeds preset range, if so,
Drive the magnetic field control device；
The magnetic field control device, for controlling magnetic field environment according to the judged result of second judgment means, makes institute
State camera and rotate corresponding angle, and for generating vibration damping instruction according to the judged result of the 3rd judgment means, with
Stablize the magnetic field environment.
Preferably, in addition to:
Means for anti-jamming, for shielding outer signals interference.
Preferably, wireless communication apparatus is provided between the camera and described image processing unit.
Preferably, the magnetic field generating arrangement includes the magnet coil being set around on the camera and for placing
The magnetic induction base of camera is stated, the magnetic field control device controls the magnet coil and the electric current in the magnetic induction base
Change to control the changes of magnetic field.
A kind of unmanned plane, including detecting head, in addition to the detecting head vibration absorber as described in above-mentioned any one.
The detecting head oscillation damping method that the present invention is provided, the image location information obtained in the camera received changes
When, progress is to detect the judgement that target is vibrated in mobile or camera, if detection target is then further sentenced in movement
Whether disconnected detection target is removed outside preset range, if exceeding, and controls changes of magnetic field to control camera to rotate corresponding angle
Degree；If detection target is not moved, it can be assumed that camera vibrates, recover stable can stablize of magnetic field environment and image
Head.
Such a detecting head oscillation damping method is based on magnetic levitation technology, can distinguish detection target in mobile or shooting hair
The change of image location information caused by raw vibration, and by ensureing the control in magnetic field the stabilization of imaging environment, realize
The vibration damping of camera, and the control to magnetic field can be utilized to realize that camera rotates any angle, shot so as to accurately realize
The working condition of the adjustment of scope and camera angle, in time adjustment detecting head, it is ensured that the accuracy and convenience of result of detection, can
Collection is tracked to target in real time, the applicability of detector is improved.
The detecting head vibration absorber that the present invention is provided, can realize the regulation to camera angle, it is ensured that the standard of result of detection
True property, improves the applicability of detector.
What the present invention was provided includes the unmanned plane of above-mentioned detecting head vibration absorber, can realize the regulation to camera angle,
Ensure the accuracy of result of detection, improve the applicability of detector.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of detecting head oscillation damping method provided by the present invention；
Fig. 2 is the structure chart of detecting head provided by the present invention.
In Fig. 2,1- magnetic field control devices, 2- magnetic induction bases, 3- detecting heads, 4- cameras.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The core of the present invention is to provide a kind of detecting head oscillation damping method, can realize the regulation to camera angle, it is ensured that visit
The accuracy of result is surveyed, the applicability of detector is improved.Another core of the present invention is to provide a kind of detecting head vibration absorber, energy
Enough realize the regulation to camera angle, it is ensured that the accuracy of result of detection, improve the applicability of detector.Another core of the present invention
The heart be to provide it is a kind of include the unmanned plane of above-mentioned detecting head vibration absorber, the regulation to camera angle can be realized, it is ensured that detection
As a result accuracy, improves the applicability of detector.
Fig. 1 and Fig. 2 are refer to, Fig. 1 is the flow chart of detecting head oscillation damping method provided by the present invention；Fig. 2 is institute of the present invention
The structure chart of detecting head is provided.
In a kind of specific embodiment of detecting head oscillation damping method provided by the present invention, this method is used for detecting head, detecting head
In provided with magnetic field generating arrangement to generate magnetic field, camera is suspended in the magnetic field.Detecting head is a part for detector.The party
Method includes：
Step S1：The image location information for the detection target that real-time reception camera is obtained.
Step S2：Judge whether image location information changes, if so, performing step S3.
The image location information of detection target for obtaining in real time is contrasted, specifically can be to the image at moment position
Confidence breath and the image location information of last moment are contrasted, and comparing result is inconsistent for both, you can judge picture position
Information changes.
Step S3：Judge whether the magnetic field environment in detecting head is in stable state, if so, performing step S4, otherwise, hold
Row step S6.
Step S4：Judge whether the deviation of image location information exceeds preset range, if so, performing step S5.
Step S5：Magnetic field environment is controlled, camera is rotated corresponding angle.
Wherein, preset range refers to the default image pickup scope of camera, and the preset range can specifically be less than shooting
The maximum image pickup scope of head.When detecting target beyond preset range, that is, perform step S5.Magnetic field is controlled by performing step S5
Environment, can be such that camera is rotated accordingly, so that detection target is fallen within preset range again, can specifically lead to
The control to camera rotational angle is crossed, detection target is fallen within the middle of preset range.
Step S6：Vibration damping instruction is generated, with stabilizing magnetic field environment.
In step s3, if magnetic field is in unsteady state, you can identification is camera as detecting head is shaken
It is dynamic, so as to generate vibration damping instruction with stabilizing magnetic field environment.
In the present embodiment, when the image location information obtained in the camera received changes, progress is detection mesh
The judgement that mobile or camera vibrates is marked on, if detection target is in movement, then whether detection target is determined whether
Remove outside preset range, if exceeding, control changes of magnetic field to control camera to rotate corresponding angle；If detection target does not have
There is movement, then it can be assumed that camera vibrates, it is that can stablize camera to recover magnetic field environment stable.
It can be seen that, such a detecting head oscillation damping method is based on magnetic levitation technology, can distinguish detection target in movement or take the photograph
As the change of image location information caused by hair life vibration, and by ensureing the steady of imaging environment to the control in magnetic field
It is fixed, the vibration damping of camera is realized, and the control to magnetic field can be utilized to realize that camera rotates any angle, so that accurate real
The working condition of the adjustment of existing coverage and camera angle, in time adjustment detecting head, it is ensured that the accuracy of result of detection with just
Profit, can be tracked collection to target in real time, improve the applicability of detector.Meanwhile, the present invention meets national " 13 "
Planning, promotes the innovation and developments such as Intelligent hardware, novel sensor.Lift the field Intelligent hardware technical merits such as smart machine.Plus
Fast high accuracy, low-power consumption, the research and development of high reliability sensor and application.
In above-described embodiment, step S6 is specifically included：
Instructed based on the continuous penalty anti-saturation algorithm generation vibration damping in constraint of saturation LMS algorithm with stabilizing magnetic field ring
Border, so as to further improve effectiveness in vibration suppression.Wherein, recover stabilizing magnetic field during, specifically can by repeatedly by
Successive step magnetic field, quickly makes camera enter stable state to realize.
In above-described embodiment, step S1 can specifically include：
The initial environment image that camera is obtained is received, is generated by image processing algorithm and the first system parameter is set；
The ambient image that real-time reception camera is obtained, determines that detection target is joined in the first system by image processing algorithm
Image location information under several.
The initial environment image acquired in camera is received, can specifically include the orientation, distance and week of detection target
Collarette border characteristic information, is generated by image processing algorithm and sets the first system parameter, for example, being built using detecting target as origin
Vertical first coordinate system.After the first system parameter is set, for the ambient image of real-time reception, pass through image processing algorithm
It is determined that image location information of the detection target under the first system parameter, for example, position of the detection target in the first coordinate system.
In the method, by the foundation of the first system parameter, accurate base can be relatively provided for image location information
Plinth, so as to further improve the accuracy of result of detection.
In above-described embodiment, it can also include after step S6：
Step S7：The initial environment image after the stabilization that camera is obtained is received, generates and sets by environmental treatment algorithm
Put second system parameter；The ambient image that real-time reception camera is obtained, determines detection target the by image processing algorithm
Image location information under two system parameter.
After camera occurs to vibrate and recover stable, the first system parameter may be no longer desirable for base as a comparison
Standard, thus re-establish second system parameter to ensure the accurate of result of detection.Under conditions of second system parameter, repeat
Row step S2.
In above-described embodiment, it can also include after step S5：
Also include after step S5：
Step S8：The initial environment image after the rotation that camera is obtained is received, is generated and set by image processing algorithm
Put the 3rd systematic parameter；
The ambient image that real-time reception camera is obtained, determines that detection target is joined in the 3rd system by image processing algorithm
Image location information under several.
After camera adjustment angle, the first system parameter or second system parameter may be no longer desirable for as a comparison
Benchmark, thus re-establish the 3rd systematic parameter to ensure the accurate of result of detection.Under conditions of the 3rd systematic parameter, repeat
Carry out step S2.
Except above-mentioned detecting head oscillation damping method, the present invention also provides a kind of detecting head of the above-mentioned detecting head oscillation damping method of application
Vibration absorber, the detecting head vibration absorber is used in detecting head 3, detecting head 3 provided with magnetic field generating arrangement generate magnetic field, images
First 4 are suspended in the magnetic field, and detecting head vibration absorber includes：
Image processing apparatus, the image location information of the detection target obtained for real-time reception camera 4；
First judgment means, for judging whether image location information changes, if so, the second judgment means of driving；
Second judgment means, for judging whether the magnetic field environment in detecting head 3 is in stable state, if so, driving the
Three judgment means, otherwise, driving magnetic field controller；
3rd judgment means, for judging whether the deviation of image location information exceeds preset range, if so, driving magnetic field
Control device 1；
Magnetic field control device 1, for controlling magnetic field environment according to the judged result of the second judgment means, makes 4 turns of camera
Corresponding angle is moved, and for generating vibration damping instruction according to the judged result of the 3rd judgment means, with stabilizing magnetic field environment.
Such a detecting head vibration absorber due to applying above-mentioned detecting head oscillation damping method, can by the control to magnetic field come
Ensure the stabilization of imaging environment, and the control to magnetic field can be utilized to realize that camera 4 rotates any angle, so that accurate real
The adjustment of existing coverage and camera angle, it is ensured that the accuracy of result of detection, improves the applicability of detector.
In above-described embodiment, detecting head vibration absorber can also include means for anti-jamming, for shielding outer signals interference,
Further to improve the accuracy of result of detection.
In above-described embodiment, wireless communication apparatus can be specifically set between camera 4 and image processing apparatus, pass through nothing
Line transmission mode so as to reduce the cable in detecting head 3 set, be conducive to expand detecting head 3 inside using sky
Between.
In above-described embodiment, magnetic field generating arrangement can specifically include around the magnet coil being located on camera 4 and be used for
The magnetic induction base 2 of camera 4 is placed, passes through the phase interaction between magnet coil, magnetic induction base 2 and detecting head vibration absorber
With the stable magnetic field of generation to realize the suspension of camera 4.Wherein, magnetic field control device 1 specifically can be by controlling electromagnetic wire
Enclose with the curent change in magnetic induction base 2 to control changes of magnetic field., can by the setting of magnet coil and magnetic induction base 2
Reliably to control position of the camera 4 in detecting head 3, to control the orientation of camera 4 comprehensively.
Except above-mentioned detecting head oscillation damping method and device, invention additionally provides a kind of including above-mentioned detecting head vibration absorber
Unmanned plane, the unmanned plane includes detecting head, and such a unmanned plane, can be by magnetic as a result of above-mentioned detecting head vibration absorber
Control ensure the stabilization of imaging environment, and the control to magnetic field can be utilized to realize that camera rotates any angle,
So as to accurately realize the adjustment of coverage and camera angle, it is ensured that the accuracy of result of detection, the applicability of detector is improved.
The structure of other each several parts of the unmanned plane refer to prior art, repeat no more herein.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Detailed Jie has been carried out to detecting head oscillation damping method provided by the present invention, detecting head vibration absorber and unmanned plane above
Continue.Specific case used herein is set forth to the principle and embodiment of the present invention, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improve and repaiied
Decorations are also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. a kind of detecting head oscillation damping method, for detecting head, it is characterised in that in the detecting head provided with magnetic field generating arrangement with
Magnetic field is generated, camera is suspended in the magnetic field, and this method includes：
Step S1：The image location information for the detection target that camera described in real-time reception is obtained；
Step S2：Judge whether described image positional information changes, if so, performing step S3；
Step S3：Judge whether the magnetic field environment in the detecting head is in stable state, if so, performing step S4, otherwise, hold
Row step S6；
Step S4：Judge whether the deviation of described image positional information exceeds preset range, if so, performing step S5；
Step S5：Magnetic field environment is controlled, the camera is rotated corresponding angle；
Step S6：Vibration damping instruction is generated, to stablize the magnetic field environment.
2. detecting head oscillation damping method according to claim 1, it is characterised in that the step S6 includes：
Instructed based on the continuous penalty anti-saturation algorithm generation vibration damping in constraint of saturation LMS algorithm to stablize the magnetic field ring
Border.
3. detecting head oscillation damping method according to claim 2, it is characterised in that the step S1 includes：
The initial environment image that the camera is obtained is received, is generated by image processing algorithm and the first system parameter is set；
The ambient image that camera described in real-time reception is obtained, determines the detection target described the by image processing algorithm
Image location information under one systematic parameter.
4. detecting head oscillation damping method according to claim 3, it is characterised in that also include after the step S6：
Step S7：The initial environment image after the stabilization that the camera is obtained is received, is generated and set by image processing algorithm
Put second system parameter；
The ambient image that camera described in real-time reception is obtained, determines the detection target described the by image processing algorithm
Image location information under two system parameter.
5. detecting head oscillation damping method according to claim 4, it is characterised in that also include after the step S5：
Step S8：The initial environment image after the rotation that the camera is obtained is received, is generated and set by image processing algorithm
Put the 3rd systematic parameter；
The ambient image that camera described in real-time reception is obtained, determines the detection target described the by image processing algorithm
Image location information under three systematic parameters.
6. a kind of detecting head vibration absorber, for detecting head, it is characterised in that in the detecting head provided with magnetic field generating arrangement with
Magnetic field is generated, camera is suspended in the magnetic field, and the detecting head vibration absorber includes：
Image processing apparatus, the image location information of the detection target obtained for camera described in real-time reception；
First judgment means, for judging whether described image positional information changes, if so, the second judgment means of driving；
Second judgment means, for judging whether the magnetic field environment in the detecting head is in stable state, if so, driving
3rd judgment means, otherwise, driving magnetic field controller；
3rd judgment means, for judging whether the deviation of described image positional information exceeds preset range, if so, driving
The magnetic field control device；
The magnetic field control device, for controlling magnetic field environment according to the judged result of second judgment means, makes described take the photograph
As the corresponding angle of head rotation, and for generating vibration damping instruction according to the judged result of the 3rd judgment means, with stable
The magnetic field environment.
7. detecting head vibration absorber according to claim 6, it is characterised in that also include:
Means for anti-jamming, for shielding outer signals interference.
8. detecting head vibration absorber according to claim 6, it is characterised in that the camera is handled with described image and filled
Wireless communication apparatus is provided between putting.
9. detecting head vibration absorber according to claim 6, it is characterised in that the magnetic field generating arrangement includes being set around
Magnet coil on the camera and the magnetic induction base for placing the camera, the magnetic field control device control
Curent change in the magnet coil and the magnetic induction base is to control the changes of magnetic field.
10. a kind of unmanned plane, including detecting head, it is characterised in that also including the detection described in claim 6 to 9 any one
Head vibration absorber.
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| 陈昊: "基于饱和约束LMS算法的磁悬浮隔振器控制研究", 《振动与冲击》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107885194A (en) * | 2017-11-10 | 2018-04-06 | 广东工业大学 | A kind of unmanned exploration device and its control method, system |
| CN113126658A (en) * | 2021-03-26 | 2021-07-16 | 联想(北京)有限公司 | Image acquisition system |
| CN113126658B (en) * | 2021-03-26 | 2022-07-26 | 联想(北京)有限公司 | Image acquisition system |
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