CN108269270A - Sun detection, tracks of device, method and application - Google Patents
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Abstract
The invention discloses sun detection, tracks of device, method and application, the detection device includes, the processing unit of image capture device electrical connection, image capture device acquisition is detected the image of target, forms detectable signal, and processing unit identifies the target image signal in detectable signal, target image is detected according to target image signal, obtains the detection information for being detected target.Target tracker and relevant methods and applications are disclosed based on the detection device.The present invention can be obviously improved the accuracy to target detection, meanwhile, it can realize processing and operation in real time, improve efficiency and accuracy.
Description
Technical field
The present invention relates to detection and tracking technique, especially target detection, tracking technique and its applications, further, special
It is not related to detection, tracking technique and the application of the sun.
Background technology
Object detecting and tracking technology is the basis of automatic technology.It, can be according to different due to the difference of target object
It needs using different technical solutions.For all kinds of luminous, reflective（Target including being capable of diffusing reflection and mirror-reflection）, fever
Etc. the detections of targets be the wider detection technique of application range.
Detected, for tracking technique by the sun, at present, photoelectricity, Opto-thertnal detection and the tracking technique often used, sensor and
Interlock circuit accessory is more, and technical solution is more complicated, and sensitivity and precision be not high, and the response time is longer, so as to constrain application
Scene and application effect.
Invention content
Against the above deficiency, the technical problems to be solved by the invention are to provide a kind of new detection device, Yi Jixiang
The tracks of device answered；Further, corresponding application is provided.
Detection device, which is characterized in that the processing unit of image capture device electrical connection, image capture device acquisition are tested
The image of target is surveyed, forms detectable signal, processing unit identifies the target image signal in detectable signal, according to target figure
As signal is detected target image, the detection information for being detected target is obtained.
Preferably, image capture device includes optical image unit and setting image unit in its rear, optics into
As the target and its background are formed optical imagery by unit on imaging unit, optical imagery is converted to other by imaging unit
The detectable signal of type, and it is sent to the processing unit.
Preferably, the imaging unit is photoelectronic imaging unit, optical imagery is converted to electric image signal, and be sent to place
Unit is managed, the processing unit identifies the target image signal in electric image signal, according to the relevant parameter of target image signal
Obtain the detection information of the target.
Preferably, further comprise filter unit, the filter unit is arranged on image capture device or optical imagery list
First front end.
Preferably, the filter unit is optical filter；Or, the filter unit be pinhole imaging system system, the aperture
Imaging system includes imaging screen, the imaging aperture being arranged in front of imaging screen, and image capture device acquires the picture on imaging screen.
Detection device, image sensing cell are connect with data processing unit, are arranged in front of described image sensing unit
As aperture, detected target is directly formed, and by image by optical imagery on image sensing cell by the imaging aperture
Sensing unit production figures electric signal.
Target tracker, including aforementioned detection device, the detection device is connect with control unit, and the control is single
First to be connect with the tracking cell, the detection device judges the position feelings of target by the position relationship of target image signal
Condition controls the tracking cell to work by control unit.
Solar energy detects or tracking system, including aforementioned target tracker, the figure of the detection device acquisition sun
Picture is detected or tracks to the sun.
Solar energy system, including aforementioned system, the tracking cell is connect with solar energy acquisition unit, and drives the sun
The movement of energy collecting unit or working condition.
Object detection method acquires the image of detected target with image capture device, passes through the knowledge to target image
It not and detects, positioning, realizes the detect and track to target.
Meanwhile the invention also includes method for tracking target, sun detection, tracking and coherent detection and tracking dresses
The application method put and application.
In the above-mentioned technical solutions, since imaging sensor has very high Image Acquisition sensitivity（Such as common RGB24
It is the rgb format of a kind of 24, each component occupies 8, and each component value range is 0-255）With the fineness of pixel（At present
Conventional image sensor have reached the fineness of mega pixel point）, the accuracy to target detection is obviously improved, meanwhile,
By appropriate image recognition algorithm, it can realize processing and operation in real time, improve efficiency.For example, by the invention it is possible to
It realizes and the slight change for detecting target is detected, is positioned.In application aspect, target following（Including solar tracking etc.）, adopt
Sample is invented, and directly utilizes 1 camera, you can accurately identify position of sun and angle, and carry out real-time tracking.Certainly also may be used
In terms of being used in other target followings, such as aircraft, flame detection etc..
Description of the drawings
In order to more clearly describe related art scheme according to the present invention, the attached drawing being related to below gives simply
Explanation, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for ordinary skill people
For member, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 structure principle charts of the present invention；
One embodiment of Fig. 2 detection components；
Another embodiment of Fig. 3 detection components；
The detection of Fig. 4 sun, an embodiment of tracking application system；
The detection of Fig. 5 sun, another embodiment of tracking application system；
The detection of Fig. 6 sun, the another embodiment of tracking application system；
The detection of Fig. 7 sun, the another embodiment of tracking application system；
Fig. 8 pixel iterative handling principle schematic diagrames；
Fig. 9 picture pixels iteration measured result schematic diagrames；
The pixel iterative treatment effect figure of Figure 10 pictures 1a；
The pixel iterative treatment effect figure of Figure 11 pictures 1b.
Reference sign：
Target A, the picture A ' of target（The picture that i.e. target is formed on image sensing cell 222）；Picture 1, the target figure on picture
As 10（Abbreviation target image 10）, the background image 13 on picture（Abbreviation background image 13）, the picture 1a of first state, second
The picture 1b of state, the target image 10a on first state picture（Abbreviation target image 10a）, the mesh on first state picture
Logo image 10b（Abbreviation target image 10b）；Detection components 2, filter unit 21 are imaged aperture 211, imaging screen 212, camera
22, optical image unit 221, image sensing cell 222, data processing unit 23；Pixel iterative curve 3（Abbreviation iterativecurve
3）, target portion curve 30, target portion curve peak bottom 301, boundary portion curve 31, background portion curve 33, ambient noise portion curve
331, iteration difference curve 30a, noise iteration difference curve 332；Application system 4, control unit 41, tracking cell 42, the sun
Energy collecting unit 43, regulates and controls unit 44, solar energy application system 45.
Specific embodiment
For the ease of those skilled in the art's a further understanding of the present invention, and clearly recognize recorded in the application
Technical solution, the relevant technologies content that is complete, fully disclosing the present invention, below in conjunction with the accompanying drawings to the specific implementation of the present invention
Mode is described in detail, and certainly, described specific embodiment only gives one of the present invention in a manner of enumerating
Divide embodiment, be used to help understand the present invention and its core concept.
Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
All other embodiment and/or without deviating from the spirit and substance of the present invention, even if being held to each step
Row sequence（Partial connection relation or structure）Changed and various corresponding changes and change are made according to the present invention
Shape, but these corresponding changes and deformation should all belong to the scope of protection of the invention.Meanwhile the dependent part of each embodiment
Point can be replaced each other, and form new embodiment, specific implementation those skilled in the art can understand completely and
Know, repeat no more in this application.
Relational language of the present invention is defined as follows：
Picture refers to digital photo, to record the image collected information, is made of several pixels, including Background
Picture, foreground image（The application is referred to as target image）；The description of pixel can be realized according to different agreements, and
May be used a variety of coding modes recorded, operation and storage, and the mould according to as defined in different need using different agreement
Formula is applied.Certainly, in the present invention, the picture can also be the image information that other forms are recorded, according to Shen
Please file context can be unambiguously understanding.As unit of the picture element of picture, row, field（Row）Direction is respectively X-axis, Y
Axis establishes coordinate system, is X-coordinate axle along line direction as unit of pixel, field direction establishes coordinate system for Y-axis, is sat establishing
During mark, left upper apex pixel is generally selected as coordinate origin（0,0）
Imaging sensor or photosensitive element are a kind of devices that optical imagery is converted into digital electric signal, it is by widely
It applies in digital camera and other electro-optical devices.Imaging sensor is composition digital camera（Abbreviation camera）Weight
Want component part.According to the difference of element, CCD can be divided into（Charge Coupled Device, charge coupled cell）And CMOS
（Complementary Metal-Oxide Semiconductor, metal oxide semiconductor device）.Certainly, with technology
Development, other different image sensor technologies also constantly will form and apply.
Camera (CAMERA or WEBCAM) is also known as camera computer, computer eye, electronic eyes etc., is that a kind of video input is set
It is standby.Camera can be divided into digital camera and simulation two major class of camera.Digital camera can generate video capture device
Analog video signal be converted into digital signal, the vision signal that simulation camera captures has to pass through specific video and captures
Card converts analog signals into figure pattern.It in the inventive solutions, can also be with other imaging devices or with phase
The equipment or related device of congenerous combine the equipment of composition to substitute camera, can equally reach the technology effect of the present invention
Fruit.
The basic technology scheme of the present invention is as follows：
Use imaging device（Image capture device）Carry out the image of acquisition testing target, by the identification to target image and detection,
Positioning etc., realizes the detect and track to target.Since imaging device records comprehensively target image information, response is fast, and
Imaging system sensitivity in itself, precision are high, effectively promote sensitivity, precision and the response speed of target detection and tracking.
Specifically,
Detection device, image sensing cell are connect with data processing unit, and setting imaging is small in front of described image sensing unit
Detected target is directly formed optical imagery, and by image sensing by hole by the imaging aperture on image sensing cell
Cellular manufacture digital signal.
Target tracker, including aforementioned detection device, the detection device is connect with control unit, and the control is single
First to be connect with the tracking cell, the detection device judges the position feelings of target by the position relationship of target image signal
Condition controls the tracking cell to work by control unit.
Solar energy detects or tracking system, including aforementioned target tracker, the figure of the detection device acquisition sun
Picture is detected or tracks to the sun.
Solar energy system, including aforementioned system, the tracking cell is connect with solar energy acquisition unit, and drives the sun
The movement of energy collecting unit or working condition.
Object detection method acquires the image of detected target with image capture device, passes through the knowledge to target image
It not and detects, positioning, realizes the detect and track to target.
Detection device, which is characterized in that the processing unit of image capture device electrical connection, image capture device acquisition are tested
The image of target is surveyed, forms detectable signal, processing unit identifies the target image signal in detectable signal, according to target figure
As signal is detected target image, the detection information for being detected target is obtained.
The present invention may be used technical solution, embodiment in detail below and realize：
Detection components of the present invention include the processing unit being electrically connected with image capture device, and image capture device includes optical imagery
Target and its background are formed light by the image unit of unit and setting in its rear, optical image unit on imaging unit
Image is learned, optical imagery is converted to other kinds of information by imaging unit.Preferably as technology hand most ripe at present
Section, the imaging unit are photoelectronic imaging unit, and optical imagery is converted to electric image signal（Such as analog or digital telecommunications
Number, such as pick-up tube etc. is one of device for generating analog image electric signal）, it is sent to processing unit, processing unit identification image
Target image signal in electric signal according to the relevant parameter of target image signal, realizes the detection to target；Pass through target figure
As the position relationship of signal, the situation of target is judged, the tracking for target lays the foundation.The imaging unit is by optics
Image is converted to other kinds of information and is converted to electric signal in addition to above-mentioned, can also be and is arranged by particulate on imaging unit
The modes such as cloth, chemical reaction, temperature change, and be detected and judge using detection mode adaptable therewith.It is described
Target image signal identification, existing technical solution may be used to realize（For example well known signal detection judges skill
Art）, the technological means provided in following technical proposals of the present invention can also be used to realize.It in addition, as an improvement, can be in light
Learn imaging unit front end（Towards detected target direction, that is, between optical image unit and detected target）Setting filters
Unit, to lay the foundation for the promotion of the recognition efficiency of succeeding target image, the simplification of means of identification and extension image unit service life.
Fig. 1 gives the schematic diagram that technical solution is realized based on imaging sensor, and detection components 2 include and data in figure
The image sensing cell 222 that processing unit 23 connects sets optical image unit 221, optical imagery before image sensing cell 222
Target A and its background are formed optical imagery by unit 221 on image sensing cell 222, and image sensing cell 222 is by optical picture
As converting digitized electric signal --- electric signal that optical imagery is represented with several pixels --- digitized image（The application
In be known as picture）, picture is sent to data processing unit 23, data processing unit 23 identifies the target image in picture, according to
The relevant parameter of target image realizes the detection to target；By position relationship of the target image in picture, target is judged
Situation, the tracking for target lay the foundation.The identification of the target image may be used existing technical solution and come in fact
It is existing（Such as well known image recognition technology etc.）, the technological means provided in the subsequent technical solution of the present invention can also be used and come
It realizes.
As an improvement, can filter unit 21 be set in 221 front end of optical image unit, with the knowledge for succeeding target image
Other improved efficiency, the simplification of means of identification and extension image unit service life lay the foundation.
Described image sensing unit 222 is made of imaging sensor and interlock circuit, and described image sensing unit 222 can be with
It is one of CCD or CMOS, needs to select satisfactory device according to application, the selection of the device and circuit composition are adopted
It can be realized with the prior art.
Further, in order to realize application to testing result or realize tracking to target, data processing unit 23
The target tracking data for detecting or obtaining is sent to application system 44.
As shown in Figure 1, the target A and its background in first position pass through 221 shape of filter unit 21 and optical image unit
Into the optical imagery for projecting image sensing cell 222（Wherein the optical imagery of target A is A '）, image sensing cell 222 will
The optical imagery is converted to digitized electric signal, that is, picture 1a, there is target image 10a on Fig. 1 a.Similarly, second
The target A of position（The target that dotted line provides in order to simplify attached drawing, does not provide reference numeral A, similarly its corresponding optical picture
Picture A ' does not also provide reference numeral, is only shown with dotted line）And its background forms picture 1b, has target on image 1b
Image 10b.Becoming also occur in same it can be seen from the figure that, the position of target A target images 10 on picture 1 of two different locations
Change, picture 1a, 1b upper target image 10a, 10b are identified, and judge that target image 10a, 10b are scheming by data processing unit 23
Change in location on piece 1a, 1b（It can be obtained by the variation of pixel coordinate）The change in location situation of target A can be obtained, together
When by the variation of 10 pixel value of target image, the situation of change of the pixel quantity occupied, the color of reflection target A, state, away from
From, the variation of size, shape etc., so as to fulfill the detection to target.The testing result is sent to application system 4 to meet
Related application needs.
Fig. 2 gives the embodiment of 2 Integration Design of detection components, in the program, using the camera of existing standard
22, the camera 22 connects data processing unit 23.The camera 22 includes imaging sensor and interlock circuit, Yi Jiguang
Learn imaging system.If camera 22 is simulation camera, connected between camera 22 and data processing unit 23 by mould
Intend capure card or AD conversion module that signal is converted to digital signal.It is, of course, also possible to as needed, the camera 22
Using infrared camera.
As a kind of application, the filter unit 21 is using the optical filter being adapted with demand.Certainly, the list that filters
Member 21 can also be omitted as needed, and software filter or accurate image recognition technology are realized using data processing unit 23
It realizes, still, treatment effeciency is brought a negative impact in this way, meanwhile, if target is the high mesh of the brightness such as the sun
Mark, if filter is not used to bring damage to the service life of the related device of camera 22, especially imaging sensor yet.
The embodiment and the difference of Fig. 2 that Fig. 3 is improved are that the filter unit 21 uses pinhole imaging system system, described small
Borescopic imaging system is including imaging screen 212, the imaging aperture 211 being arranged in front of it, meanwhile, the imaging screen 212 is translucent
Material, target and background form the real image of handstand by aperture on imaging screen 212, and camera 22 is acquired on imaging screen 212
Imaging forms picture 1.Since the brightness of target can be reduced by being imaged aperture 211（It is contour particularly with the sun, flame object
Luma target particularly uses）, meanwhile, by the selection of the light transmission situation of imaging screen 212, light intensity is further reduced, is reduced to taking the photograph
As the calcination of head, extend its service life, simultaneously as background image brightness is low, imaging effect is poor, is aided with the obstruction of imaging screen 212,
It realizes the filtering to background image, reduces the interference that background image identifies target image, enhance target identification effect.
Certainly, as simplification, camera 22 and imaging screen 212 can not also be used, and directly uses image sensing cell
222, optical imagery is directly formed on image sensing cell 222 by the imaging aperture 211.
In the above-mentioned technical solutions, since imaging sensor has very high Image Acquisition sensitivity（Such as common RGB24
It is the rgb format of a kind of 24, each component value of pixel（Or channel value）--- pixel value --- occupies 8, Mei Gefen
The variations such as measurement value ranging from 0-255, light intensity, the color of target, are embodied in the target image by different pixel values.
If use 16 for coding and corresponding imaging sensor, fineness also will further improve）With the fineness of pixel（Mesh
Preceding Conventional image sensor has reached the fineness of mega pixel point）, the accuracy to target detection is obviously improved, together
When, by appropriate image recognition algorithm, it can realize processing and operation in real time, improve efficiency.For example, by the present invention,
It can realize and the slight change for detecting target is detected, is positioned.
In view of the characteristic that above-mentioned detection components 2 have, it can be by its concrete application multiple fields.Such as the inspection to the sun
It surveys, position and tracks, the acquisition of solar energy is contributed to utilize；Observation, positioning for aerial target（Such as birds, aircraft
Wait flying objects, rocket etc.）；With Yu Haiyang, the detection of floater, positioning and tracking；Detection, positioning and the tracking of fire behavior
Deng；The brightness of display screen adjustment and control of the terminal devices such as mobile phone（Ambient light intensity etc. is detected by the camera in terminal
Information, dynamic adjust the brightness of display screen, can realize continuous, accurate and adjust in real time）；Anti-dazzle photocontrol；Automobile is prevented far
Light lamp filters（The acquisition component of the compositions such as camera by vehicle front is set, when collecting strong light, is controlled according to light intensity
On the setting special eyeglasses that lenticular screen or driver wear on the windshield, to adjust its thang-kng rate；Acquisition component can also be set
It puts on special eyeglasses；Similarly, extraordinary goggles is also realized）Deng.Certainly, in a particular application, need according to different need
The device being adapted therewith is selected to realize the present invention.
The application will illustrate relevant application by taking the detection, positioning and tracking of the sun as an example, especially be adopted in solar energy
Collect the application of use aspects.Similarly, it can also be achieved in other related applications using similar techniques scheme.
Fig. 4 gives sun detection, the embodiment for tracking application system.In figure, detection components 2 and solar energy acquisition list
Member 43 is fixedly secured to one another or can be synchronized with the movement（What is provided in figure is that the two is fixedly connected, and this mode is simple in structure）, and
And 2 front end of detection components（Acquire image one end, such as the end of the imaging aperture 211 of technical solution that Fig. 3 is provided）Plane normal direction n
With the light-receiving surface of solar energy acquisition unit 43（Such as the lighting surface of solar panel or heat collector, optically focused paraboloid etc.）Method
It is parallel to N and altogether to（The two can be coplanar or non-coplanar）.Control unit 41 is connect respectively with detection components 2, tracking cell 42,
Tracking cell 42 drives the movement of solar energy acquisition unit 43.The sun data detected are sent to control unit by detection components 2
41, control unit 41 forms control signal according to testing result, controls the action of tracking cell 42, realizes solar energy acquisition unit
The tracking of 43 pairs of movement sun.Under this scheme, by detection components 2 and 43 face solar energy of solar energy acquisition unit（The two method
To parallel with sunray, and it is directed toward the sun）, detection components 2 record sun image at this time（Target image）Pixel coordinate position
It puts（C, C）, when the sun moves, the pixel coordinate position of sun image sends variation, and according to pixel coordinate variable quantity, control is single
Member 41 controls the action of tracking cell 42, rotation solar energy acquisition unit 43 and detection components 2, is detected when detection components 2
Sun image position reaches pixel coordinate position（C, C）When, solar energy acquisition unit 43 is in face sun state.With application
In, related data daily record can be established in control unit 41, if be in the cloudy day, controlled and tracked according to the data logging of the same period
The action of unit 42.The detection components 2 can acquire the testing result to the sun, interruption in a manner of use continuously or discontinuously in real time
Mode acquires the shooting style acquisition that the video acquisition for meeting required precision or certain time interval such as may be used.Solar atlas
The boundary of sun image or center positioning may be used, if this boundary alignment, due to altitude of the sun in the positioning of picture
Variation, the size of sun image can mode change, therefore, during boundary alignment according to need to certain on one side or the cooperation on multiple sides come it is real
It is existing.Since detection components 2 using imaging sensor obtain sun image information, precision is high, real-time, and response is fast.
The sun that Fig. 5 is provided detects, another embodiment of tracking application system, is with the difference of Fig. 4 technical solutions,
The detection components 2 are not direct to be connect with solar energy acquisition unit 43, and 2 position of detection components is fixed, and tracking cell 42 is only controlled
The movement of solar energy acquisition unit 43 processed.When initial setting up, by the 43 face sun of solar energy acquisition unit, detection components 2 are examined
During solar motion, the current location of sun image, control unit 41 are detected according to detection components 2 for the position of shoot the sun image
According to scheduled rule, offset is calculated, controls the action of tracking cell 42, rotation solar energy acquisition unit 43 makes at its
In face sun state.In the present embodiment, need to the sun image position acquired in detection components 2 and solar energy acquisition unit
The position relationship of the 43 opposite sun establishes corresponding rule, and the design of control unit 41 is relative complex, but the advantage is that solar atlas
The position of picture in the image sensor is mobile, can extend the service life of imaging sensor.
The sun that Fig. 6 is provided detects, the another embodiment of tracking application system；In order to simplify attached drawing in the figure, without single
Control unit 41 is solely drawn out, described control unit 41 can be set as an entirety with detection components 2 or regulation and control unit 44.Inspection
It surveys component 2 and detects the information such as the intensity of sunray, position, control is arranged on 43 front of solar energy acquisition unit（Towards too
Positive direction）Regulation and control unit 44, regulation and control unit 44 carries out light transmittance, refraction or angle of reflection according to information such as the intensity, positions
Degree so that solar energy acquisition unit 43 has satisfactory solar energy acquisition efficiency or acquisition demand.If for example, sunlight
Line is too strong, and regulation and control unit 44 reduces light transmission capacity, to ensure solar energy acquisition unit 43 in steady operation etc..
The sun that Fig. 7 is provided detects, the another embodiment of tracking application system is in the other application system of solar energy
Using.In order to simplify attached drawing in figure, control unit 41 is not drawn out individually, and described control unit 41 can be with detection components 2
Or solar energy application system 45 is set as an entirety.The solar energy application system 45 can be as needed realized according to sunlight
By force, adjustment of the variation of position etc. to its state, to meet application demand.
In order to improve the recognition efficiency of target image 10 in picture 1, the present invention also provides following target image identifications
Technical solution.
Fig. 8 provides a kind of principle identified and positioned for being handled using pixel iterative and realizing target image 10 on picture 1
Figure；Fig. 9 is given based on the technical principle of Fig. 8 to a certain black and white picture pixel iterative（The iteration of summing mode）Measured result
Figure.The technical program is realized by the way that the ranks pixel value of image pixel is carried out summation process successively, and draw corresponding curve
By the complicated image information of two dimension, simple one-dimensional data information is converted to, convenient for the identification application of computer.Certainly, may be used also
As needed, the pixel iterative in other directions is carried out, so as to which the analyzing and processing of picture material be better achieved.It is right by taking summation as an example
The technical program is explained.With 1 row of picture, field（Row）Coordinate system is established in direction, wherein（0,0）Upper left picture for picture
Vegetarian refreshments（It is of course also possible to use other modes establish coordinate system, illustrated in present specification using the coordinate system）, with
Pixel is unit；Abscissa x（X=0,1,2 ... i）For line direction, row number of the scale for picture, ordinate y（Y=0,
1,2 ... j）For field direction, scale is the line number of picture.
The pixel pixel value that picture 1 is often gone successively adds up and sums successively, projects on the ordinate y of pixel coordinate,
The scale of ordinate y corresponds to line number at this time, also just obtains the sum of the pixel value of every row；Similarly, successively by the pixel of 1 each column of picture
Point pixel value adds up successively sums, and projects on the abscissa x of pixel coordinate, the scale of abscissa x corresponds to row number at this time, also
Obtain the sum of pixel value of each column.Since 1 each pixel of picture is generally made of multiple channel values（Concrete condition is with being used
Coding protocol it is related, such as rgb format, each pixel includes 3 channel values, and when summation distinguishes each channel and carries out operation,
Or multiple channel values are subjected to summation process according to certain operation relation, for the present invention, can according to different needs come
If selection for sun detection, positioning, can be met the requirements using single pass black and white picture）Due to figures different on picture 1
The pixel value of picture is different, therefore, the situation of row, column pixel value can be intuitively reacted after summation.The value that summation obtains is depicted as song
Line 30, therefore, the peak of iterativecurve 30, paddy correspond to different target images, meanwhile, using cumulative mode, background image it is equal
Even noise is submerged, and the feature of target image is amplified, and can be identified well.The effect illustrated with Fig. 8（Assume in figure
Circular target image 10 is white, and background image is black）, the peak value of iterativecurve 30 corresponds to the peak value of target image 10, institute
It is exactly its location of pixels on picture to state the corresponding ranks number of peak value, so as to quickly obtain the position of target image 10 letter
Breath.
The time iteration effect for the true picture 1 that Fig. 9 is provided, picture 1 is black and white picture in figure, the target image on picture
10 be identical black, and Beijing is white, and row, column direction pixel value sums to obtain curve as shown in the figure.In figure, iterativecurve 3
Including background portion curve 33（White, numerical value is maximum, and 8 single channel numerical value are 255）, target portion curve 30（Black, numerical value is small,
Ater is 0）, wherein target portion curve paddy 301 is the position of size maximum in target image 10, the boundary bit of target image 10
Boundary portion curve 31 is set to, herein the catastrophe point for iterativecurve 3.By it can be seen from the figure that, pass through point to iterativecurve 3
Analysis is handled, and can directly obtain the pixel coordinates such as the boundary of target image 10, peak value on picture 1（Corresponding ranks number）.Specifically should
Used time can set with peak value or meet certain threshold value relationship with target portion curve 30 to determine whether for target image,
Or the width of combining target Figure 10 obtains to be defined.
Figure 10 gives the pixel iterative treatment effect figure of the picture 1a in Fig. 1；Dotted line in figure is for convenience of referring to correspondence
Relationship and the auxiliary line artificially provided.The background of picture 1a is gray scale, and target image 10a is white, 1 size of picture for 729 ×
542（It is wide × high, similarly hereinafter）, pass through the center of the correspondence target image of target portion curve peak 301 10a on iterativecurve 30（Circle,
Peak value is geometric dimension maximum position, that is, center, for the solar atlas being imaged on after being handled by optical filtering on picture
As having similar effect）, according to calculating, obtain the coordinate and result of the target image 10a peak values shown in following table one.It can from figure
To find out, y to（Represent line number）On, there are ambient noise, the peak value of ambient noise portion curve 331 is noticeably greater than target portion song
Line peak 301 in, can meet corresponding threshold range to determine whether for target portion curve by target portion curve 30
30.Or curvature, the graded for passing through iterativecurve etc. judges.Give sentencing into row bound using iteration difference mode in figure
It is disconnected（The adjacent row summing value that adds up asks poor successively, and assignment is to corresponding line number, such as the corresponding line number of subtrahend, also can when subtracted
The corresponding line number of number；Column direction is identical）Obtain iteration difference curve 30a, it is side that the peak, valley on curve, which meet threshold condition,
Boundary.The difference curve border width detail of ambient noise is less than target image width, is abandoned.
Figure 11 gives the pixel iterative treatment effect figure of the picture 1b in Fig. 1；Dotted line in figure is for convenience of referring to correspondence
Relationship and the auxiliary line artificially provided, in order to simplify attached drawing, do not provide reference numeral, the reference numeral and Figure 10 in Figure 11
It is similar.Correlated results is as shown in table one, two, and related description is the same as Figure 10
Table one：30 peak condition of iterativecurve
Table two：Iterative gradient peak of curve situation
From upper table, it can be seen that by the combination of peak value or boundary or the two, can preferably identify mesh
Logo image, and obtain the position coordinates of target image, by target image 10a, 10b changes in coordinates situation on picture 1a, 1b,
So as to judge change in location situation of the target in two states.Be equipped with appropriate algorithm, it is possible to make it is relevant detection and
Position judgment lays the foundation for subsequent track and localization.
The technical program passes through in different directions into row pixel value iteration（For example it sums）Mode, can schemed
As the spatial distribution characteristic of pixel, thus the characteristics of preferably reacting image.Meanwhile operand is small, computation complexity n（n
Pixel quantity for image）, resource occupation is few, can be in order in all kinds of mobile computing terminals, embedded device or even calculating money
It can be carried out applying on extremely limited microcontroller in source etc., its application scenarios be significantly provided.Also, its stability, robustness
It is all relatively strong with robustness.Due to using iterative manner so that the differentiation of the pixel value of target image pixel value and background image
Amplify by falling generation, meanwhile, the size in whole process without gradually compared pixels value reduces computational load, moreover, avoiding
Because the interference of noise, can preferably be identified target image in picture.The scheme was used for appointing in image
The boundary of meaning target is identified, can be to different shape, different face in order to carry out Automatic Target Tracking, cropping etc.
The single identification and application to complicated a variety of situations of color, background.Using effect is good, strong robustness, and complexity is low.
Obviously, those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general
Computing device realize that they can concentrate on single computing device or be distributed in multiple computing devices and be formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
In the storage device by computing device come perform either they are fabricated to respectively each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
Claims (10)
1. detection device, which is characterized in that the processing unit of image capture device electrical connection, image capture device acquisition are detected
The image of target forms detectable signal, and processing unit identifies the target image signal in detectable signal, according to target image
Signal is detected target image, obtains the detection information for being detected target.
2. device as described in claim 1, which is characterized in that image capture device includes optical image unit and setting
The target and its background are formed optical imagery by image unit in its rear, optical image unit on imaging unit, into
As optical imagery is converted to other kinds of detectable signal, and be sent to the processing unit by unit.
3. device as claimed in claim 2, which is characterized in that the imaging unit is photoelectronic imaging unit, by optical imagery
Electric image signal is converted to, and is sent to processing unit, the target image signal in the processing unit identification electric image signal, root
The detection information of the target is obtained according to the relevant parameter of target image signal.
4. such as claim 1-3 any one of them devices, which is characterized in that further comprise filter unit, the list that filters
Member is arranged on image capture device or optical image unit front end.
5. device as claimed in claim 5, which is characterized in that the filter unit is optical filter；Or, the filter unit
For pinhole imaging system system, the pinhole imaging system system includes imaging screen, the imaging aperture being arranged in front of imaging screen, Image Acquisition
Picture on equipment acquisition imaging screen.
6. detection device, which is characterized in that image sensing cell is connect with data processing unit, before described image sensing unit
Detected target is directly formed optical imagery by setting imaging aperture in side's by the imaging aperture on image sensing cell,
And by image sensing cell production figures electric signal.
7. target tracker, which is characterized in that including claim 1-7 any one of them detection devices, the detection dress
It puts and is connect with control unit, described control unit is connect with the tracking cell, and the detection device passes through target image signal
Position relationship, judge the situation of target, the tracking cell controlled to work by control unit.
8. solar energy detects or tracking system, which is characterized in that including target tracker according to any one of claims 8, the inspection
The image of the device acquisition sun is surveyed, the sun is detected or tracked.
9. solar energy system, which is characterized in that including the system described in claim 9, the tracking cell and solar energy acquisition
Unit connects, and drives movement or the working condition of solar energy acquisition unit.
10. object detection method acquires the image of detected target with image capture device, pass through the identification to target image
With detection, positioning, the detect and track to target is realized.
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| CN114494017B (en) * | 2022-01-25 | 2023-04-07 | 北京至简墨奇科技有限公司 | Method, device, equipment and medium for adjusting DPI (deep packet inspection) image according to scale |
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