CN110113592A - Power equipment inspection figure image collection processing system based on camera array technology - Google Patents
Power equipment inspection figure image collection processing system based on camera array technology Download PDFInfo
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- CN110113592A CN110113592A CN201910366517.5A CN201910366517A CN110113592A CN 110113592 A CN110113592 A CN 110113592A CN 201910366517 A CN201910366517 A CN 201910366517A CN 110113592 A CN110113592 A CN 110113592A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/156—Mixing image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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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
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The power equipment inspection figure image collection processing system based on camera array technology that the present invention relates to a kind of, belongs to power equipment crusing robot technical field.The system includes camera array, shooting control module, super-resolution number focusing process module, depth of field fusion treatment module and image generation module；Camera array is connected with shooting control module, super-resolution number focusing process module respectively；Depth of field fusion treatment module is connected with super-resolution number focusing process module, image generation module respectively；All cameras are shot simultaneously in camera array of the present invention, obtain the optical data of each depth of field in shooting direction, computer vision algorithms make is recycled to carry out digital focusing and depth of field fusion treatment to optical data, generate the full depth image of all targets all blur-free imagings in viewfinder range, instantaneous shooting, collecting multiple equipment reading image and image data are realized by this method, shorten data acquisition time, improves routing inspection efficiency.
Description
Technical field
The invention belongs to power equipment crusing robot technical field, particularly belong to power equipment crusing robot image,
A kind of video capture technology field, and in particular to power equipment inspection figure image collection processing system based on camera array technology
System.
Background technique
Power equipment crusing robot, due to its inspection wide coverage, detection accuracy it is high, can monitoring device type it is rich
The advantages that richness, Yi Shixian automatic detecting, each production environment (such as substation, cable duct) obtains extensively in power industry
General application especially utilizes survey monitor there are the place that personnel safety risk or personnel are difficult to enter in substation, cable duct etc.
Device people replaces traditional manual inspection, is mainly used for replacing the numbers such as image, image, sound, the temperature of artificial acquisition power equipment
According to.
Wherein, for acquisition image and image data, mainstream technology is shot using common high-definition camera at present,
Crusing robot need precise motion to acquisition data equipment near designated position, precisely adjust camera position, height and
Angle, and using equipment to be collected reading interface as cam lens focus, camera optical parameter is adjusted, to guarantee setting for shooting
Standby image and image it is clear.The data of one equipment of every acquisition, it is necessary to which mobile, focusing, shooting are primary, due to each equipment
The optical parameters such as distance, angle to camera are different, the image and image of multiple equipment can not be once shot, when data acquire
Between long, low efficiency.Therefore how overcome the deficiencies in the prior art, which is current power equipment crusing robot technical field, needs to solve
Certainly the problem of.
Summary of the invention
It is an object of the present invention to solve the deficiency of the existing technology and provide a kind of electric power based on camera array technology to set
Standby inspection figure image collection processing system, the system may be implemented once to run acquisition multiple equipment image and/or image data
Function improve routing inspection efficiency to greatly shorten the time of power equipment robot inspection.
To achieve the above object, The technical solution adopted by the invention is as follows:
Power equipment inspection figure image collection processing system based on camera array technology, which is characterized in that including being mounted on electricity
At camera array, shooting control module, super-resolution number focusing process module, depth of field fusion in power equipment routing inspection robot
Manage module and image generation module.
Camera array is connected with shooting control module, super-resolution number focusing process module respectively.
Depth of field fusion treatment module is connected with super-resolution number focusing process module, image generation module respectively.
Shooting control module is for controlling in camera array all cameras by preset parameter, angle and number to target area
Domain is shot, and the optical data of different points of view position in target area is obtained.
The optical data that super-resolution number focusing process module is used to shoot camera array carries out digital focusing
Processing corrects image planes position data, carries out high-resolution reconstruction to the subgraph after correction using super-resolution rebuilding algorithm.
Depth of field fusion treatment module after super-resolution number focusing process module focusing process for that will focus in distance
The optical data of different location carries out wavelet decomposition and fusion, calculates the blur-free imaging number for obtaining all targets in target area
According to.
All targets is clear in the target area that image generation module is used to be obtained according to the calculating of depth of field fusion treatment module
Clear imaging data is imaged, and the full depth image and/or image of target area are obtained.
It is further preferred that camera array is a camera array being made of M × N number of camera, wherein M and N are equal
For positive integer, M can be equal to N.
Present invention simultaneously provides a kind of power equipment inspection figure image collecting method based on camera array technology, in use
The power equipment inspection figure image collection processing system based on camera array technology is stated, is included the following steps:
Shooting: power equipment crusing robot is run to the viewfinder range intersection energy of all cameras in camera array by step (1)
The position of all equipment to be collected in enough coverage goal regions, all cameras are by default in shooting control module control camera array
Parameter, angle and number to shooting, obtain the optical data of target area different points of view position；
Step (2), digital focusing process: super-resolution number focusing process module shoots obtained optics to camera array (1)
Data carry out digital focusing process, correct image planes position data, using super-resolution rebuilding algorithm to the subgraph after correction into
Row high-resolution reconstruction；
Step (3): depth of field fusion treatment: the optical data by the focusing after digital focusing process in far and near different location carries out
Wavelet decomposition and fusion calculate the blur-free imaging data for obtaining all targets in target area；
Step (4): image generates: image generation module calculates in the target area obtained according to depth of field fusion treatment module to be owned
The blur-free imaging data of target are imaged, and the full depth image and/or image of target area are obtained.
Each camera optical parameter different by certain strategy setting, obtains target area in present system camera array
The image of domain different points of view position, then imaging system has been increased significantly using number focusing and depth of field integration technology, camera array
Viewing-angle information and field range, focus selection and the depth of field adjust on have higher freedom degree and flexibility, very be applicable in
In the identification and classification of multi-level scenery.
The viewfinder range intersection that power equipment crusing robot is run to all cameras in camera array by the present invention can
The position of all equipment to be collected in coverage goal region, all cameras are shot simultaneously in camera array, obtain shooting side
The optical data of upward each depth of field recycles computer vision algorithms make to carry out at digital focusing and the depth of field fusion optical data
Reason generates the full depth image of all targets all blur-free imagings in viewfinder range, realizes that instantaneous shooting, collecting is multiple by this method
Equipment reads image and image data, shortens data acquisition time, improves routing inspection efficiency.
Super-resolution number focusing process is to improve Depth of field range by number focusing in the present invention, and effectively
The resolution capability of defocus imaging system is improved, then carries out the reconstruction of high-definition picture by Image Super-resolution reconstructing method, is mentioned
High image resolution.
Depth of field fusion treatment is for each destination image data by the focusing technical treatment of super-resolution number, remote
The optical data of nearly different location carries out wavelet decomposition and fusion, calculates the blur-free imaging number for obtaining all targets in target area
According to.
Compared with prior art, the present invention has the advantages that:
A kind of power equipment inspection figure image collection processing system based on camera array technology proposed by the invention, for change
Same equipment region to be inspected in power station, use be equipped with the camera array being made of M × N number of camera (M and N for positive integer,
M can be equal to N) cruising inspection system, it is different to obtain target area each camera optical parameter different by certain strategy setting
The image of viewpoint position；Each target high-resolution clear image data are shot using super-resolution number focusing technology；Pass through
Wavelet decomposition and fusion are carried out to the optical data of far and near different location, thus generate all targets can blur-free imaging it is complete
Depth image data.
Traditional technique for taking, it is necessary to it is each need to acquire image, that the power equipment of image data independently carries out is primary right
Burnt and shooting.The function of once running acquisition multiple equipment image and image data may be implemented in this system, to greatly shorten
The time of power equipment robot inspection improves routing inspection efficiency；Simultaneously as the required precision of this system camera site is lower than tradition
Technique for taking can significantly reduce the power generations environment such as substation as crusing robot can be run and is transformed construction
Technical difficulty reduces improvement cost.
Detailed description of the invention
Fig. 1 is the power equipment inspection figure image collection processing system based on camera array technology；Wherein, 1, camera battle array
Column；2, control module is shot；3, super-resolution number focusing process module；4, depth of field fusion treatment module；5, image generates mould
Block.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail.
It will be understood to those of skill in the art that the following example is merely to illustrate the present invention, and it should not be regarded as limiting this hair
Bright range.In the examples where no specific technique or condition is specified, described technology or conditions according to the literature in the art
Or it is carried out according to product description.Production firm person is not specified in material therefor or equipment, is that can be obtained by purchase
Conventional products.
Those skilled in the art can understand that the correlation module being related to and its function of realization in the present invention
It is that computer software programs conventional in the prior art are carried on improved hardware and its device of composition, device or system
Or related agreement achieves that, is improved to computer software programs in the prior art or related agreement.For example,
Improved computer hardware system still can realize the spy of the hardware system by loading existing operation system of software
Determine function.It is understood, therefore, that innovation of the invention is improvement and its company to hardware module in the prior art
Syntagmatic is connect, rather than is only to the improvement in hardware module to realize the software carried in relation to function or agreement.
Those skilled in the art can understand that correlation module mentioned in the present invention is for executing the application
Described in operation, method, the step in process, measure, one or more hardware devices in scheme.The hardware device can
Think required purpose and specially design and manufacture, or can also using in general purpose computer known device or it is known its
His hardware device.The general purpose computer is activated or is reconstructed with having the procedure selection being stored in it.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
When part is "connected" to another element, it can be directly connected to other elements, or there may also be intermediary elements.In addition,
" connection " used herein may include being wirelessly connected.Wording "and/or" used herein includes one or more associated
Any cell for listing item and all combination.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect ", " being equipped with " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
Embodiment 1
As shown in Figure 1, the power equipment inspection figure image collection processing system based on camera array technology, including it is mounted on electric power
Camera array 1, shooting control module 2 in equipment routing inspection robot, super-resolution number focusing process module 3, depth of field fusion
Processing module 4 and image generation module 5；
Camera array 1 is connected with shooting control module 2, super-resolution number focusing process module 3 respectively；
Depth of field fusion treatment module 4 is connected with super-resolution number focusing process module 3, image generation module 5 respectively；
Shooting control module 2 is for controlling in camera array 1 all cameras by preset parameter, angle and number to clapping
It takes the photograph, obtains the optical data of target area different points of view position；
Super-resolution number focusing process module 3 is used to shoot camera array 1 obtained optical data and carries out at digital focusing
Reason corrects image planes position data, carries out high-resolution reconstruction to the subgraph after correction using super-resolution rebuilding algorithm；
Depth of field fusion treatment module 4 is used for will be through the focusing after 3 focusing process of super-resolution number focusing process module in distance
The optical data of different location carries out wavelet decomposition and fusion, calculates the blur-free imaging number for obtaining all targets in target area
According to；
All targets is clear in the target area that image generation module 5 is used to be obtained according to the calculating of depth of field fusion treatment module 4
Imaging data is imaged, and the full depth image and/or image of target area are obtained.
A kind of power equipment inspection figure image collecting method based on camera array technology is based on camera using the present embodiment
The power equipment inspection figure image collection processing system of array technique, includes the following steps:
Shooting: power equipment crusing robot is run to the viewfinder range intersection energy of all cameras in camera array by step (1)
The position of all equipment to be collected in enough coverage goal regions, all cameras are by default in shooting control module control camera array
Parameter, angle and number to shooting, obtain the optical data of target area different points of view position；
Step (2), digital focusing process: super-resolution number focusing process module shoots obtained optics to camera array (1)
Data carry out digital focusing process, correct image planes position data, using super-resolution rebuilding algorithm to the subgraph after correction into
Row high-resolution reconstruction；
Step (3): depth of field fusion treatment: the optical data by the focusing after digital focusing process in far and near different location carries out
Wavelet decomposition and fusion calculate the blur-free imaging data for obtaining all targets in target area；
Step (4): image generates: image generation module calculates in the target area obtained according to depth of field fusion treatment module to be owned
The blur-free imaging data of target are imaged, and the full depth image and/or image of target area are obtained.
Embodiment 2
As shown in Figure 1, the power equipment inspection figure image collection processing system based on camera array technology includes being mounted on electric power
Camera array 1, shooting control module 2 in equipment routing inspection robot, super-resolution number focusing process module 3, depth of field fusion
Processing module 4 and image generation module 5；
Camera array 1 is a camera array being made of M × N number of camera, wherein M and N is positive integer, and M can be equal to N；
Camera array 1 is connected with shooting control module 2, super-resolution number focusing process module 3 respectively；
Depth of field fusion treatment module 4 is connected with super-resolution number focusing process module 3, image generation module 5 respectively；
Shooting control module 2 is for controlling in camera array 1 all cameras by preset parameter, angle and number to clapping
It takes the photograph, obtains the optical data of target area different points of view position；
Super-resolution number focusing process module 3 is used to shoot camera array 1 obtained optical data and carries out at digital focusing
Reason corrects image planes position data, carries out high-resolution reconstruction to the subgraph after correction using super-resolution rebuilding algorithm；
Depth of field fusion treatment module 4 is used for will be through the focusing after 3 focusing process of super-resolution number focusing process module in distance
The optical data of different location carries out wavelet decomposition and fusion, calculates the blur-free imaging number for obtaining all targets in target area
According to；
All targets is clear in the target area that image generation module 5 is used to be obtained according to the calculating of depth of field fusion treatment module 4
Imaging data is imaged, and the full depth image and/or image of target area are obtained.
A kind of power equipment inspection figure image collecting method based on camera array technology is based on camera using the present embodiment
The power equipment inspection figure image collection processing system of array technique, includes the following steps:
Shooting: power equipment crusing robot is run to the viewfinder range intersection energy of all cameras in camera array by step (1)
The position of all equipment to be collected in enough coverage goal regions, all cameras are by default in shooting control module control camera array
Parameter, angle and number to shooting, obtain the optical data of target area different points of view position；
Step (2), digital focusing process: super-resolution number focusing process module shoots obtained optics to camera array (1)
Data carry out digital focusing process, correct image planes position data, using super-resolution rebuilding algorithm to the subgraph after correction into
Row high-resolution reconstruction；
Step (3): depth of field fusion treatment: the optical data by the focusing after digital focusing process in far and near different location carries out
Wavelet decomposition and fusion calculate the blur-free imaging data for obtaining all targets in target area；
Step (4): image generates: image generation module calculates in the target area obtained according to depth of field fusion treatment module to be owned
The blur-free imaging data of target are imaged, and the full depth image and/or image of target area are obtained.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. the power equipment inspection figure image collection processing system based on camera array technology, which is characterized in that including being mounted on
Camera array (1), shooting control module (2), super-resolution number focusing process module on power equipment crusing robot
(3), depth of field fusion treatment module (4) and image generation module (5)；
Camera array (1) is connected with shooting control module (2), super-resolution number focusing process module (3) respectively；
Depth of field fusion treatment module (4) is connected with super-resolution number focusing process module (3), image generation module (5) respectively；
Shooting control module (2) is for controlling in camera array (1) all cameras by preset parameter, angle and number to target
Region is shot, and the optical data of different points of view position in target area is obtained；
It is right that super-resolution number focusing process module (3) is used to carry out number to the optical data that camera array (1) shooting obtains
Coke processing, corrects image planes position data, carries out high-resolution reconstruction to the subgraph after correction using super-resolution rebuilding algorithm；
Depth of field fusion treatment module (4) after super-resolution number focusing process module (3) focusing process for that will focus remote
The optical data of nearly different location carries out wavelet decomposition and fusion, calculates the blur-free imaging number for obtaining all targets in target area
According to；
Image generation module (5) is used to calculate all targets in the target area obtained according to depth of field fusion treatment module (4)
Blur-free imaging data are imaged, and the full depth image and/or image of target area are obtained.
2. the power equipment inspection figure image collection processing system according to claim 1 based on camera array technology,
It is characterized in that, the camera array (1) is a camera array being made of M × N number of camera, wherein M and N is positive whole
Number, M can be equal to N.
3. a kind of power equipment inspection figure image collecting method based on camera array technology, any one using claims 1 or 2
The power equipment inspection figure image collection processing system based on camera array technology described in, which is characterized in that including as follows
Step:
Shooting: power equipment crusing robot is run to the viewfinder range intersection energy of all cameras in camera array by step (1)
The position of all equipment to be collected in enough coverage goal regions, all cameras are by default in shooting control module control camera array
Parameter, angle and number to shooting, obtain the optical data of target area different points of view position；
Step (2), digital focusing process: super-resolution number focusing process module shoots obtained optics to camera array (1)
Data carry out digital focusing process, correct image planes position data, and using super-resolution rebuilding algorithm to the subgraph after correction
Carry out high-resolution reconstruction；
Step (3): depth of field fusion treatment: the optical data by the focusing after digital focusing process in far and near different location carries out
Wavelet decomposition and fusion calculate the blur-free imaging data for obtaining all targets in target area；
Step (4): image generates: image generation module calculates in the target area obtained according to depth of field fusion treatment module to be owned
The blur-free imaging data of target are imaged, and the full depth image and/or image of target area are obtained.
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Application publication date: 20190809 |