CN111147826A - Pipe well/underwater image acquisition and transmission equipment and image acquisition and transmission method thereof - Google Patents
Pipe well/underwater image acquisition and transmission equipment and image acquisition and transmission method thereof Download PDFInfo
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- CN111147826A CN111147826A CN202010115903.XA CN202010115903A CN111147826A CN 111147826 A CN111147826 A CN 111147826A CN 202010115903 A CN202010115903 A CN 202010115903A CN 111147826 A CN111147826 A CN 111147826A
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to a pipe well/underwater image acquisition and transmission device and an image acquisition and transmission method thereof.A bracket provided with a horizontal hollow scroll is provided with an image acquisition mechanism, and the image acquisition mechanism transmits the image through the image transmission mechanism in the scroll and displays the image on an image display mechanism; after equipment is initialized and shooting parameters are set, a camera is placed in a wellhead of a pipe well or is directly placed under water, a display screen synchronously displays images and the current depth, a controller processes and displays each frame of video image in real time, and the soft connector is continuously placed or paused or stopped under different conditions. In the process of collecting the image in the pipe well or underwater, the probing depth of the camera can be accurately and quickly obtained, and the condition that the image transmission effect is influenced by winding and the like can not occur; the position of the camera is not required to be controlled, the shot image is processed under the same condition, and the imaging definition is high; the whole image acquisition and transmission efficiency is high, all operations can be completed by one person, the imaging effect is good, and the acquisition degree is high.
Description
Technical Field
The invention relates to the technical field of image communication such as televisions, in particular to a pipe well/underwater image acquisition and transmission device and an image acquisition and transmission method thereof.
Background
In the field of industry and people's life, many occasions can be applied to pipe wells, such as drainage pipelines, underwater monitoring wells, treatment wells and the like, the whole or most of the pipe wells are buried underground, the environment is special, the detection is inconvenient, and when the underwater environment is presented in the pipe wells, the difficulty is brought to the detection; accidents caused by the condition that the tube well is not held in time can bring great influence to the life of industry and people, and even threaten the life of people.
In the prior art, a method that a camera is directly installed at one end of a traction rope and the traction rope is placed in a target area is generally adopted for collecting a tubular well or an underwater image, in the process, the position of the camera cannot be well controlled, the position often deviates, and then subsequent treatment of actual abnormal points cannot be completed, so that time and labor cost are consumed.
Furthermore, the camera is put down to shoot the environment in the pipe well, particularly when the underwater environment with water in the pipe well is shot, although the hardware cost of the camera is increased, related pictures can be shot clearly, the color reduction degree is close to a higher standard, the camera still has a certain degree of coke leakage and virtual coke, and the reason for the above is that the camera generally has only 1-3 fixed points, is basically in a free and suspended state in the shooting process, can slightly shake along with the action of putting down, even under water, and even if a rotation, balance and anti-shake device of the built-in camera is arranged, the rotation and focusing of the camera cannot be controlled manually.
Disclosure of Invention
The invention solves the problems that in the prior art, in the process of acquiring a pipe well or an underwater image, the position of a camera cannot be well controlled, the position deviates frequently, the subsequent treatment of an actual abnormal point cannot be completed, the time and the labor cost are consumed, and meanwhile, under the condition that the camera is always in slight shaking, the problems of coke leakage and virtual coke exist to a certain extent in the shooting process, and provides an optimized pipe well/underwater image acquisition and transmission device and an image acquisition and transmission method thereof.
The technical scheme adopted by the invention is that the pipe well/underwater image acquisition and transmission equipment comprises a support, wherein the support is horizontally provided with a hollow scroll in a matching way, an image acquisition mechanism is arranged outside the scroll in a matching way, an image transmission mechanism is arranged in the scroll, and the image transmission mechanism is also provided with an image display mechanism in a matching way; the image acquisition mechanism, the image transmission mechanism and the image display mechanism are connected to the controller.
Preferably, the image acquisition mechanism comprises a camera, the top of the camera is connected with one end of a flexible connector, the other end of the flexible connector is fixedly arranged on the scroll, and the flexible connector is wound outside the scroll; the flexible connector is internally provided with a signal acquisition line in a penetrating manner, and one end of the signal acquisition line matched with the scroll penetrates through the scroll and is matched with the image transmission mechanism.
Preferably, the camera is provided with a balancing weight and a distance sensor, and the distance sensor is connected with the controller.
Preferably, the outer side of the flexible connecting body comprises a scale layer.
Preferably, the image transmission mechanism is a conductive slip ring, the conductive slip ring comprises a conductive ring and an electric brush, the electric brush is connected with the image acquisition mechanism, and the conductive ring is connected to the image display mechanism through a cable.
Preferably, the support comprises a Y-shaped frame perpendicular to the horizontal plane, cross rods are horizontally arranged at three vertex points on the same side of the Y-shaped frame, and one end of the hollow scroll is arranged at the center of the same side of the Y-shaped frame.
Preferably, the image display mechanism comprises a display screen arranged on a cross bar at the top of the Y-shaped frame, and the display screen is connected with a memory through a controller; the top of the display screen is hinged with a baffle.
Preferably, a limiting plate is arranged at the end part of the scroll, which is back to the Y-shaped frame, and an operating handle is arranged at one side of the limiting plate, which is back to the Y-shaped frame.
A pipe well/underwater image acquisition and transmission method of the pipe well/underwater image acquisition and transmission device comprises the following steps:
step 1: initializing equipment and setting shooting parameters;
step 2: putting a camera at the wellhead of the pipe well or directly putting the camera under water, and displaying an image and the current depth on a display screen;
and step 3: the controller acquires video frames in real time, processes each frame of video image and displays the video image on a display screen;
and 4, step 4: if the distance sensor detects that the flexible connector approaches the obstacle, pausing the putting in of the flexible connector, and performing the step 5;
if the pause instruction is obtained, pausing the putting in of the soft connecting body, and performing the step 6;
if a shutdown instruction is obtained, performing step 7;
otherwise, repeating the step 3;
and 5: the user judges the property of the barrier, if the barrier is eliminated, the step 3 is returned, otherwise, the step 7 is carried out;
step 6: if the execution is continued, returning to the step 3, otherwise, carrying out the next step;
and 7: stopping the machine, and recovering the flexible connecting body and the camera.
Preferably, the step 3 comprises the steps of:
step 3.1: the controller acquires video frames in real time;
step 3.2: stretching four corners of the video image of the current frame until the video image is rectangular;
step 3.3: copying one part of the stretched video image to obtain video images A1 and A2, and carrying out gray processing on the video image A1;
step 3.4: partitioning the video image A1 subjected to the graying processing, and performing Gaussian low-pass filtering to obtain a filtered video image A1';
step 3.5: taking the difference value between A1' and A1, and carrying out binarization processing on the video image A1 by using a preset threshold value, wherein the image blocks with the difference value larger than the threshold value are black, and the rest are white;
step 3.6: taking the white area as an interested area, and acquiring the interested areas of a plurality of frames before and after the current frame;
if the region of interest of any video frame B in a plurality of frames before and after the current frame is not coincident with the current frame, using the region of interest of the current frame in the video image A2 as a template, extracting partial image blocks of the video image A2 corresponding to the template of the video frame B, and splicing in the current frame of the video image A2, otherwise, taking image blocks of a plurality of frames before and after the position of the region of interest of the current frame in the video image A2 to superpose the current region of interest;
step 3.7: and taking the processed video image A2 and outputting the processed video image A2 to a display screen for display.
The invention relates to an optimized pipe well/underwater image acquisition and transmission device and an image acquisition and transmission method thereof.A support provided with a horizontal hollow scroll is matched with an image acquisition mechanism, and the image acquisition mechanism transmits through an image transmission mechanism in the scroll and finally displays on an image display mechanism; after the equipment is initialized and shooting parameters are set, the camera is placed from the wellhead of the pipe well or is directly placed under the water, the display screen synchronously displays images and the current depth, the controller acquires video frames in real time, each frame of video image is processed and displayed on the display screen, and the soft connector is continuously placed or paused or stopped according to different feedback conditions.
In the process of collecting the image in the pipe well or underwater, the penetration depth of the camera can be accurately and quickly obtained, and the condition that the transmission effect of the image is influenced by winding and the like can not occur; meanwhile, the position control of the camera is not needed, and the shot image can be processed under the same condition, so that the imaging definition is high; the whole image acquisition and transmission efficiency is high, all operations can be completed by one person, the imaging effect is good, and the acquisition degree is high.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic left side view of the present invention;
FIG. 3 is a right side view structural schematic of the present invention;
FIG. 4 is a schematic view of a flexible connector of the present invention engaged with a camera;
FIG. 5 is a schematic structural diagram of an image transmission mechanism according to the present invention;
FIG. 6 is a schematic structural diagram of an image display mechanism according to the present invention;
fig. 7 is a flowchart of an image acquisition and transmission method according to the present invention.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
The invention relates to a pipe well/underwater image acquisition and transmission device, which comprises a support, wherein the support is horizontally provided with a hollow scroll 1 in a matching way, an image acquisition mechanism is arranged outside the scroll 1 in a matching way, an image transmission mechanism is arranged in the scroll 1, and the image transmission mechanism is also provided with an image display mechanism in a matching way; the image acquisition mechanism, the image transmission mechanism and the image display mechanism are connected to the controller.
In the invention, the whole device can be placed beside a pipe well or a water area of an image to be acquired through a bracket, the image acquisition mechanism arranged on a horizontal hollow scroll 1 matched with the bracket is used for image acquisition, the scroll and the image transmission mechanism are integrated into a whole, the acquired image is transmitted through the image transmission mechanism and finally displayed on the image display mechanism.
In the invention, the image acquisition mechanism, the image transmission mechanism and the image display mechanism are connected to the controller, the controller comprises electric control and signal control and is mainly used for triggering image acquisition, completing image transmission and realizing image display, and a person skilled in the art can set the image acquisition mechanism, the image transmission mechanism and the image display mechanism according to the requirements.
In the invention, in the process of collecting the tube well or underwater images, the penetration depth of an image collecting mechanism, such as a camera 2, can be accurately and quickly obtained, and the condition that the transmission effect of the images is influenced by winding and the like can not occur; it is not necessary to perform position control particularly for the camera 2, and the captured image can be processed under the same condition, so that the imaging sharpness is high.
According to the invention, the efficiency of whole image acquisition and transmission is high, all operations can be completed by one person, the imaging effect is good, and the acquisition degree is high.
The image acquisition mechanism comprises a camera 2, the top of the camera 2 is connected with one end of a flexible connector 3, the other end of the flexible connector 3 is fixedly arranged on a scroll 1, and the flexible connector 3 is wound outside the scroll 1; the flexible connector 3 is internally provided with a signal acquisition line 4 in a penetrating way, and one end of the signal acquisition line 4 matched with the scroll 1 is arranged in a penetrating way and matched with the image transmission mechanism.
The camera 2 is provided with a balancing weight 5 and a distance sensor 6, and the distance sensor 6 is connected with the controller.
The outer side of the flexible connector 3 comprises a scale layer.
In the invention, the main body of the image acquisition mechanism comprises an acquisition part and a transmission part, wherein the acquisition part is a camera 2, the top of the camera 2 is connected with a flexible connector 3, and the flexible connector 3 is wound outside a scroll 1, namely, after the camera 2 is placed in a pipe well or underwater, the flexible connector 3 can be unscrewed and put down based on the actual image acquisition requirement.
In the invention, the camera 2 can be purchased, for example, a Sony underwater monitoring camera with 1080P/200 ten thousand pixels is adopted, has the waterproof grade of IP68, can bear the water pressure of 100 meters deep water, has a high-strength corrosion-resistant 304 stainless steel tubular shell, is waterproof and sealed, is internally provided with 12 high-brightness LEDs, has a wide angle of 160 degrees, and can completely meet the requirements of the invention.
In the invention, the flexible connector 3 comprises a signal acquisition line 4 connected with the camera 2, a flexible structure is arranged outside the signal acquisition line 4 in a waterproof sealing sleeve manner, for example, two sides of 2 corrosion-resistant strips are oppositely arranged, and two sides of the 2 corrosion-resistant strips are connected; the flexible structure is wound outside the reel 1 together with the signal acquisition line 4.
In the present invention, the socket 7 is generally provided in the reel 1, and the signal collecting line 4 facing the end of the flexible connecting body 3 of the reel 1 is provided in cooperation with the image transmission mechanism in the reel 1.
In the present invention, in order to ensure that the camera 2 reduces the shake or the wobble as much as possible, a counterweight 5 is provided at the camera 2.
In the invention, in order to ensure the service life of the camera 2, a distance sensor 6 is arranged on the camera 2 and is used for sensing possible collision around and pausing or avoiding in time; the mounting position of the distance sensor 6 may be on the side wall of the camera 2 or any other suitable position, which may be set by the person skilled in the art at his discretion.
In the invention, in order to facilitate visual reading, the scale layer is arranged on the outer side of the flexible connector 3, and obviously, the 0 position of the scale layer is arranged at one end of the flexible connector 3 facing the camera 2.
The image transmission mechanism is a conductive slip ring, the conductive slip ring comprises a conductive ring 8 and an electric brush 9, the electric brush 9 is connected with the image acquisition mechanism, and the conductive ring 8 is connected to the image display mechanism through a cable 10.
In the invention, a conductive slip ring is used as an image transmission mechanism, the conductive slip ring also comprises an electric brush 9 used as a stator and a conductive ring 8 used as a rotor, a signal acquisition line 4 of a camera 2 is arranged on the electric brush 9, and meanwhile, the conductive ring 8 rotates and is matched with a scroll 1 to rotate, thereby avoiding the situation that the signal acquisition line 4 winds; the conductive ring 8 is connected to the image display mechanism by a data cable 10.
The support comprises a Y-shaped frame 11 perpendicular to the horizontal plane, cross rods 12 are horizontally arranged at three top points on the same side of the Y-shaped frame 11, and one end of the hollow scroll 1 is arranged at the center of the same side of the Y-shaped frame 11.
In the invention, the support comprises a Y-shaped frame 11, cross bars 12 are respectively arranged at three vertexes of the Y-shaped frame 11, wherein two cross bars 12 are matched with the Y-shaped frame 11 and are contacted with the ground as supporting parts, and the other cross bar 12 is matched with the Y-shaped frame 11 and is arranged at the topmost end and can be used for wiring or installing a display screen 13 and the like.
In the present invention, the hollow reel 1 is disposed at the intersection of the three support rods of the Y-shaped frame 11.
In the present invention, obviously, in order to ensure the overall stability of the support, support rods can be added between adjacent vertexes of the Y-shaped frame 11, especially between 2 vertexes of the ground, to form a more stable triangular structure.
The image display mechanism comprises a display screen 13 arranged at a cross bar 12 at the top of the Y-shaped frame 11, and the display screen 13 is connected with a memory through a controller; a baffle 14 is hinged to the top of the display screen 13.
The end part of the scroll 1, which is back to the Y-shaped frame 11, is provided with a limiting plate 15, and one side of the limiting plate 15, which is back to the Y-shaped frame 11, is provided with an operating handle 16.
In the invention, the display screen 13 as the image display mechanism can be arranged at the cross bar 12 at the top of the Y-shaped frame 11 through the fixing claws 17, in order to ensure the effect of field operation, a baffle 14 can be arranged at the top of the display screen 13 in general for shading light and keeping off rain, and furthermore, fan-shaped folding pieces 18 can be arranged at the two sides of the baffle 14 and the display screen 13 correspondingly to strengthen the effect of the baffle.
In the present invention, in order to ensure the engagement between the reel 1 and the flexible connecting body 3, a stopper plate 15 is provided at the end of the reel 1, and the reel 1 can be rotated in cooperation with an operating handle 16.
The invention also relates to a pipe well/underwater image acquisition and transmission method of the pipe well/underwater image acquisition and transmission equipment, after the equipment is initialized and shooting parameters are set, the camera 2 is put in from the wellhead of the pipe well or the camera 2 is directly put under the water, the display screen 13 synchronously displays images and the current depth, the controller acquires video frames in real time, each frame of video image is processed and displayed on the display screen 13, and the operation of continuously putting in or pausing or stopping the flexible connector 3 is carried out according to different feedback conditions.
The method comprises the following steps.
Step 1: and initializing the equipment and setting shooting parameters.
Step 2: the camera 2 is placed at the wellhead of the pipe well, or the camera 2 is directly placed under the water, and the display screen 13 displays images and the current depth.
And step 3: the controller acquires video frames in real time, processes each frame of video image and displays the video image on the display screen.
The step 3 comprises the following steps:
step 3.1: the controller acquires video frames in real time;
step 3.2: stretching four corners of the video image of the current frame until the video image is rectangular;
step 3.3: copying one part of the stretched video image to obtain video images A1 and A2, and carrying out gray processing on the video image A1;
step 3.4: partitioning the video image A1 subjected to the graying processing, and performing Gaussian low-pass filtering to obtain a filtered video image A1';
step 3.5: taking the difference value between A1' and A1, and carrying out binarization processing on the video image A1 by using a preset threshold value, wherein the image blocks with the difference value larger than the threshold value are black, and the rest are white;
step 3.6: taking the white area as an interested area, and acquiring the interested areas of a plurality of frames before and after the current frame;
if the region of interest of any video frame B in a plurality of frames before and after the current frame is not coincident with the current frame, using the region of interest of the current frame in the video image A2 as a template, extracting partial image blocks of the video image A2 corresponding to the template of the video frame B, and splicing in the current frame of the video image A2, otherwise, taking image blocks of a plurality of frames before and after the position of the region of interest of the current frame in the video image A2 to superpose the current region of interest;
step 3.7: the processed video image a2 is taken and output to the display screen 13 for display.
In the invention, the camera 2 has no pivot, so that the camera inevitably generates the situations of focus running and virtual focus in the shooting process, causes blurred pictures and can not well judge the problems, and the video image is processed.
In the invention, because the camera 2 with a wide angle of 160 degrees is adopted, the shot image has deformation, so the video image is firstly normalized, the position of the video image is ensured to be positive, and the video image is copied, and the original image data is reserved; then, performing graying processing on one video image and then performing blocking, such as 10 × 10, wherein the purpose of blocking is to ensure the uniformity of filtering; after filtering the image, the relationship between the filtered image and the threshold value can be determined based on the difference between a1 and a 1', and the image is binarized based on the relationship, that is, blurred regions are extracted, specifically, black is clear and white is blurred, and the threshold value needs to be set by a person skilled in the art based on actual data of the camera 2.
In the invention, fuzzy areas are respectively identified for the video image, when the fuzzy areas can be complemented with a plurality of frames before and after, namely the regions of interest are different, a corresponding block in the original video image A2 is directly scratched out and another block is spliced, and under the general condition, parts which are all black are spliced once; when a certain region of interest is always fuzzy, accumulated superposition is carried out for multiple times, so that the line contour is emphasized, and the definition is ensured.
In the invention, because the camera 2 is always shooting, the combination of a plurality of frames before and after the combination does not actually cause frame skipping of the video.
And 4, step 4: if the distance sensor 6 detects that the obstacle is approached, the insertion of the flexible connecting body 3 is suspended, and the step 5 is performed.
If the pause command is obtained, the soft connector 3 is put in pause, and step 6 is performed.
And if the stop command is obtained, performing step 7.
Otherwise, repeating the step 3.
And 5: and (4) judging the property of the obstacle by the user, if the obstacle is eliminated, returning to the step (3), and if not, performing the step (7).
Step 6: and if the execution is continued, returning to the step 3, otherwise, carrying out the next step.
And 7: and stopping the machine, and recovering the flexible connector 3 and the camera 2.
In the invention, when the distance sensor 6 judges that obstacles exist around, the camera 2 is generally kept to be suspended, so that the damage caused by collision is avoided; after the staff member looks in the display screen 13, the staff member can give instructions of pause, continue descending or stop and return.
The invention sets up the image acquisition mechanism on the support with horizontal hollow reel 1 cooperatively, the image acquisition mechanism transmits through the image transmission mechanism in the reel 1, reveal on the image display mechanism finally; after the equipment is initialized and shooting parameters are set, the camera 2 is placed at the wellhead of the pipe well, or the camera 2 is directly placed under the water, the display screen 13 synchronously displays images and the current depth, the controller acquires video frames in real time, each frame of video image is processed and displayed on the display screen 13, and the operation of continuously placing, pausing or stopping the flexible connector 3 is carried out according to different feedback conditions.
In the process of collecting the image in the pipe well or underwater, the penetration depth of the camera 2 can be accurately and quickly obtained, and the condition that the transmission effect of the image is influenced by winding and the like can not occur; meanwhile, the position control of the camera 2 is not required, and the shot image can be processed under the same condition, so that the imaging definition is high; the whole image acquisition and transmission efficiency is high, all operations can be completed by one person, the imaging effect is good, and the acquisition degree is high.
Claims (10)
1. A tube well/underwater image acquisition transmission equipment is characterized in that: the equipment comprises a support, wherein a hollow scroll is horizontally arranged on the support in a matching manner, an image acquisition mechanism is arranged outside the scroll in a matching manner, an image transmission mechanism is arranged in the scroll, and an image display mechanism is also arranged in the image transmission mechanism in a matching manner; the image acquisition mechanism, the image transmission mechanism and the image display mechanism are connected to the controller.
2. The pipe well/underwater image acquisition and transmission device according to claim 1, wherein: the image acquisition mechanism comprises a camera, the top of the camera is connected with one end of a flexible connector, the other end of the flexible connector is fixedly arranged on the scroll, and the flexible connector is wound outside the scroll; the flexible connector is internally provided with a signal acquisition line in a penetrating manner, and one end of the signal acquisition line matched with the scroll penetrates through the scroll and is matched with the image transmission mechanism.
3. The pipe well/underwater image acquisition and transmission device according to claim 2, wherein: the camera is provided with a balancing weight and a distance sensor, and the distance sensor is connected with the controller.
4. The pipe well/underwater image acquisition and transmission device according to claim 2, wherein: the outer side of the flexible connector comprises a scale layer.
5. The pipe well/underwater image acquisition and transmission device according to claim 1, wherein: the image transmission mechanism is a conductive slip ring, the conductive slip ring comprises a conductive ring and an electric brush, the electric brush is connected with the image acquisition mechanism, and the conductive ring is connected to the image display mechanism through a cable.
6. The pipe well/underwater image acquisition and transmission device according to claim 1, wherein: the support comprises a Y-shaped frame perpendicular to the horizontal plane, cross rods are horizontally arranged at three top points on the same side of the Y-shaped frame, and one end of the hollow scroll is arranged at the center of the same side of the Y-shaped frame.
7. The pipe well/underwater image acquisition and transmission device according to claim 6, wherein: the image display mechanism comprises a display screen arranged at a cross bar at the top of the Y-shaped frame, and the display screen is connected with a memory through a controller; the top of the display screen is hinged with a baffle.
8. The pipe well/underwater image acquisition and transmission device according to claim 6, wherein: and a limiting plate is arranged at the end part of the scroll, which is back to the Y-shaped frame, and an operating handle is arranged at one side of the limiting plate, which is back to the Y-shaped frame.
9. A pipe well/underwater image acquisition and transmission method of the pipe well/underwater image acquisition and transmission device according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
step 1: initializing equipment and setting shooting parameters;
step 2: putting a camera at the wellhead of the pipe well or directly putting the camera under water, and displaying an image and the current depth on a display screen;
and step 3: the controller acquires video frames in real time, processes each frame of video image and displays the video image on a display screen;
and 4, step 4: if the distance sensor detects that the flexible connector approaches the obstacle, pausing the putting in of the flexible connector, and performing the step 5;
if the pause instruction is obtained, pausing the putting in of the soft connecting body, and performing the step 6;
if a shutdown instruction is obtained, performing step 7;
otherwise, repeating the step 3;
and 5: the user judges the property of the barrier, if the barrier is eliminated, the step 3 is returned, otherwise, the step 7 is carried out;
step 6: if the execution is continued, returning to the step 3, otherwise, carrying out the next step;
and 7: stopping the machine, and recovering the flexible connecting body and the camera.
10. The pipe well/underwater image acquisition and transmission method according to claim 9, wherein: the step 3 comprises the following steps:
step 3.1: the controller acquires video frames in real time;
step 3.2: stretching four corners of the video image of the current frame until the video image is rectangular;
step 3.3: copying one part of the stretched video image to obtain video images A1 and A2, and carrying out gray processing on the video image A1;
step 3.4: partitioning the video image A1 subjected to the graying processing, and performing Gaussian low-pass filtering to obtain a filtered video image A1';
step 3.5: taking the difference value between A1' and A1, and carrying out binarization processing on the video image A1 by using a preset threshold value, wherein the image blocks with the difference value larger than the threshold value are black, and the rest are white;
step 3.6: taking the white area as an interested area, and acquiring the interested areas of a plurality of frames before and after the current frame;
if the region of interest of any video frame B in a plurality of frames before and after the current frame is not coincident with the current frame, using the region of interest of the current frame in the video image A2 as a template, extracting partial image blocks of the video image A2 corresponding to the template of the video frame B, and splicing in the current frame of the video image A2, otherwise, taking image blocks of a plurality of frames before and after the position of the region of interest of the current frame in the video image A2 to superpose the current region of interest;
step 3.7: and taking the processed video image A2 and outputting the processed video image A2 to a display screen for display.
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| CN202010115903.XA CN111147826A (en) | 2020-02-25 | 2020-02-25 | Pipe well/underwater image acquisition and transmission equipment and image acquisition and transmission method thereof |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200295436Y1 (en) * | 2002-08-23 | 2002-11-18 | 박종덕 | Wireless apparatus for photographing the drilling hole |
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| US20030118230A1 (en) * | 2001-12-22 | 2003-06-26 | Haoshi Song | Coiled tubing inspection system using image pattern recognition |
| KR200295436Y1 (en) * | 2002-08-23 | 2002-11-18 | 박종덕 | Wireless apparatus for photographing the drilling hole |
| CN1923467A (en) * | 2006-09-22 | 2007-03-07 | 湖南大学 | Underwater intelligent purification robot for large-scale condensing plant |
| CN205727731U (en) * | 2016-05-16 | 2016-11-30 | 吴盛华 | A kind of DV fishing expanded application device |
| CN209166420U (en) * | 2018-12-26 | 2019-07-26 | 湖南普奇地质勘探设备研究院（普通合伙) | Imager in well |
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| CN211791787U (en) * | 2020-02-25 | 2020-10-27 | 王玉 | Pipe well/underwater image acquisition and transmission equipment |
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