CN111212217B - Railway tunnel leaky cable image acquisition device - Google Patents
Railway tunnel leaky cable image acquisition device Download PDFInfo
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- CN111212217B CN111212217B CN201811397321.4A CN201811397321A CN111212217B CN 111212217 B CN111212217 B CN 111212217B CN 201811397321 A CN201811397321 A CN 201811397321A CN 111212217 B CN111212217 B CN 111212217B
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- image acquisition
- array camera
- linear array
- leaky cable
- range finder
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
Abstract
The invention discloses a railway tunnel leaky cable image acquisition device, wherein: the image acquisition unit comprises a laser range finder and a linear array camera, and is arranged on the fixed support and moves along with the fixed support; the holder mechanism comprises a base and a pose adjusting module, the fixed support is arranged on the pose adjusting module, the pose adjusting module is arranged on the base, and the pose adjusting module is used for adjusting the shooting angle of the linear array camera; the focusing mechanism adjusts the focal length of the linear array camera; the displacement detection module obtains an image acquisition signal of the image acquisition device; the control unit is respectively connected with the laser range finder, the focusing mechanism and the displacement detection module and used for controlling the focusing mechanism to adjust the focal length of the linear array camera and triggering the linear array camera to acquire images according to the image acquisition signals according to the distance between the front end face of the laser range finder and the leaky cable measured by the laser range finder. The railway tunnel leaky cable image acquisition device provided by the invention improves the quality of the acquired leaky cable image.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a railway tunnel leaky cable image acquisition device.
Background
The tunnel is the important component of railway transportation, is provided with the leaky cable that is used for the communication in the tunnel, in order to guarantee the reliability of communication, needs regularly to patrol and examine the leaky cable.
At present, the inspection of the leaky cable is mainly carried out in a manual inspection mode. The prior art also provides a method for acquiring images of the leaky cable by adopting a leaky cable inspection system and judging whether the leaky cable has problems or not through the images. Above-mentioned leaking cable system of patrolling and examining includes linear array camera, laser range finder and light source, linear array camera, laser range finder and light source are independently installed respectively, the synchronization regulation difficulty, because the system of patrolling and examining can not guarantee to patrol and examine at the uniform velocity when carrying out image acquisition, when the moving speed of patrolling and examining the system changes, cause the image to produce the vertical and horizontal proportion and mismatch, cause tensile or compressive deformation, the leaking cable image quality that the influence was gathered to influence the judgement through leaking the cable image pair leaking the cable situation.
Therefore, how to provide an image acquisition device, which can realize the acquisition of image information of a leaky cable on a project site and improve the quality of the acquired leaky cable image becomes an important issue to be solved urgently in the industry.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a railway tunnel leaky cable image acquisition device.
The invention provides a railway tunnel leaky cable image acquisition device, which comprises an image acquisition unit, a focusing mechanism, a holder mechanism, a control unit and a displacement detection module, wherein:
the image acquisition unit comprises a laser range finder and a linear array camera, and is arranged on the fixed support and acts along with the fixed support; the included angle between the optical axis of the laser range finder and the horizontal plane is equal to the included angle between the optical axis of the linear array camera and the horizontal plane, and the front end face of the laser range finder is parallel to the front end face of the optical lens of the linear array camera;
the holder mechanism comprises a base and a pose adjusting module, the fixing support is installed on the pose adjusting module, the pose adjusting module is installed on the base, and the pose adjusting module is used for adjusting the shooting angle of the linear array camera; the focusing mechanism is used for adjusting the focal length of the linear array camera; the displacement detection module is used for obtaining an image acquisition signal of the image acquisition device;
the control unit is respectively connected with the laser range finder, the focusing mechanism and the displacement detection module and is used for controlling the focusing mechanism to adjust the focal length of the linear array camera and triggering the linear array camera to acquire images according to the image acquisition signals according to the distance between the front end face of the laser range finder and a leaky cable measured by the laser range finder.
The image acquisition unit further comprises an area-array camera, an included angle between an optical axis of the area-array camera and a horizontal plane is equal to an included angle between the optical axis of the linear array camera and the horizontal plane, the area-array camera and the pose adjusting module are respectively connected with the control unit, and the control unit is further used for controlling the pose adjusting module to adjust the shooting angle of the linear array camera according to the cable leakage image information acquired by the area-array camera, so that the imaging position of the cable leakage is located in the view field center of the linear array camera.
The laser range finder, the linear array camera and the area array camera are sequentially arranged along the leaky cable image acquisition direction.
The focusing mechanism comprises a miniature hollow cup motor and a gear meshing device, the miniature hollow cup motor is connected with the gear meshing device, the gear meshing device is meshed with a focusing ring arranged on the linear array camera lens, the miniature hollow cup motor is connected with the control unit, and the focusing ring is driven to rotate through the gear meshing device according to a control signal of the control unit.
The image acquisition device further comprises a dimming mechanism, and the dimming mechanism is used for adjusting the aperture of the linear array camera.
The image acquisition device further comprises a shock absorption mechanism, and the shock absorption mechanism is installed on the base.
The displacement detection module comprises a rotating speed sensor and a speed acquisition unit, the rotating speed sensor is used for obtaining the rotating speed of wheels of the engineering truck bearing the image acquisition device, and the speed acquisition unit is connected with the rotating speed sensor and used for obtaining the image acquisition signals of the image acquisition device according to the rotating speed of the wheels.
The image acquisition device further comprises a protective shell, the image acquisition unit is arranged in the protective shell in a sealing mode, a glass window is arranged on the protective shell, and the image acquisition unit acquires images of the leaky cable through the glass window.
The image acquisition device further comprises a light source, and the light source is installed on the protective shell and used for illuminating an image acquisition area of the leaky cable.
Wherein, the light source adopts LED spotlight or laser line light source.
According to the railway tunnel leaky cable image acquisition device provided by the invention, the image acquisition signal of the image acquisition device is obtained through the displacement detection module, the distance between the image acquisition device and the leaky cable is measured by the laser range finder, the focusing mechanism is controlled by the control unit according to the distance to adjust the focal length of the linear array camera, and the linear array camera is triggered to acquire images according to the image acquisition signal, so that the quality of the acquired leaky cable images is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a railway tunnel leaky cable image acquisition device according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a railway tunnel leaky cable image acquisition device according to another embodiment of the invention;
FIG. 3 is a schematic perspective view of an image capturing device for a leaky cable of a railway tunnel according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a displacement detection module of the railway tunnel leaky cable image acquisition device according to an embodiment of the invention;
FIG. 5 is a schematic perspective view of an image capturing device for a leaky cable in a railway tunnel according to another embodiment of the present invention;
description of reference numerals:
1-an image acquisition unit; 2-a focusing mechanism;
3-a pan-tilt mechanism; 4-a control unit;
5-a displacement detection module; 6-a protective shell;
7-a light source; 8-glass window.
11-laser rangefinder; 12-a line camera;
13-area-array camera; 51-a rotational speed sensor;
52-speed acquisition unit; 521-an opto-isolator;
522-a waveform shaping circuit; 523-a processor;
524-ARM; 525-CAN module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a railway tunnel leaky cable image acquisition device according to an embodiment of the present invention, and as shown in fig. 1, the railway tunnel leaky cable image acquisition device provided by the present invention includes: image acquisition unit 1, focusing mechanism 2, cloud platform mechanism 3, the control unit 4 and displacement detection module 5, wherein:
the image acquisition unit 1 comprises a laser range finder 11 and a linear array camera 12, and the image acquisition unit 1 is arranged on a fixed support and moves along with the fixed support; the included angle between the optical axis of the laser range finder 11 and the horizontal plane is equal to the included angle between the optical axis of the linear array camera 12 and the horizontal plane, and the front end face of the laser range finder 11 is parallel to the front end face of the optical lens of the linear array camera 12;
the holder mechanism 3 comprises a base and a pose adjusting module, the fixing support is installed on the pose adjusting module, the pose adjusting module is installed on the base, and the pose adjusting module is used for adjusting the shooting angle of the linear array camera 12; the focusing mechanism 2 is used for adjusting the focal length of the linear array camera 12; the displacement detection module 5 is used for obtaining an image acquisition signal of the image acquisition device;
the control unit 4 is respectively connected with the laser range finder 11, the focusing mechanism 2 and the displacement detection module 5, and is used for controlling the focusing mechanism 2 to adjust the focal length of the linear array camera 12 and triggering the linear array camera 12 to acquire images according to the image acquisition signal according to the distance between the front end face of the laser range finder and the leaky cable measured by the laser range finder 11.
The image acquisition device for the leaky cable in the railway tunnel can be arranged at the top of a carriage of a rail engineering vehicle to acquire the image of the leaky cable in the railway tunnel. The leaky cable in the railway tunnel is in a continuous distribution state, and a linear array camera 12 can be adopted to acquire images of the state of the leaky cable. The laser range finder 11 is used for measuring the distance between the front end face of the laser range finder 11 and the leaky cable, because the front end face of the laser range finder 11 and the front end face of the optical lens of the line camera 12 are arranged in parallel, and the distance between the front end face of the optical lens of the line camera 12 and the leaky cable can be obtained during installation, the control unit 4 can calculate and obtain the distance between the front end face of the optical lens of the line camera 12 and the leaky cable, the control unit 4 searches a focal length corresponding to the distance in a pre-stored correspondence table of the distance between the line camera and the leaky cable and the focal length according to the distance, and controls the focusing mechanism 2 to adjust the focal length of the line camera 12 to the focal length corresponding to the distance, so that an image of the.
The laser range finder 11 and the line camera 12 are fixedly arranged on the fixed support, the fixed support is arranged on the pose adjusting module, and the pose adjusting module drives the fixed support to rotate, so that the adjustment of the shooting angle of the line camera 12 can be realized, for example, the included angle of the line camera 12 relative to the horizontal plane or the included angle of the line camera 12 relative to the plane perpendicular to the tunnel wall can be adjusted. When the position and posture adjusting module adjusts the shooting angle of the linear array camera 12, the laser range finder 11 and the linear array camera 12 act synchronously, and the included angle between the optical axis of the laser range finder 11 and the horizontal plane is equal to the included angle between the optical axis of the linear array camera 12 and the horizontal plane, so that the accuracy of the distance between the front end face of the laser range finder 11 for adjusting the focal length of the linear array camera 12 and the leaky cable is ensured. The pose adjusting module can be realized by adopting a motor and a rotating mechanism. The base is used for supporting the pose adjusting module and fixing the image acquisition device on the top of the carriage of the rail engineering vehicle.
In order to ensure that the acquired leaky cable images are not mismatched in aspect ratio due to vehicle speed change and cause stretching or compression deformation in the driving process of the rail engineering vehicle, the displacement detection module 5 is adopted to obtain image acquisition signals of the image acquisition device, the control unit 4 triggers the linear array camera 12 to acquire images according to the image acquisition signals, for example, the control unit 4 can trigger the linear array camera 12 to acquire continuous images at intervals of a preset distance, the preset distance is set according to actual conditions, and the embodiment of the invention is not limited.
According to the railway tunnel leaky cable image acquisition device provided by the invention, the image acquisition signal of the image acquisition device is obtained through the displacement detection module, the distance between the image acquisition device and the leaky cable is measured by the laser range finder, the focusing mechanism is controlled by the control unit according to the distance to adjust the focal length of the linear array camera, and the linear array camera is triggered to acquire images according to the image acquisition signal, so that the quality of the acquired leaky cable images is improved.
Fig. 2 is a schematic structural diagram of a railway tunnel leaky cable image acquisition apparatus according to another embodiment of the present invention, as shown in fig. 2, based on the above embodiment, further, the image acquisition unit 1 further includes an area camera 13, an included angle between an optical axis of the area camera 13 and a horizontal plane is equal to an included angle between an optical axis of the line camera 12 and the horizontal plane, the area camera 13 and the pose adjusting module are respectively connected to the control unit 4, and the control unit 4 is further configured to control the pose adjusting module to adjust a shooting angle of the line camera 12 according to leaky cable image information acquired by the area camera 13, so that an imaging position of the leaky cable is located in a center of a field of view of the line camera 12.
Specifically, due to the variation of the installation height of the leaky cable and the type of the fixture, the shooting angle of the line camera 12 needs to be adjusted so that the leaky cable is located in the center of the field of view of the line camera 12. The area-array camera 13 continuously shoots the leaky cable detection area, the shot leaky cable image is transmitted to the control unit 4, the control unit 4 calculates the imaging position of the leaky cable in the leaky cable image by adopting an image processing algorithm, and if the imaging position of the leaky cable is not located in the center of the field of view of the area-array camera 13, the imaging position of the leaky cable is not located in the center of the field of view of the line-array camera 12 because the optical axes of the area-array camera 13 and the line-array camera 12 are located on the same horizontal plane. The control unit 4 calculates and obtains the angle of the linear array camera 12, which is to be adjusted, relative to the horizontal plane according to the leaky cable image, controls the pose adjusting module to adjust the shooting angle of the linear array camera 12, and finally enables the imaging position of the leaky cable to be in the center of the field of view of the linear array camera 12. The area-array camera 13 may be an area-array CCD imaging camera with an auto-focusing and aperture-adjusting lens.
According to the railway tunnel leaky cable image acquisition device provided by the invention, the image acquisition signal of the image acquisition device is obtained through the displacement detection module, the distance between the image acquisition device and the leaky cable is measured by the laser range finder, the focusing mechanism is controlled by the control unit according to the distance to adjust the focal length of the linear array camera, and the linear array camera is triggered to acquire images according to the image acquisition signal, so that the quality of the acquired leaky cable images is improved. And the image of the leaky cable is obtained by arranging the area-array camera, and when the imaging position of the leaky cable is not in the center of the visual field of the linear array camera, the imaging position of the leaky cable is adjusted by the pose adjusting module, so that the imaging position of the leaky cable is in the center of the visual field of the linear array camera, and the quality of the obtained image of the leaky cable is further improved.
Fig. 3 is a schematic structural diagram of a railway tunnel leaky cable image acquisition device according to yet another embodiment of the present invention, and as shown in fig. 3, on the basis of the foregoing embodiments, further, a laser range finder 11, a line camera 12 and an area camera 13 are sequentially arranged along the leaky cable image acquisition direction. The laser range finder 11, the line camera 12 and the area camera 13 are all fixedly mounted on the fixed support and move with the fixed support, for example move or rotate with the fixed support.
On the basis of the above embodiments, the focusing mechanism 2 further includes a micro hollow cup motor and a gear engagement device, the micro hollow cup motor is connected to the gear engagement device, the gear engagement device is engaged with a focusing ring disposed on the lens of the line camera 12, the micro hollow cup motor is connected to the control unit 4, and the focusing ring is driven to rotate by the gear engagement device according to a control signal of the control unit 4.
Specifically, in order to adjust the focal length of the line-array camera 12, the focusing mechanism 2 includes a micro hollow cup motor and a gear engagement device, the gear engagement device is engaged with a focusing ring arranged on the lens of the line-array camera 12, and the micro hollow cup motor outputs power to the gear engagement device to rotate the focusing ring. And carrying out off-line test on the image acquisition device, and determining a relation table between the rotation angle of the focusing ring and the adjusted focal length. The control unit 4 obtains the angle of the focusing ring to be adjusted based on the focal length to be adjusted, and sends a control signal to the micro hollow cup motor, so that the micro hollow cup motor outputs power to the gear meshing device to drive the focusing ring to rotate by the angle. The miniature coreless motor is provided with a miniature rotary encoder and a miniature limit sensor, and can realize precise adjustment. Wherein, the micro limit sensor can adopt but not limited to a Hall sensor.
On the basis of the above embodiments, the system further comprises a light adjusting mechanism, and the light adjusting mechanism is used for adjusting the aperture of the line camera 12.
Specifically, the aperture of the line camera 12 needs to be adjusted according to the light intensity in the railway tunnel before the line camera 12 works, and the light adjusting mechanism can adjust the aperture of the line camera 12. For example, the dimming mechanism comprises a micro-motor and a dimming gear, the micro-motor is connected with the dimming gear through a micro-speed reducer, the dimming gear is meshed with an aperture ring on the lens of the line camera 12, and the micro-motor can receive a control signal of the control 4 to adjust the aperture. The aperture of the linear array camera 12 can be adjusted once before the image of the leaky cable is collected, and is not adjusted in the process of collecting the image of the leaky cable subsequently.
On the basis of the above embodiments, the present invention further comprises a shock absorbing mechanism, wherein the shock absorbing mechanism is installed on the base. The anti-vibration mechanism can reduce the vibration of the image acquisition device in the leaky cable image acquisition process, is favorable for improving the quality of the acquired leaky cable image and is also favorable for prolonging the service life of the image acquisition device.
Fig. 4 is a schematic structural diagram of a displacement detection module of a railway tunnel leaky cable image acquisition device according to an embodiment of the present invention, and as shown in fig. 4, on the basis of the above embodiments, further, the displacement detection module 5 includes a rotation speed sensor 51 and a speed acquisition unit 52, the rotation speed sensor 51 is configured to obtain a wheel rotation speed of an engineering vehicle carrying the image acquisition device, and the speed acquisition unit 52 is connected to the rotation speed sensor 51 and configured to obtain an image acquisition signal of the image acquisition device according to the wheel rotation speed.
Specifically, the rotation speed sensor 51 may measure the wheel rotation speed of the rail engineering vehicle to obtain the wheel rotation speed of the rail engineering vehicle, and since the image acquisition device is fixed to the rail engineering vehicle, the image acquisition device and the rail engineering vehicle move synchronously, the speed acquisition unit 52 may obtain an image acquisition signal of the image acquisition device according to the wheel rotation speed to trigger the linear array camera 12 to acquire the image of the leaky cable. The speed acquisition unit 52 comprises an optical coupler isolator 521, a waveform shaping circuit 522, a processor 523, an ARM524 and a CAN module 525 which are connected in sequence. The optical coupler isolator 521 is connected with the rotating speed sensor 51, receives the wheel rotating speed signal transmitted by the rotating speed sensor 51 and plays a role in inhibiting the interference of external signals; the waveform shaping circuit 522 is configured to shape the wheel rotation speed signal to improve the accuracy of the collected wheel rotation speed signal, and may be implemented by a filter; the processor 523 is configured to calculate current running speed and position information of the rail engineering truck according to the wheel rotation speed signal, and then generate an image acquisition signal for triggering the linear Array camera 12 to perform leaky cable image acquisition, where the processor 523 may be implemented by a Field-Programmable Gate Array (Field-Programmable Gate Array, hereinafter referred to as FPGA); ARM524 receives the image acquisition signal generated by processor 523 and processes the image acquisition signal accordingly, Acorn RISC Machine, ARM for short, is a reduced instruction set processor; the CAN module 525 transmits the image pickup signal to the control unit 4. In order to ensure that the acquired leaky cable image cannot be stretched or compressed and deformed due to the change of the vehicle speed, the control unit 4 triggers the linear array camera 12 to acquire the leaky cable image according to the image acquisition signal, for example, the leaky cable image is acquired every 2m when the vehicle moves. The rotation speed sensor 51 may be a rotary encoder.
On the basis of the above embodiments, the railway tunnel leaky cable image acquisition device further comprises a protective housing, the image acquisition unit 1 is hermetically arranged in the protective housing, a glass window is arranged on the inner wall of the protective housing corresponding to the lens of the linear array camera 12, and the image acquisition unit 1 acquires images of the leaky cable through the glass window. The protective casing seals the image acquisition unit 1, prevents that water and dust from entering into the image acquisition unit 1, guarantees the normal work of image acquisition unit 1 on the scene, the setting of glass window makes the normal work of image acquisition unit 1 not influenced.
On the basis of the above embodiments, further, the railway tunnel leaky cable image acquisition device provided by the invention further comprises a light source, wherein the light source is installed on the protective shell and used for illuminating an image acquisition area of the leaky cable. For example, the light sources are mounted on both sides of a protective housing, and when the light sources are mounted on the protective housing, the imaging center of the light sources coincides with the scanning center of the line camera 12.
On the basis of the above embodiments, further, the light source adopts an LED spotlight or a laser line light source. The light source adopts a high-brightness LED spotlight or a laser line light source to perform reflection illumination of high optical power density on an imaging area of the leaky cable, and the light source is driven by a high-precision direct current driving power supply in a program control mode to ensure constant current or constant voltage of the light source in work.
Fig. 5 is a schematic structural diagram of a railway tunnel leaky cable image acquisition device according to yet another embodiment of the invention, and as shown in fig. 5, the image acquisition device includes a protective casing 6, a glass window 8 and a light source 7. The protective shell 6 seals the laser range finder, the linear array camera and the area array camera in the image acquisition unit, and three glass windows 8 correspond to the laser range finder, the linear array camera and the area array camera respectively. The light source 7 is provided with two light sources which are arranged on two sides of the protective shell 6 and used for providing illumination for image acquisition of the linear array camera and the area array camera.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a railway tunnel leaks cable image acquisition device which characterized in that, includes image acquisition unit, focusing mechanism, cloud platform mechanism, the control unit and displacement detection module, wherein:
the image acquisition unit comprises a laser range finder and a linear array camera, and is arranged on the fixed support and acts along with the fixed support; the included angle between the optical axis of the laser range finder and the horizontal plane is equal to the included angle between the optical axis of the linear array camera and the horizontal plane, and the front end face of the laser range finder is parallel to the front end face of the optical lens of the linear array camera;
the holder mechanism comprises a base and a pose adjusting module, the fixing support is installed on the pose adjusting module, the pose adjusting module is installed on the base, and the pose adjusting module is used for adjusting the shooting angle of the linear array camera; the focusing mechanism is used for adjusting the focal length of the linear array camera; the displacement detection module is used for obtaining an image acquisition signal of the image acquisition device;
the control unit is respectively connected with the laser range finder, the focusing mechanism and the displacement detection module and is used for controlling the focusing mechanism to adjust the focal length of the linear array camera and triggering the linear array camera to acquire images according to the image acquisition signals according to the distance between the front end face of the laser range finder and a leaky cable measured by the laser range finder;
the image acquisition unit further comprises an area-array camera, an included angle between an optical axis of the area-array camera and a horizontal plane is equal to an included angle between the optical axis of the linear array camera and the horizontal plane, the area-array camera and the pose adjusting module are respectively connected with the control unit, and the control unit is further used for controlling the pose adjusting module to adjust the shooting angle of the linear array camera according to the cable leakage image information acquired by the area-array camera, so that the imaging position of the cable leakage is located in the view field center of the linear array camera.
2. The apparatus of claim 1, wherein the laser rangefinder, line camera, and area camera are arranged sequentially along the leaky cable image acquisition direction.
3. The device as claimed in claim 1, wherein the focusing mechanism comprises a micro hollow cup motor and a gear engagement device, the micro hollow cup motor is connected with the gear engagement device, the gear engagement device is engaged with a focusing ring arranged on the linear array camera lens, the micro hollow cup motor is connected with the control unit, and the focusing ring is driven to rotate by the gear engagement device according to a control signal of the control unit.
4. The apparatus of claim 1, further comprising a dimming mechanism for adjusting an aperture of the line camera.
5. The apparatus of claim 1, further comprising a shock absorbing mechanism mounted on the base.
6. The device of claim 1, wherein the displacement detection module comprises a rotation speed sensor and a speed acquisition unit, the rotation speed sensor is used for acquiring the rotation speed of wheels of a machineshop car carrying the image acquisition device, and the speed acquisition unit is connected with the rotation speed sensor and is used for acquiring the image acquisition signal of the image acquisition device according to the rotation speed of the wheels.
7. The device according to any one of claims 1 to 6, further comprising a protective housing, wherein the image acquisition unit is hermetically arranged in the protective housing, a glass window is arranged on the protective housing, and the image acquisition unit acquires the image of the leaky cable through the glass window.
8. The apparatus of claim 7, further comprising a light source mounted on said protective housing for illuminating an image capture area of said drop cable.
9. The device of claim 8, wherein the light source is an LED spotlight or a laser line light source.
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| CN113012211A (en) * | 2021-03-30 | 2021-06-22 | 杭州海康机器人技术有限公司 | Image acquisition method, device, system, computer equipment and storage medium |
| CN113125435A (en) * | 2021-04-15 | 2021-07-16 | 北京工业大学 | Channel surface image acquisition device and tunnel boring machine |
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Address after: 102600 Beijing Daxing District Zhongguancun Science and Technology Park Daxing Biomedical Industry Base, No. 1 Building, 21 Tianrong Street Patentee after: Beijing Century Oriental Zhihui Technology Co.,Ltd. Address before: 102600 Beijing Daxing District Zhongguancun Science and Technology Park Daxing Biomedical Industry Base, No. 1 Building, 21 Tianrong Street Patentee before: BEIJING CENTURY DONGFANG COMMUNICATION EQUIPMENT Co.,Ltd. |