CN112350775A - FSO communication system and method based on machine vision - Google Patents
FSO communication system and method based on machine vision Download PDFInfo
- Publication number
- CN112350775A CN112350775A CN201910724832.0A CN201910724832A CN112350775A CN 112350775 A CN112350775 A CN 112350775A CN 201910724832 A CN201910724832 A CN 201910724832A CN 112350775 A CN112350775 A CN 112350775A
- Authority
- CN
- China
- Prior art keywords
- lens
- beacon light
- fso
- communication
- communication end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/07—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optical Communication System (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a FSO communication system and a method based on machine vision, wherein the system comprises: the device comprises a first communication end, a second communication end, a camera device, a processor, a controller, a holder, a first beacon light lens, a second beacon light lens and a beacon light processor. The camera device is used for collecting images, the processor is used for processing the collected images, the position of the other communication end is identified, the offset angle between the FSO lenses of the two communication ends is calculated, the controller is used for controlling the holder so that the offset angle between the FSO lenses of the two communication ends meets the initial condition, and therefore the camera device, the processor and the controller can be used for realizing rapid capture, tracking and preliminary alignment of the two communication ends; after the initial alignment, the beacon light generated by the beacon light lenses arranged on the two communication ends is used for realizing the accurate alignment of the two communication ends through the beacon light processor and the controller, so that the FSO communication between the two communication ends can be effectively realized.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a Free Space Optical (FSO) communication system and method based on machine vision.
Background
The world is a datamation, informatization and intelligentization world, and various means are needed to ensure that data can be effectively communicated in real time, especially wireless communication with large bandwidth and low time delay. The FSO uses light with higher carrier frequency as an information carrier to replace a radio frequency/microwave link, and is a promising wireless communication technology. The high bandwidth of the spectrum has the advantages of high data rate, free and unlimited frequency spectrum exceeding 300GHz, high safety, easy deployment and the like, and is a natural large-bandwidth wireless communication scheme.
However, FSO is a kind of LoS (Line of Sight) communication, and not only there is no barrier in the middle to block the light propagation, but also because the divergence angle of the signal light and the receiving field angle of FSO are small, the FSO communication can be performed smoothly by requiring relatively precise alignment of the transmitting and receiving ends. The existing scheme generally adopts a mode of adding beacon light to assist the transmitting end and the receiving end to search the beacon light of each other, so as to realize automatic acquisition, tracking and alignment. However, since the divergence angle of the beacon light and the reception field angle are limited, problems such as a long alignment time and an unstable tracking effect tend to occur.
Therefore, how to quickly and effectively realize the acquisition, tracking and alignment of the transceiving end is an urgent problem to be solved.
Disclosure of Invention
In view of this, the invention provides an FSO communication system based on machine vision, which can quickly and effectively realize the capturing, tracking and aligning of the transmitting and receiving ends, and further can effectively realize FSO communication.
The invention provides a FSO communication system based on machine vision, which comprises: the device comprises a first communication end, a second communication end, a camera device, a processor, a controller, a holder, a first beacon light lens, a second beacon light lens and a beacon light processor; wherein:
the first communication end and the second communication end are respectively arranged on the holder;
the camera device is arranged at the first communication end and used for acquiring images and sending the acquired images to the processor connected with the camera device;
the processor is used for identifying the position of the second communication terminal from the image, calculating the deflection angle between the FSO lens of the first communication terminal and the FSO lens of the second communication terminal based on the position of the second communication terminal, and judging whether the deflection angle is smaller than or equal to a preset threshold value or not;
the controller is used for controlling the cradle head connected with the controller to rotate when the deflection angle is larger than a preset threshold value, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
the first beacon light lens is arranged at the first communication end and used for generating beacon light;
the second beacon light lens is arranged at the second communication end and used for generating beacon light;
the beacon light processor is respectively connected with the first beacon light lens and the second beacon light lens and is used for judging whether the first beacon light lens captures beacon light generated by the second beacon light lens when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value;
the controller is further configured to control a pan-tilt connected to the first beacon optical lens to rotate when the first beacon optical lens does not capture the beacon light generated by the second beacon optical lens, so that the first beacon optical lens captures the beacon light generated by the second beacon optical lens.
Preferably, the system further comprises:
and a heat radiation device mounted on the second communication terminal for generating a heat radiation signal.
Preferably, the processor, when executing the step of identifying the position of the second communication terminal from the image, is specifically configured to:
and identifying the position of the second communication end from the image based on the heat radiation signal generated by the heat radiation device.
Preferably, when the deflection angle is greater than a preset threshold, the controller controls the cradle head connected to the controller to rotate, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, and is specifically configured to:
and when the deflection angle is larger than a preset threshold value, controlling the rotation of a cradle head connected with the deflection angle by coarse step length so as to enable the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end to be smaller than or equal to the preset threshold value.
Preferably, the controller, when executing that the first beacon light lens does not capture the beacon light generated by the second beacon light lens, controls the pan/tilt head connected thereto to rotate, so that the first beacon light lens captures the beacon light generated by the second beacon light lens, and is specifically configured to:
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the cradle head connected with the first beacon light lens is controlled to rotate in a fine step, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
A machine vision-based FSO communication method is applied to a machine vision-based FSO communication system, and the system comprises: the device comprises a first communication end, a second communication end, a camera device, a processor, a controller, a holder, a first beacon light lens, a second beacon light lens and a beacon light processor; the method comprises the following steps: the method comprises the steps that an image is collected through a camera device arranged at a first communication end, and the collected image is sent to a processor connected with the image;
identifying the position of the second communication terminal from the image through the processor, calculating a deflection angle between the FSO lens of the first communication terminal and the FSO lens of the second communication terminal based on the position of the second communication terminal, and judging whether the deflection angle is smaller than or equal to a preset threshold value;
when the deflection angle is larger than a preset threshold value, the controller controls a holder connected with the controller to rotate so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, judging whether the first beacon light lens captures beacon light generated by the second beacon light lens through the cursor processor;
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cloud deck connected with the first beacon light lens to rotate, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
Preferably, the method further comprises:
a heat radiation signal is generated by a heat radiation means installed at the second communication terminal.
Preferably, the identifying, by the processor, the position of the second communication terminal from the image includes:
the processor identifies the position of the second communication terminal from the image based on the heat radiation signal generated by the heat radiation device.
Preferably, when the deflection angle is greater than a preset threshold, the controller controls the cradle head connected to the controller to rotate, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, including:
when the deflection angle is larger than a preset threshold value, the controller controls the holder connected with the controller to rotate in a coarse step length mode, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value.
Preferably, when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the pan/tilt head connected thereto to rotate, so that the first beacon light lens captures the beacon light generated by the second beacon light lens, including:
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cradle head connected with the first beacon light lens to rotate in a fine step, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
In summary, the invention discloses an FSO communication system based on machine vision, which acquires images through a camera device, processes the images acquired by the camera device through a processor, identifies the position of the other communication end, calculates the offset angle between the FSO lenses of the two communication ends, and controls a holder through a controller so that the offset angle between the FSO lenses of the two communication ends meets the initial condition, i.e. the invention can realize rapid capture, tracking and preliminary alignment of the two communication ends through the camera device, the processor and the controller; after the initial alignment, the beacon light generated by the beacon light lenses arranged on the two communication ends is used for realizing the accurate alignment of the two communication ends through the beacon light processor and the controller, so that the FSO communication between the two communication ends can be effectively realized.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment 1 of a machine vision-based FSO communication system disclosed in the present invention;
FIG. 2 is a schematic structural diagram of an embodiment 2 of a FSO communication system based on machine vision according to the present disclosure;
FIG. 3 is a flowchart of a method of embodiment 1 of the FSO communication method based on machine vision according to the present disclosure;
fig. 4 is a flowchart of a method of embodiment 1 of the FSO communication method based on machine vision disclosed in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in fig. 1, which is a schematic structural diagram of an embodiment 1 of a machine vision-based FSO communication system disclosed in the present invention, the system may include: a first communication terminal 101, a second communication terminal 102, an image pickup device 103, a processor 104, a controller 105, a pan/tilt head 106, a first beacon optical lens 107, a second beacon optical lens 108, and a beacon optical processor 109; wherein:
the first communication terminal 101 and the second communication terminal 102 are respectively installed on the holder 106;
the camera device 103 is installed at the first communication terminal 101, and is used for acquiring an image and sending the acquired image to the processor 104 connected with the camera device;
the processor 104 is configured to identify a position of the second communication terminal 102 from the image, calculate a deflection angle between the FSO lens of the first communication terminal 101 and the FSO lens of the second communication terminal 102 based on the position of the second communication terminal, and determine whether the deflection angle is less than or equal to a preset threshold;
the controller 105 is configured to control the cradle head 106 connected to the controller to rotate when the deflection angle is greater than a preset threshold value, so that the deflection angle between the FSO lens of the first communication terminal 101 and the FSO lens of the second communication terminal 102 is less than or equal to the preset threshold value;
a first beacon light lens 107 is installed at the first communication terminal 101 for generating beacon light;
a second beacon light lens 108 is installed at the second communication end 102 for generating beacon light;
the beacon light processor 109 is connected to the first beacon light lens 107 and the second beacon light lens 108, respectively, and is configured to determine whether the first beacon light lens 107 captures the beacon light generated by the second beacon light lens 108 when a deflection angle between the FSO lens of the first communication end 101 and the FSO lens of the second communication end 102 is less than or equal to a preset threshold;
the controller 105 is further configured to control the pan/tilt head 106 connected thereto to rotate when the first beacon light lens 107 does not capture the beacon light generated by the second beacon light lens 108, so that the first beacon light lens 107 captures the beacon light generated by the second beacon light lens 108.
The working principle of the FSO communication system based on machine vision disclosed by the above embodiment is as follows: when a first communication end and a second communication end in the system need to realize FSO communication, firstly, image acquisition is carried out through a camera device arranged at the first communication end, the camera device has a larger receiving field of view, visible light and infrared light can be imaged, and all things in a certain large wide-angle range can be seen like human eyes;
after the image is acquired by the camera device, further performing image recognition on the image acquired by the camera device through a processor, quickly positioning the image to the position of a second communication end opposite to the first communication end, then calculating the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end in real time according to the positioned position of the second communication end, judging whether the calculated deflection angle is smaller than or equal to a preset threshold value, and when the deflection angle is larger than the preset threshold value, controlling the cradle head through a controller to quickly adjust the steering direction of the cradle head so as to enable the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end to be smaller than or equal to the preset threshold value;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, further controlling a first beacon optical lens installed at the first communication end and a second beacon optical lens installed at the second communication end to generate beacon light, and judging whether the first beacon optical lens captures the beacon light generated by the second beacon optical lens or not through a beacon light processor connected with the first beacon optical lens and the second beacon optical lens;
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the FSO lens of the first communication end and the FSO lens of the second communication end are not completely aligned at the moment, and at the moment, the controller controls the cradle head to move, so that the beacon lights of the first communication end and the second communication end continuously scan the plane space left and right and up and down (for example, Z-shaped scanning or spiral scanning), and the first beacon light lens and the second beacon light lens can capture the beacon light of the other side; when the first beacon optical lens and the second beacon optical lens capture the beacon light of the other side, the FSO lens of the first communication end and the FSO lens of the second communication end can be accurately aligned.
It should be noted that, in the above embodiment, the first communication end may be an FSO communication sending end, and may also be an FSO communication receiving end, and when the first communication end is an FSO communication sending end, the second communication end is an FSO communication receiving end; and when the first communication end is the FSO communication receiving end, the second communication end is the FSO communication sending end.
In summary, in the above embodiments, the image is captured by the camera device, and meanwhile, the processor processes the image captured by the camera device, identifies the position of the other communication end, calculates the offset angle between the FSO lenses of the two communication ends, and controls the cradle head by the controller so that the offset angle between the FSO lenses of the two communication ends meets the initial condition, that is, the invention can realize rapid capture, tracking and preliminary alignment of the two communication ends by the camera device, the processor and the controller; after the initial alignment, the beacon light generated by the beacon light lenses arranged on the two communication ends is used for realizing the accurate alignment of the two communication ends through the beacon light processor and the controller, so that the FSO communication between the two communication ends can be effectively realized.
As shown in fig. 2, which is a schematic structural diagram of an embodiment 2 of a machine vision-based FSO communication system disclosed in the present invention, the system may include: a first communication terminal 201, a second communication terminal 202, an image pickup device 203, a processor 204, a controller 205, a pan/tilt head 206, a first beacon optical lens 207, a second beacon optical lens 208, a beacon optical processor 209, and a heat radiation device 210; wherein:
a heat radiation means 210 is installed at the second communication terminal 202 for generating a heat radiation signal;
the first communication terminal 201 and the second communication terminal 202 are respectively installed on the holder 206;
the camera 203 is installed at the first communication terminal 201 and used for acquiring images and sending the acquired images to the processor 204 connected with the camera;
the processor 204 is configured to identify a position of the second communication terminal 202 from the image based on the heat radiation signal generated by the heat radiation device 210, calculate a deflection angle between the FSO lens of the first communication terminal 201 and the FSO lens of the second communication terminal 202 based on the position of the second communication terminal, and determine whether the deflection angle is less than or equal to a preset threshold;
the controller 205 is configured to control the cradle head 206 connected thereto to rotate when the deflection angle is greater than a preset threshold value, so that the deflection angle between the FSO lens of the first communication end 201 and the FSO lens of the second communication end 202 is less than or equal to the preset threshold value;
a first beacon light lens 207 is installed at the first communication terminal 201 for generating beacon light;
a second beacon light lens 208 is installed at the second communication end 202 for generating beacon light;
the beacon light processor 209 is connected to the first beacon light lens 207 and the second beacon light lens 208, respectively, and is configured to determine whether the first beacon light lens 207 captures the beacon light generated by the second beacon light lens 208 when a deflection angle between the FSO lens of the first communication end 201 and the FSO lens of the second communication end 202 is less than or equal to a preset threshold;
the controller 205 is further configured to control the cradle head 206 connected thereto to rotate when the first beacon light lens 207 does not capture the beacon light generated by the second beacon light lens 208, so that the first beacon light lens 207 captures the beacon light generated by the second beacon light lens 208.
The working principle of the FSO communication system based on machine vision disclosed by the above embodiment is as follows: when a first communication end and a second communication end in the system need to realize FSO communication, firstly, a heat radiation device arranged at the second communication end generates a heat radiation signal for the second communication end, and simultaneously, an image pickup device arranged at the first communication end is used for image acquisition, the image pickup device has a larger receiving view field, can image visible light and infrared light, and can see all things in a certain large wide-angle range like human eyes;
after the image is collected through the camera device, the processor is further used for carrying out image recognition based on the heat radiation signal in the collected image, the position of the second communication end opposite to the first communication end is quickly located from the image, and the processor can be used for more quickly locating the position of the second communication end in complex environments such as dark environment and the like when image processing is carried out through the heat radiation signal generated by the heat radiation device; then calculating the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end in real time according to the positioned position of the second communication end, judging whether the calculated deflection angle is smaller than or equal to a preset threshold value, and when the deflection angle is larger than the preset threshold value, controlling the cradle head through a controller, and quickly adjusting the steering of the cradle head so as to enable the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end to be smaller than or equal to the preset threshold value;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, further controlling a first beacon optical lens installed at the first communication end and a second beacon optical lens installed at the second communication end to generate beacon light, and judging whether the first beacon optical lens captures the beacon light generated by the second beacon optical lens or not through a beacon light processor connected with the first beacon optical lens and the second beacon optical lens;
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the FSO lens of the first communication end and the FSO lens of the second communication end are not completely aligned at the moment, and at the moment, the controller controls the cradle head to move, so that the beacon lights of the first communication end and the second communication end continuously scan the plane space left and right and up and down (for example, Z-shaped scanning or spiral scanning), and the first beacon light lens and the second beacon light lens can capture the beacon light of the other side; when the first beacon optical lens and the second beacon optical lens capture the beacon light of the other side, the FSO lens of the first communication end and the FSO lens of the second communication end can be accurately aligned.
It should be noted that, in the above embodiment, the first communication end may be an FSO communication sending end, and may also be an FSO communication receiving end, and when the first communication end is an FSO communication sending end, the second communication end is an FSO communication receiving end; and when the first communication end is the FSO communication receiving end, the second communication end is the FSO communication sending end.
In summary, this embodiment further installs the heat radiation device at the second communication end on the basis of above-mentioned embodiment, produces the heat radiation signal for the second communication end through the heat radiation device, and through the heat radiation signal that produces, the treater can be in complicated environment such as dark when handling the image that camera device gathered, and the efficiency that the FSO camera lens of first communication end and the FSO camera lens of second communication end aim at is further promoted. It should be noted that, in the above embodiment, when the field environment is better, for example, when the daytime is sunny, the heat radiation device may not be turned on, and at this time, the camera device may also acquire a better image of the second communication terminal; when visual field environment such as haze day or night is not too good, through opening heat radiation device this moment, for second communication end produces heat radiation signal, can help camera device to fix a position the seizure to second communication end.
Specifically, in the above embodiment, in order to facilitate a machine vision detection algorithm (e.g., an edge detection algorithm, etc.) to quickly identify and locate the second communication end, the second communication end may be further designed in color and appearance so as to be distinguishable from the background environment.
Specifically, in the above-described embodiments, the imaging device may be a thermal imaging camera, a fisheye camera, or the like.
Specifically, in the above embodiment, the heat radiation device may be an electric heating flat plate, a thermal infrared lamp bead, or the like.
Specifically, in the above embodiment, when the deflection angle is greater than the preset threshold, the controller controls the cradle head connected to the controller to rotate, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, specifically, when the deflection angle is greater than the preset threshold, the controller controls the cradle head connected to the controller to rotate by a coarse step length, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold. The holder is controlled to rotate by the coarse step length, so that the time for preliminarily aligning the FSO lens of the first communication end with the FSO lens of the second communication end can be shortened.
Specifically, in the above-described embodiment, when executing that the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the pan/tilt head connected thereto to rotate so that the first beacon light lens captures the beacon light generated by the second beacon light lens, specifically, when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the pan/tilt head connected thereto to rotate in fine steps so that the first beacon light lens captures the beacon light generated by the second beacon light lens. The rotation of the holder is controlled by fine step length, so that the FSO lens of the first communication end and the FSO lens of the second communication end can be aligned more accurately.
As shown in fig. 3, a flowchart of a method of embodiment 1 of a machine vision-based FSO communication method disclosed in the present invention is applied to a machine vision-based FSO communication system, and as shown in fig. 1, the machine vision-based FSO communication may include: a first communication terminal 101, a second communication terminal 102, an image pickup device 103, a processor 104, a controller 105, a pan/tilt head 106, a first beacon optical lens 107, a second beacon optical lens 108, and a beacon optical processor 109; the method may comprise the steps of:
s301, acquiring an image through a camera device arranged at a first communication end, and sending the acquired image to a processor connected with the camera device;
when a first communication end and a second communication end in the system need to realize FSO communication, firstly, image acquisition is carried out through a camera device arranged at the first communication end, the camera device has a larger receiving field of view, visible light and infrared light can be imaged, and all things in a certain large wide-angle range can be seen like human eyes;
s302, identifying the position of the second communication end from the image through the processor, calculating the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end based on the position of the second communication end, and judging whether the deflection angle is smaller than or equal to a preset threshold value or not;
after the image is acquired by the camera device, the image acquired by the camera device is further identified by the processor, the position of a second communication end opposite to the first communication end is quickly positioned from the image, then the deflection angle of the FSO lens of the first communication end and the FSO lens of the second communication end is calculated in real time according to the positioned position of the second communication end, and whether the calculated deflection angle is smaller than or equal to a preset threshold value is judged;
s303, when the deflection angle is larger than a preset threshold value, controlling a holder connected with the controller to rotate through the controller, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
when the deflection angle is larger than a preset threshold value, the controller controls the holder to quickly adjust the steering direction of the holder so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
s304, when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, judging whether the first beacon light lens captures beacon light generated by the second beacon light lens through a cursor processor;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, further controlling a first beacon optical lens installed at the first communication end and a second beacon optical lens installed at the second communication end to generate beacon light, and judging whether the first beacon optical lens captures the beacon light generated by the second beacon optical lens or not through a beacon light processor connected with the first beacon optical lens and the second beacon optical lens;
s305, when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cloud deck connected with the first beacon light lens to rotate so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
When the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the FSO lens of the first communication end and the FSO lens of the second communication end are not completely aligned at the moment, and at the moment, the controller controls the cradle head to move, so that the beacon lights of the first communication end and the second communication end continuously scan the plane space left and right and up and down (for example, Z-shaped scanning or spiral scanning), and the first beacon light lens and the second beacon light lens can capture the beacon light of the other side; when the first beacon optical lens and the second beacon optical lens capture the beacon light of the other side, the FSO lens of the first communication end and the FSO lens of the second communication end can be accurately aligned.
It should be noted that, in the above embodiment, the first communication end may be an FSO communication sending end, and may also be an FSO communication receiving end, and when the first communication end is an FSO communication sending end, the second communication end is an FSO communication receiving end; and when the first communication end is the FSO communication receiving end, the second communication end is the FSO communication sending end.
In summary, in the above embodiments, the image is captured by the camera device, and meanwhile, the processor processes the image captured by the camera device, identifies the position of the other communication end, calculates the offset angle between the FSO lenses of the two communication ends, and controls the cradle head by the controller so that the offset angle between the FSO lenses of the two communication ends meets the initial condition, that is, the invention can realize rapid capture, tracking and preliminary alignment of the two communication ends by the camera device, the processor and the controller; after the initial alignment, the beacon light generated by the beacon light lenses arranged on the two communication ends is used for realizing the accurate alignment of the two communication ends through the beacon light processor and the controller, so that the FSO communication between the two communication ends can be effectively realized.
As shown in fig. 4, a flowchart of a method of embodiment 2 of a machine vision-based FSO communication method disclosed in the present invention is applied to a machine vision-based FSO communication system, and as shown in fig. 2, the machine vision-based FSO communication may include: a first communication terminal 201, a second communication terminal 202, an image pickup device 203, a processor 204, a controller 205, a pan/tilt head 206, a first beacon optical lens 207, a second beacon optical lens 208, a beacon optical processor 209, and a heat radiation device 210; the method may comprise the steps of:
s401, generating a heat radiation signal through a heat radiation device installed at a second communication end;
when a first communication end and a second communication end in the system need to realize FSO communication, firstly, a heat radiation device arranged at the second communication end generates a heat radiation signal for the second communication end;
s402, collecting images through a camera device arranged at a first communication end, and sending the collected images to a processor connected with the camera device;
meanwhile, image acquisition is carried out through a camera device arranged at the first communication end, the camera device has a larger receiving view field, visible light and infrared light can be imaged, and all things in a certain large wide-angle range can be seen like human eyes;
s403, identifying the position of the second communication end from the image through the processor based on a heat radiation signal generated by the heat radiation device, calculating a deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end based on the position of the second communication end, and judging whether the deflection angle is smaller than or equal to a preset threshold value;
after the image is collected through the camera device, the processor is further used for carrying out image recognition based on the heat radiation signal in the collected image, the position of the second communication end opposite to the first communication end is quickly located from the image, and the processor can be used for more quickly locating the position of the second communication end in complex environments such as dark environment and the like when image processing is carried out through the heat radiation signal generated by the heat radiation device; then calculating the deflection angle of the FSO lens of the first communication end and the FSO lens of the second communication end in real time according to the positioned position of the second communication end, and judging whether the calculated deflection angle is smaller than or equal to a preset threshold value or not;
s404, when the deflection angle is larger than a preset threshold value, the controller controls the cradle head connected with the controller to rotate so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
when the deflection angle is larger than a preset threshold value, the controller controls the holder to quickly adjust the steering direction of the holder so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
s405, when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, judging whether the first beacon light lens captures beacon light generated by the second beacon light lens through a cursor processor;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, further controlling a first beacon optical lens installed at the first communication end and a second beacon optical lens installed at the second communication end to generate beacon light, and judging whether the first beacon optical lens captures the beacon light generated by the second beacon optical lens or not through a beacon light processor connected with the first beacon optical lens and the second beacon optical lens;
and S406, when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cradle head connected with the first beacon light lens to rotate so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
When the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the FSO lens of the first communication end and the FSO lens of the second communication end are not completely aligned at the moment, and at the moment, the controller controls the cradle head to move, so that the beacon lights of the first communication end and the second communication end continuously scan the plane space left and right and up and down (for example, Z-shaped scanning or spiral scanning), and the first beacon light lens and the second beacon light lens can capture the beacon light of the other side; when the first beacon optical lens and the second beacon optical lens capture the beacon light of the other side, the FSO lens of the first communication end and the FSO lens of the second communication end can be accurately aligned.
It should be noted that, in the above embodiment, the first communication end may be an FSO communication sending end, and may also be an FSO communication receiving end, and when the first communication end is an FSO communication sending end, the second communication end is an FSO communication receiving end; and when the first communication end is the FSO communication receiving end, the second communication end is the FSO communication sending end.
In summary, this embodiment further installs the heat radiation device at the second communication end on the basis of above-mentioned embodiment, produces the heat radiation signal for the second communication end through the heat radiation device, and through the heat radiation signal that produces, the treater can be in complicated environment such as dark when handling the image that camera device gathered, and the efficiency that the FSO camera lens of first communication end and the FSO camera lens of second communication end aim at is further promoted. It should be noted that, in the above embodiment, when the field environment is better, for example, when the daytime is sunny, the heat radiation device may not be turned on, and at this time, the camera device may also acquire a better image of the second communication terminal; when visual field environment such as haze day or night is not too good, through opening heat radiation device this moment, for second communication end produces heat radiation signal, can help camera device to fix a position the seizure to second communication end.
Specifically, in the above embodiment, in order to facilitate a machine vision detection algorithm (e.g., an edge detection algorithm, etc.) to quickly identify and locate the second communication end, the second communication end may be further designed in color and appearance so as to be distinguishable from the background environment.
Specifically, in the above-described embodiments, the imaging device may be a thermal imaging camera, a fisheye camera, or the like.
Specifically, in the above embodiment, the heat radiation device may be an electric heating flat plate, a thermal infrared lamp bead, or the like.
Specifically, in the above embodiment, when the deflection angle is greater than the preset threshold, the controller controls the cradle head connected to the controller to rotate, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, specifically, when the deflection angle is greater than the preset threshold, the controller controls the cradle head connected to the controller to rotate by a coarse step length, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold. The holder is controlled to rotate by the coarse step length, so that the time for preliminarily aligning the FSO lens of the first communication end with the FSO lens of the second communication end can be shortened.
Specifically, in the above-described embodiment, when executing that the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the pan/tilt head connected thereto to rotate so that the first beacon light lens captures the beacon light generated by the second beacon light lens, specifically, when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the pan/tilt head connected thereto to rotate in fine steps so that the first beacon light lens captures the beacon light generated by the second beacon light lens. The rotation of the holder is controlled by fine step length, so that the FSO lens of the first communication end and the FSO lens of the second communication end can be aligned more accurately.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A machine vision based FSO communications system, comprising: the device comprises a first communication end, a second communication end, a camera device, a processor, a controller, a holder, a first beacon light lens, a second beacon light lens and a beacon light processor; wherein:
the first communication end and the second communication end are respectively arranged on the holder;
the camera device is arranged at the first communication end and used for acquiring images and sending the acquired images to the processor connected with the camera device;
the processor is used for identifying the position of the second communication terminal from the image, calculating the deflection angle between the FSO lens of the first communication terminal and the FSO lens of the second communication terminal based on the position of the second communication terminal, and judging whether the deflection angle is smaller than or equal to a preset threshold value or not;
the controller is used for controlling the cradle head connected with the controller to rotate when the deflection angle is larger than a preset threshold value, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
the first beacon light lens is arranged at the first communication end and used for generating beacon light;
the second beacon light lens is arranged at the second communication end and used for generating beacon light;
the beacon light processor is respectively connected with the first beacon light lens and the second beacon light lens and is used for judging whether the first beacon light lens captures beacon light generated by the second beacon light lens when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value;
the controller is further configured to control a pan-tilt connected to the first beacon optical lens to rotate when the first beacon optical lens does not capture the beacon light generated by the second beacon optical lens, so that the first beacon optical lens captures the beacon light generated by the second beacon optical lens.
2. The system of claim 1, further comprising:
and a heat radiation device mounted on the second communication terminal for generating a heat radiation signal.
3. The system according to claim 2, wherein the processor, when performing the identifying the location of the second communication terminal from the image, is specifically configured to:
and identifying the position of the second communication end from the image based on the heat radiation signal generated by the heat radiation device.
4. The system according to claim 1, wherein the controller, when executing that the deflection angle is greater than a preset threshold, controls a pan-tilt connected thereto to rotate so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, specifically:
and when the deflection angle is larger than a preset threshold value, controlling the rotation of a cradle head connected with the deflection angle by coarse step length so as to enable the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end to be smaller than or equal to the preset threshold value.
5. The system according to claim 1, wherein the controller, when executing that the first beacon light lens does not capture the beacon light generated by the second beacon light lens, controls the pan-tilt connected thereto to rotate, so that the first beacon light lens captures the beacon light generated by the second beacon light lens, is specifically configured to:
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the cradle head connected with the first beacon light lens is controlled to rotate in a fine step, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
6. A machine vision-based FSO communication method is applied to a machine vision-based FSO communication system, and the system comprises: the device comprises a first communication end, a second communication end, a camera device, a processor, a controller, a holder, a first beacon light lens, a second beacon light lens and a beacon light processor; the method comprises the following steps: the method comprises the steps that an image is collected through a camera device arranged at a first communication end, and the collected image is sent to a processor connected with the image;
identifying the position of the second communication terminal from the image through the processor, calculating a deflection angle between the FSO lens of the first communication terminal and the FSO lens of the second communication terminal based on the position of the second communication terminal, and judging whether the deflection angle is smaller than or equal to a preset threshold value;
when the deflection angle is larger than a preset threshold value, the controller controls a holder connected with the controller to rotate so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value;
when the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to a preset threshold value, judging whether the first beacon light lens captures beacon light generated by the second beacon light lens through the cursor processor;
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cloud deck connected with the first beacon light lens to rotate, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
7. The method of claim 6, further comprising:
a heat radiation signal is generated by a heat radiation means installed at the second communication terminal.
8. The method of claim 7, wherein the identifying, by the processor, the location of the second communication terminal from the image comprises:
the processor identifies the position of the second communication terminal from the image based on the heat radiation signal generated by the heat radiation device.
9. The method according to claim 6, wherein when the deflection angle is greater than a preset threshold, controlling, by the controller, a pan-tilt connected thereto to rotate so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is less than or equal to the preset threshold, comprises:
when the deflection angle is larger than a preset threshold value, the controller controls the holder connected with the controller to rotate in a coarse step length mode, so that the deflection angle between the FSO lens of the first communication end and the FSO lens of the second communication end is smaller than or equal to the preset threshold value.
10. The method of claim 6, wherein when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, controlling, by the controller, a pan-tilt connected thereto to rotate so that the first beacon light lens captures the beacon light generated by the second beacon light lens, comprises:
when the first beacon light lens does not capture the beacon light generated by the second beacon light lens, the controller controls the cradle head connected with the first beacon light lens to rotate in a fine step, so that the first beacon light lens captures the beacon light generated by the second beacon light lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724832.0A CN112350775A (en) | 2019-08-06 | 2019-08-06 | FSO communication system and method based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724832.0A CN112350775A (en) | 2019-08-06 | 2019-08-06 | FSO communication system and method based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112350775A true CN112350775A (en) | 2021-02-09 |
Family
ID=74366560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910724832.0A Pending CN112350775A (en) | 2019-08-06 | 2019-08-06 | FSO communication system and method based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112350775A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113726431A (en) * | 2021-07-12 | 2021-11-30 | 北京邮电大学 | Unmanned aerial vehicle visible light communication device and method based on camera assistance |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101520838A (en) * | 2008-02-27 | 2009-09-02 | 中国科学院自动化研究所 | Automatic-tracking and automatic-zooming method for acquiring iris images |
| CN102681550A (en) * | 2012-05-18 | 2012-09-19 | 中国科学院光电技术研究所 | Double-fast-reflector fine tracking device and method |
| CN103501203A (en) * | 2013-09-26 | 2014-01-08 | 北京空间飞行器总体设计部 | Laser satellite-ground communication link test system suitable for remote sensing satellite |
| CN104639235A (en) * | 2015-01-20 | 2015-05-20 | 长春理工大学 | Integrated system with simultaneous laser ranging, polarization imaging and laser communication |
| US20150188628A1 (en) * | 2013-12-27 | 2015-07-02 | Charles H. Chalfant, III | Acquisition, Tracking, and Pointing Apparatus for Free Space Optical Communications with Moving Focal Plane Array |
| CN105676884A (en) * | 2016-01-27 | 2016-06-15 | 武汉天木林科技有限公司 | Infrared thermal imaging searching/ tracking/ aiming device and method |
| CN205864565U (en) * | 2016-07-28 | 2017-01-04 | 河源市新天彩科技有限公司 | A kind of combination shot machine |
| CN107707297A (en) * | 2017-11-03 | 2018-02-16 | 潘运滨 | A kind of airborne laser communication system and its communication means |
| CN108364003A (en) * | 2018-04-28 | 2018-08-03 | 国网河南省电力公司郑州供电公司 | The electric inspection process method and device merged based on unmanned plane visible light and infrared image |
| US10135527B1 (en) * | 2016-12-22 | 2018-11-20 | X Development Llc | Method of communication link acquisition using search pattern |
| CN109146919A (en) * | 2018-06-21 | 2019-01-04 | 全球能源互联网研究院有限公司 | A kind of pointing system and method for combination image recognition and laser aiming |
| CN109450532A (en) * | 2018-12-27 | 2019-03-08 | 中国电子科技集团公司第三十四研究所 | With the wireless light communication tracking system for being directed toward correction and it is directed toward antidote |
| CN109474330A (en) * | 2018-12-25 | 2019-03-15 | 上海理工大学 | Laser communication and pointing system for unmanned plane |
| CN109945861A (en) * | 2019-04-05 | 2019-06-28 | 长春光客科技有限公司 | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication |
| CN209072493U (en) * | 2018-12-27 | 2019-07-05 | 中国电子科技集团公司第三十四研究所 | With the wireless light communication tracking system for being directed toward correction |
| CN110062205A (en) * | 2019-03-15 | 2019-07-26 | 四川汇源光通信有限公司 | Motion estimate, tracking device and method |
-
2019
- 2019-08-06 CN CN201910724832.0A patent/CN112350775A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101520838A (en) * | 2008-02-27 | 2009-09-02 | 中国科学院自动化研究所 | Automatic-tracking and automatic-zooming method for acquiring iris images |
| CN102681550A (en) * | 2012-05-18 | 2012-09-19 | 中国科学院光电技术研究所 | Double-fast-reflector fine tracking device and method |
| CN103501203A (en) * | 2013-09-26 | 2014-01-08 | 北京空间飞行器总体设计部 | Laser satellite-ground communication link test system suitable for remote sensing satellite |
| US20150188628A1 (en) * | 2013-12-27 | 2015-07-02 | Charles H. Chalfant, III | Acquisition, Tracking, and Pointing Apparatus for Free Space Optical Communications with Moving Focal Plane Array |
| CN104639235A (en) * | 2015-01-20 | 2015-05-20 | 长春理工大学 | Integrated system with simultaneous laser ranging, polarization imaging and laser communication |
| CN105676884A (en) * | 2016-01-27 | 2016-06-15 | 武汉天木林科技有限公司 | Infrared thermal imaging searching/ tracking/ aiming device and method |
| CN205864565U (en) * | 2016-07-28 | 2017-01-04 | 河源市新天彩科技有限公司 | A kind of combination shot machine |
| US10135527B1 (en) * | 2016-12-22 | 2018-11-20 | X Development Llc | Method of communication link acquisition using search pattern |
| CN107707297A (en) * | 2017-11-03 | 2018-02-16 | 潘运滨 | A kind of airborne laser communication system and its communication means |
| CN108364003A (en) * | 2018-04-28 | 2018-08-03 | 国网河南省电力公司郑州供电公司 | The electric inspection process method and device merged based on unmanned plane visible light and infrared image |
| CN109146919A (en) * | 2018-06-21 | 2019-01-04 | 全球能源互联网研究院有限公司 | A kind of pointing system and method for combination image recognition and laser aiming |
| CN109474330A (en) * | 2018-12-25 | 2019-03-15 | 上海理工大学 | Laser communication and pointing system for unmanned plane |
| CN109450532A (en) * | 2018-12-27 | 2019-03-08 | 中国电子科技集团公司第三十四研究所 | With the wireless light communication tracking system for being directed toward correction and it is directed toward antidote |
| CN209072493U (en) * | 2018-12-27 | 2019-07-05 | 中国电子科技集团公司第三十四研究所 | With the wireless light communication tracking system for being directed toward correction |
| CN110062205A (en) * | 2019-03-15 | 2019-07-26 | 四川汇源光通信有限公司 | Motion estimate, tracking device and method |
| CN109945861A (en) * | 2019-04-05 | 2019-06-28 | 长春光客科技有限公司 | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113726431A (en) * | 2021-07-12 | 2021-11-30 | 北京邮电大学 | Unmanned aerial vehicle visible light communication device and method based on camera assistance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6459446B1 (en) | Eye tracking apparatus | |
| US11587248B2 (en) | Method and system for multiple stereo based depth estimation and collision warning/avoidance utilizing the same | |
| KR102118066B1 (en) | Vehicle control method for safety driving | |
| US10571246B2 (en) | Imaging processing apparatus, distance measuring apparatus and processing system | |
| CN109451233B (en) | Device for collecting high-definition face image | |
| EP2774353A1 (en) | Eye gaze based image capture | |
| WO2013055737A1 (en) | Focus control for ptz cameras | |
| CN108234897B (en) | Method and device for controlling night vision system, storage medium and processor | |
| CN111862620B (en) | Image fusion processing method and device | |
| CN113473010B (en) | Snapshot method and device, storage medium and electronic device | |
| CN111294526A (en) | Processing method and device for preventing camera from being burnt by sun | |
| CN113391644B (en) | Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy | |
| JP2015002522A (en) | Surveillance camera and surveillance camera control method | |
| CN205539525U (en) | Automatic seek system of camera | |
| CN112350775A (en) | FSO communication system and method based on machine vision | |
| CN105898147A (en) | Photometry processing method and device applied to mobile terminal | |
| CN111345031B (en) | Unmanned aerial vehicle and shooting control method thereof | |
| CN116916153A (en) | Digital control method of intelligent telescopic system and intelligent telescopic system | |
| CN211880472U (en) | Image acquisition device and camera | |
| CN116208721A (en) | Vehicle snapshot method and device under low illumination environment, medium and electronic equipment | |
| CN108449547B (en) | Method for controlling a night vision system, storage medium and processor | |
| CN207020409U (en) | A kind of hot spot Imaging for Monitoring equipment | |
| KR101303758B1 (en) | Camera system and control method there of | |
| CN112913221A (en) | Image processing method, image processing device, traversing machine, image optimization system and storage medium | |
| KR20150005208A (en) | Apparatus of controlling a vehicle camera and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210209 |
|
| RJ01 | Rejection of invention patent application after publication |