CN113037946B - Synchronous module of track inspection robot camera - Google Patents
Synchronous module of track inspection robot camera Download PDFInfo
- Publication number
- CN113037946B CN113037946B CN202110236150.2A CN202110236150A CN113037946B CN 113037946 B CN113037946 B CN 113037946B CN 202110236150 A CN202110236150 A CN 202110236150A CN 113037946 B CN113037946 B CN 113037946B
- Authority
- CN
- China
- Prior art keywords
- cameras
- groups
- control chip
- inspection robot
- track inspection
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
- H04N5/06—Generation of synchronising signals
-
- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
The embodiment of the invention provides a camera synchronization module of a track inspection robot, which comprises: the system comprises an encoder, a main control chip, M synchronous pulse interface circuits and M groups of cameras; the encoder is arranged on the driven wheel of the track inspection robot, and outputs initial pulses along with the movement of the driven wheel of the track inspection robot and transmits the initial pulses to the main control chip under the condition that the driven wheel of the track inspection robot moves; the main control chip obtains preset pulse requirements corresponding to each group of M groups of cameras, and performs frequency division or frequency multiplication treatment on the initial pulse according to the preset pulse requirements corresponding to each group of M groups of cameras to obtain synchronous pulses corresponding to each group of M groups of cameras; the master control chip outputs the synchronous pulse corresponding to each group of the M groups of cameras to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of the M groups of cameras, and triggers the synchronous acquisition of images inside each group of the M groups of cameras. The method avoids affecting the synthesis of the complete image of the rail, and dynamically meets the requirements of different cameras on pulses.
Description
Technical Field
The embodiment of the invention relates to the technical field of artificial intelligence, in particular to a camera synchronization module of a track inspection robot.
Background
In recent years, along with the powerful construction of high-speed rails, the track inspection robot is more and more in need, the linear array camera is an important means for carrying out image visual recognition on the track inspection robot, and high-definition images can still be shot by means of the linear array camera under the high-speed and variable-speed movement condition of the track inspection robot, so that a reliable data source is provided for later-stage algorithm recognition.
In order to comprehensively and accurately detect the running condition of a railway track, in a normal case, a track inspection robot is provided with a plurality of line cameras for carrying out recognition in different directions to synthesize a complete image of the track, and each line camera is independently connected with an encoder to trigger image acquisition due to different pulse requirements of different line cameras, so that the plurality of line cameras in the track inspection robot are required to be connected with a plurality of encoders.
Because each line array camera is independently connected with the encoder to trigger image acquisition, the moment of triggering image acquisition by the multi-line array camera cannot be synchronized, time difference exists, and the synthesis of the complete image of the rail is affected.
Disclosure of Invention
In order to solve the technical problems that the moment of triggering image acquisition by each linear array camera is not synchronized, time difference exists, and the integral image synthesis of a rail is affected, meanwhile, the output pulse of the encoder is not adjustable or the adjusting range is limited, and the requirement of different linear array cameras on the pulse cannot be met dynamically, the embodiment of the invention provides a synchronous module of a track inspection robot camera. The specific technical scheme is as follows:
a synchronous module of track inspection robot camera, the synchronous module of track inspection robot camera includes: the camera comprises an encoder, a main control chip, M synchronous pulse interface circuits and M groups of cameras, wherein the encoder is connected with the main control chip, the main control chip is respectively connected with the M synchronous pulse interface circuits, the M synchronous pulse interface circuits are correspondingly connected with the M groups of cameras one by one, and the M comprises a positive integer;
the encoder is arranged on the driven wheel of the track inspection robot, and outputs initial pulses along with the movement of the driven wheel of the track inspection robot and transmits the initial pulses to the main control chip under the condition that the driven wheel of the track inspection robot moves;
the main control chip obtains preset pulse requirements corresponding to each of M groups of cameras, and carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to each of M groups of cameras to obtain synchronous pulses corresponding to each of M groups of cameras;
and the master control chip outputs the synchronous pulses corresponding to the groups of the cameras through the synchronous pulse interface circuits corresponding to the groups of the cameras, and triggers the groups of the cameras to synchronously acquire images.
In an optional implementation manner, the master control chip outputs the synchronization pulse corresponding to each of M groups of cameras to the M groups of cameras through the synchronization pulse interface circuit corresponding to each of M groups of cameras, and includes:
the main control chip determines the movement direction of the track inspection robot, determines the preset inspection direction of the track inspection robot and judges whether the movement direction is consistent with the inspection direction;
and under the condition that the movement direction is consistent with the inspection direction, the master control chip outputs the synchronous pulse corresponding to each group of M groups of cameras to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of cameras.
In an optional embodiment, the track inspection robot camera synchronization module further includes:
and under the condition that the movement direction is not consistent with the inspection direction, the master control chip prohibits the synchronous pulse corresponding to each group of M groups of cameras from being output to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of M groups of cameras.
In an optional implementation manner, the initial pulse includes two paths of orthogonal PWM pulses, and the main control chip determines a movement direction of the track inspection robot, including:
and the main control chip determines the movement direction of the track inspection robot according to the phase difference of the two paths of orthogonal PWM pulses.
In an optional embodiment, the track inspection robot camera synchronization module further includes: an electromagnetic protection circuit;
the encoder is connected with the main control chip, and comprises: the encoder is connected with the electromagnetic protection circuit, and the electromagnetic protection circuit is connected with the main control chip;
the transmitting to the main control chip includes: the static electricity is transmitted to the main control chip through the electromagnetic protection circuit, and the electromagnetic protection circuit prevents static electricity from entering the main control chip.
In an optional embodiment, the track inspection robot camera synchronization module further includes: a level shift circuit;
the electromagnetic protection circuit is connected with the main control chip, and comprises: the electromagnetic protection circuit is connected with the level conversion circuit, and the level conversion circuit is connected with the main control chip;
the transmission to the main control chip through the electromagnetic protection circuit comprises: the initial pulse level is transmitted to the level conversion circuit through the electromagnetic protection circuit, and the level conversion circuit converts the initial pulse level and transmits the initial pulse level to the main control chip.
In an optional embodiment, the track inspection robot camera synchronization module further includes: m only outputs the level shifter circuit;
the main control chip is respectively connected with M output level conversion circuits, and the M output level conversion circuits are correspondingly connected with M synchronous pulse interface circuits one by one;
the master control chip outputs the synchronization pulse corresponding to each group of the M groups of cameras to the M groups of cameras through the synchronization pulse interface circuit corresponding to each group of the M groups of cameras, and the master control chip comprises:
the master control chip converts the synchronous pulse level corresponding to each group of M groups of cameras through the output level conversion circuit corresponding to each group of M groups of cameras; the method comprises the steps of,
and outputting the synchronous pulse interface circuits corresponding to the groups of the M groups of cameras to the M groups of cameras.
In an optional embodiment, the track inspection robot camera synchronization module further includes: the data uploading circuit is connected with the main control chip;
and the main control chip determines the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot, and reports the movement speed and the movement mileage of the driven wheel of the track inspection robot through the data uploading circuit.
In an optional embodiment, the main control chip determines a movement speed of the driven wheel of the track inspection robot and a movement mileage of the track inspection robot, and includes:
the main control chip determines the correlation coefficient of the perimeter and the pulse number of the driven wheel of the track inspection robot, and counts the target pulse number of the initial pulse;
and the main control chip determines the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot according to the target pulse number and the correlation coefficient.
In an alternative embodiment, the main control chip includes: FPGA, CPLD or singlechip.
According to the track inspection robot camera synchronization module provided by the embodiment of the invention, the encoder is arranged on the track inspection robot driven wheel, under the condition that the track inspection robot driven wheel moves, the encoder outputs initial pulses along with the movement of the track inspection robot driven wheel and transmits the initial pulses to the main control chip, the main control chip obtains preset pulse requirements corresponding to each group of M groups of cameras, frequency division or frequency multiplication processing is carried out on the initial pulses according to the preset pulse requirements corresponding to each group of M groups of cameras, synchronous pulses corresponding to each group of M groups of cameras are obtained, and the main control chip outputs the synchronous pulses corresponding to each group of M groups of cameras to the M groups of cameras through the synchronous pulse interface circuits corresponding to each group of M groups of cameras so as to trigger the internal synchronous acquisition images of each group of M groups of cameras. The master control chip obtains preset pulse requirements corresponding to the M groups of cameras, carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to the M groups of cameras to obtain synchronous pulses corresponding to the M groups of cameras, synchronously collects images inside the M groups of cameras to avoid time difference and avoid affecting the synthesis of the complete images of the rail, and carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to the M groups of cameras to obtain synchronous pulses corresponding to the M groups of cameras, so that the requirements of different cameras on the pulse can be dynamically met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram of a camera synchronization module of a track inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the architecture of another camera synchronization module of the track inspection robot according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of another embodiment of a camera synchronization module of a track inspection robot;
fig. 4 is a schematic diagram of the architecture of another camera synchronization module of the track inspection robot according to the embodiment of the present invention;
fig. 5 is a schematic diagram of an architecture of another camera synchronization module of the track inspection robot according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a schematic structural diagram of a camera synchronization module of a track inspection robot according to an embodiment of the present invention may include: the system comprises an encoder, a main control chip, M synchronous pulse interface circuits and M groups of cameras, wherein the encoder is connected with the main control chip, the main control chip is respectively connected with the M synchronous pulse interface circuits, the M synchronous pulse interface circuits are connected with the M groups of cameras in a one-to-one correspondence manner, M comprises positive integers, and the number of the cameras in the group is at least 1.
The encoder can be arranged on the driven wheel of the track inspection robot, and under the condition that the driven wheel of the track inspection robot moves, the encoder outputs initial pulses along with the movement of the driven wheel of the track inspection robot and transmits the initial pulses to the main control chip.
For example, the encoder can be mounted on the driven wheel of the track inspection robot, and the driven wheel of the track inspection robot rotates one circle under the condition that the driven wheel of the track inspection robot moves, and the encoder outputs 10 initial pulses and transmits the initial pulses to the main control chip.
For the main control chip, preset pulse requirements corresponding to each group of M groups of cameras can be obtained, and frequency division or frequency multiplication processing is carried out on the initial pulse according to the preset pulse requirements corresponding to each group of M groups of cameras, so that synchronous pulses corresponding to each group of M groups of cameras are obtained.
For example, the encoder outputs 1024 initial pulses, and as shown in fig. 1, the camera (for example, a linear array camera) in 1 group has 256 pulses for image acquisition of the camera in 1 group, the master control chip performs logic control to set the frequency division coefficient to be 4 accordingly, and performs frequency division processing on the initial pulses to obtain synchronization pulses corresponding to the camera in 1 group, where the synchronization pulses are 256 pulses.
For example, the encoder outputs 1024 initial pulses, and as shown in fig. 1, the 2-group camera has 2048 image acquisition pulses, the master control chip performs logic control to set the frequency multiplication coefficient to 2, and performs frequency multiplication processing on the initial pulses to obtain synchronization pulses corresponding to the 2-group cameras, where the synchronization pulses are 2048 pulses.
It should be noted that, for the main control chip, the main control chip may be an FPGA (Field Programmable Gate Array ), a CPLD (Complex Programming logic device, complex programmable logic device) or a single chip microcomputer, which is not limited in the embodiment of the present invention. Under the condition that the main control chip is an FPGA, the FPGA phase-locked loop circuit can be utilized to realize frequency multiplication design.
And for the main control chip, synchronizing pulses corresponding to the groups of the M groups of cameras are output to the M groups of cameras through synchronizing pulse interface circuits corresponding to the groups of the M groups of cameras, and the internal synchronization acquisition images of the groups of the M groups of cameras are triggered. The camera may be, for example, a line camera or a panoramic camera, which is not limited in the embodiment of the present invention.
For example, as shown in fig. 1, for the master control chip, the synchronization pulse corresponding to the 1 group of line cameras is output to the 1 group of line cameras through the synchronization pulse interface circuit 1 corresponding to the 1 group of line cameras, so as to trigger the 1 group of line cameras to synchronously acquire images.
For example, as shown in fig. 1, for the master control chip, the synchronization pulse corresponding to the 2 groups of linear cameras is output to the 2 groups of linear cameras through the synchronization pulse interface circuit 2 corresponding to the 2 groups of linear cameras, so as to trigger the internal synchronization acquisition of images of the 2 groups of linear cameras.
Note that, the number of the synchronization pulses corresponding to each of the M groups of cameras may be identical or not identical, which is not limited by the embodiment of the present invention. In the case of inconsistent pulse numbers, the M groups of cameras perform image acquisition at different frequencies, but the intra-group camera image acquisition times are synchronized.
For example, each group of M groups of line cameras may have 256 pulses for the synchronization pulse. For example, for a synchronization pulse corresponding to 1 group of line cameras, 256 pulses may be used, and for a synchronization pulse corresponding to 2 groups of line cameras, 2048 pulses may be used, so that the two groups of line cameras perform image acquisition at 2 different frequencies, but the image acquisition times of the 3 line cameras in the group are synchronous.
Through the description of the camera synchronization module of the track inspection robot provided by the embodiment of the invention, the encoder is arranged on the driven wheel of the track inspection robot, under the condition that the driven wheel of the track inspection robot moves, the encoder outputs initial pulses along with the movement of the driven wheel of the track inspection robot and transmits the initial pulses to the main control chip, the main control chip acquires preset pulse requirements corresponding to each group of the M groups of cameras, and carries out frequency division or frequency multiplication processing on the initial pulses according to the preset pulse requirements corresponding to each group of the M groups of cameras to obtain synchronous pulses corresponding to each group of the M groups of cameras, and the main control chip outputs the synchronous pulses corresponding to each group of the M groups of cameras to the M groups of cameras through the synchronous pulse interface circuits corresponding to each group of the M groups of cameras to trigger the internal synchronous acquisition images of each group of the M groups of cameras.
The master control chip obtains preset pulse requirements corresponding to the M groups of cameras, carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to the M groups of cameras to obtain synchronous pulses corresponding to the M groups of cameras, synchronously collects images inside the M groups of cameras to avoid time difference and avoid affecting the synthesis of the complete images of the rail, and carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to the M groups of cameras to obtain synchronous pulses corresponding to the M groups of cameras, so that the requirements of different cameras on the pulse can be dynamically met.
In addition, for the track inspection robot, two motion states of forward and backward can often appear in the track inspection process, and according to the service scene requirement, the track inspection process usually needs to acquire images in the forward or backward process, based on the two motion states, the main control chip can automatically realize the output of the track inspection robot in the forward or backward process according to the system setting, and the output is stopped when the track inspection robot moves in the opposite direction.
Specifically, for the main control chip, the movement direction of the track inspection robot can be determined, the preset inspection direction of the track inspection robot is determined, and whether the movement direction of the track inspection robot is consistent with the preset inspection direction of the track inspection robot is judged;
and outputting synchronous pulses corresponding to each group of M groups of cameras to the M groups of cameras through synchronous pulse interface circuits corresponding to each group of M groups of cameras under the condition that the movement direction of the track inspection robot is consistent with the inspection direction preset by the track inspection robot, and triggering the internal synchronous acquisition of images of each group of M groups of cameras.
And for the main control chip, under the condition that the movement direction of the track inspection robot is not consistent with the preset inspection direction of the track inspection robot, the synchronous pulse corresponding to each group of M groups of cameras is forbidden to be output to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of M groups of cameras, so that the synchronous acquisition of images inside each group of M groups of cameras is not triggered.
For example, for a master control chip, the movement direction of the track inspection robot is determined: advancing, and determining a preset inspection direction of the track inspection robot: and (3) advancing, so that the movement direction of the track inspection robot is consistent with the inspection direction preset by the track inspection robot, and synchronous pulses corresponding to the groups of the M groups of cameras are output to the groups of cameras through synchronous pulse interface circuits corresponding to the groups of the M groups of cameras, and the internal synchronous acquisition images of the groups of the M groups of cameras are triggered.
For example, for a master control chip, the movement direction of the track inspection robot is determined: backing, and determining a preset inspection direction of the track inspection robot: and the movement direction of the track inspection robot is not consistent with the inspection direction preset by the track inspection robot, so that synchronous pulses corresponding to each group of M groups of cameras are forbidden to be output to the M groups of cameras through synchronous pulse interface circuits corresponding to each group of M groups of cameras, and the internal synchronous image acquisition of each group of M groups of cameras is not triggered.
In the embodiment of the invention, for the initial pulse, two paths of orthogonal PWM pulses, namely AB two paths of orthogonal PWM pulses, the phase of the A path is 90 degrees faster than the phase of the B path under the condition that the track inspection robot is in a forward motion state, and conversely, the phase of the B path is 90 degrees faster than the phase of the A path under the condition that the track inspection robot is in a backward motion state, so that the main control chip can determine the motion direction of the track inspection robot according to the phase difference of the two paths of orthogonal PWM pulses.
In the embodiment of the invention, in order to prevent external interference such as static electricity from entering the main control chip and affecting signal control, the camera synchronization module of the track inspection robot can further comprise: the encoder collects interface circuit (responsible for connecting the encoder) and electromagnetic protection circuit.
As shown in fig. 2, the encoder is connected with an encoder acquisition interface circuit, the encoder acquisition interface circuit is connected with an electromagnetic protection circuit, and the electromagnetic protection circuit is connected with a main control chip.
After the AB two-path orthogonal PWM pulse enters through the encoder acquisition interface circuit, the AB two-path orthogonal PWM pulse is transmitted to the main control chip through the electromagnetic protection circuit, and during the period, the electromagnetic protection circuit prevents external interference such as static electricity from entering the main control chip, so that signal control is prevented from being influenced.
In the embodiment of the invention, for the main control chip, an acceptable level range exists, for example, 3.3V, so that the level of the two paths of orthogonal PWM pulses of the AB needs to be converted, and therefore, the camera synchronization module for the track inspection robot can further comprise: a level shift circuit. As shown in fig. 3, the electromagnetic protection circuit is connected with the level conversion circuit, and the level conversion circuit is connected with the main control chip.
After the two paths of orthogonal PWM pulses enter through the encoder acquisition interface circuit, the two paths of orthogonal PWM pulses are transmitted to the level conversion circuit through the electromagnetic protection circuit, the level conversion circuit converts the levels of the two paths of orthogonal PWM pulses, for example, the levels of the two paths of orthogonal PWM pulses of the AB are 5V, the levels are converted into the acceptable level range of 3.3V of the main control chip, and then the levels are transmitted to the main control chip. Thus, for the AB two-path orthogonal PWM pulse, the pulse can enter the main control chip through the electromagnetic protection circuit and the level conversion circuit.
It should be noted that, for the level conversion circuit, the level conversion of the two paths of the AB orthogonal PWM pulse may be a step-up, for example, a 3.3V conversion to 5V, or a step-down, for example, a 5V conversion to 3.3V, which is not limited in the embodiment of the present invention.
In the embodiment of the present invention, for each group of cameras, there is an acceptable level range, so that the synchronization pulse level needs to be converted, so that for the track inspection robot camera synchronization module, the track inspection robot camera synchronization module may further include: m outputs only the level shifter circuit. As shown in fig. 4, the main control chip is connected with M output level conversion circuits, and the M output level conversion circuits are connected with M synchronous pulse interface circuits in a one-to-one correspondence.
For the main control chip, the synchronous pulse level corresponding to each group of M groups of cameras is converted through the output level conversion circuit corresponding to each group of M groups of cameras, for example, the synchronous pulse level is converted into 3.3V, and then the synchronous pulse level is output to each group of M groups of cameras through the synchronous pulse interface circuit corresponding to each group of M groups of cameras, so that the internal synchronous acquisition of images of each group of M groups of cameras is triggered.
For example, as shown in fig. 4, for the master control chip, the output level conversion circuit 1 corresponding to the 1 group of cameras converts the synchronization pulse level corresponding to the 1 group of cameras into the level range required by the 1 group of cameras, for example, the synchronization pulse level 5V is converted into 3.3V, and then the 3V is output to the 1 group of cameras through the synchronization pulse interface circuit 1 corresponding to the 1 group of cameras, so as to trigger the 1 group of cameras to synchronously acquire images.
For example, as shown in fig. 4, for the master control chip, the output level conversion circuit 2 corresponding to the 2 groups of cameras converts the synchronization pulse level corresponding to the 2 groups of cameras into the level range required by the 2 groups of cameras, for example, the synchronization pulse level is converted into 5V by 3.3V, and then the 3V is output to the 2 groups of cameras through the synchronization pulse interface circuit 2 corresponding to the 2 groups of cameras, so as to trigger the internal synchronization acquisition of images of the 2 groups of cameras.
In addition, in the embodiment of the invention, the data such as the movement speed of the track inspection robot can be reported, so the track inspection robot camera synchronization module can further comprise: power supply, data uploading circuit, debugging interface circuit.
As shown in fig. 5, the data uploading circuit is connected with the main control chip, the debugging interface circuit is connected with the main control chip, the power supply is used for supplying power to the synchronous module of the track inspection robot camera, and the debugging interface circuit is used for communicating with the main control chip to perform debugging work such as system setting.
For the main control chip, the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot can be determined, and the movement mileage is reported through a data uploading circuit. The data is generally uploaded through RS232 and can, which is not limited in the embodiment of the present invention.
Specifically, for the main control chip, the correlation coefficient of the perimeter and the pulse number of the driven wheel of the track inspection robot can be determined, the target pulse number of the initial pulse is counted, and the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot are determined according to the target pulse number and the correlation coefficient.
For example, the perimeter of the driven wheel of the track inspection robot is 100cm, the driven wheel of the track inspection robot rotates one circle, the number of AB two-way orthogonal PWM pulses output by the encoder is 10, and therefore the correlation coefficient of the perimeter of the driven wheel of the track inspection robot and the number of pulses is 10, namely the driven wheel of the track inspection robot rotates 10cm, and the encoder outputs 1 AB two-way orthogonal PWM pulse.
For a main control chip, determining a correlation coefficient 10 of the perimeter and the pulse number of the driven wheel of the track inspection robot, counting the pulse number of the AB two-path orthogonal PWM pulses, and calculating the movement mileage of the track inspection robot according to the correlation coefficient 10 of the perimeter and the pulse number of the driven wheel of the track inspection robot and the pulse number, namely the movement mileage of the track inspection robot, namely the pulse number/correlation coefficient 10 x perimeter 100 cm=the movement mileage of the track inspection robot.
In addition, the perimeter of the driven wheel of the track inspection robot is 100cm, the driven wheel of the track inspection robot rotates one circle, the number of the AB two-way orthogonal PWM pulses output by the encoder is 10, and the 10 AB two-way orthogonal PWM pulses occupy one twelfth of 1 second for a certain time, for example, 5 milliseconds, which means that the movement speed of the driven wheel of the track inspection robot is 12 revolutions per second.
For a main control chip, determining a correlation coefficient 10 of the perimeter and the pulse number of the driven wheel of the track inspection robot, counting the pulse number of the AB two-path orthogonal PWM pulses, and calculating the movement speed of the driven wheel of the track inspection robot according to the correlation coefficient 10 of the perimeter and the pulse number of the driven wheel of the track inspection robot and the pulse number 1200, namely the movement speed of the driven wheel of the track inspection robot can be calculated, namely the pulse number 1200/counting time 10 seconds = the pulse number 120/second, (the pulse number 120/second)/the correlation coefficient 10 = the movement speed 12 revolutions per second of the driven wheel of the track inspection robot.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a storage medium or transmitted from one storage medium to another, for example, from one website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The storage media may be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a synchronous module of robot camera is patrolled and examined to track, its characterized in that, the synchronous module of robot camera is patrolled and examined to track includes: the camera comprises an encoder, a main control chip, M synchronous pulse interface circuits and M groups of cameras, wherein the encoder is connected with the main control chip, the main control chip is respectively connected with the M synchronous pulse interface circuits, the M synchronous pulse interface circuits are correspondingly connected with the M groups of cameras one by one, and the M comprises a positive integer;
the encoder is arranged on the driven wheel of the track inspection robot, and outputs initial pulses along with the movement of the driven wheel of the track inspection robot and transmits the initial pulses to the main control chip under the condition that the driven wheel of the track inspection robot moves;
the main control chip obtains preset pulse requirements corresponding to each of M groups of cameras, and carries out frequency division or frequency multiplication on the initial pulse according to the preset pulse requirements corresponding to each of M groups of cameras to obtain synchronous pulses corresponding to each of M groups of cameras;
the master control chip outputs the synchronization pulse corresponding to each group of the M groups of cameras to the M groups of cameras through the synchronization pulse interface circuit corresponding to each group of the M groups of cameras, triggers the synchronous acquisition of images inside each group of the M groups of cameras, and comprises the following steps:
determining the pulse number of synchronous pulses corresponding to each group of M groups of cameras; and under the condition that the pulse numbers of the corresponding synchronous pulses of the M groups of cameras are inconsistent, the M groups of cameras acquire images at different frequencies, wherein the image acquisition time of the cameras in the groups is synchronous.
2. The track inspection robot camera synchronization module of claim 1, wherein the master control chip outputs the synchronization pulses corresponding to each of M groups of cameras to the M groups of cameras through the synchronization pulse interface circuits corresponding to each of M groups of cameras, and the track inspection robot camera synchronization module comprises:
the main control chip determines the movement direction of the track inspection robot, determines the preset inspection direction of the track inspection robot and judges whether the movement direction is consistent with the inspection direction;
and under the condition that the movement direction is consistent with the inspection direction, the master control chip outputs the synchronous pulse corresponding to each group of M groups of cameras to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of cameras.
3. The track inspection robot camera synchronization module of claim 2, further comprising:
and under the condition that the movement direction is not consistent with the inspection direction, the master control chip prohibits the synchronous pulse corresponding to each group of M groups of cameras from being output to the M groups of cameras through the synchronous pulse interface circuit corresponding to each group of M groups of cameras.
4. The track inspection robot camera synchronization module of claim 2, wherein the initial pulse comprises two paths of orthogonal PWM pulses, the master control chip determining a movement direction of the track inspection robot, comprising:
and the main control chip determines the movement direction of the track inspection robot according to the phase difference of the two paths of orthogonal PWM pulses.
5. The track inspection robot camera synchronization module of claim 1, further comprising: an electromagnetic protection circuit;
the encoder is connected with the main control chip, and comprises: the encoder is connected with the electromagnetic protection circuit, and the electromagnetic protection circuit is connected with the main control chip;
the transmitting to the main control chip includes: the static electricity is transmitted to the main control chip through the electromagnetic protection circuit, and the electromagnetic protection circuit prevents static electricity from entering the main control chip.
6. The track inspection robot camera synchronization module of claim 5, further comprising: a level shift circuit;
the electromagnetic protection circuit is connected with the main control chip, and comprises: the electromagnetic protection circuit is connected with the level conversion circuit, and the level conversion circuit is connected with the main control chip;
the transmission to the main control chip through the electromagnetic protection circuit comprises: the initial pulse level is transmitted to the level conversion circuit through the electromagnetic protection circuit, and the level conversion circuit converts the initial pulse level and transmits the initial pulse level to the main control chip.
7. The track inspection robot camera synchronization module of claim 1, further comprising: m only outputs the level shifter circuit;
the main control chip is respectively connected with M output level conversion circuits, and the M output level conversion circuits are correspondingly connected with M synchronous pulse interface circuits one by one;
the master control chip outputs the synchronization pulse corresponding to each group of the M groups of cameras to the M groups of cameras through the synchronization pulse interface circuit corresponding to each group of the M groups of cameras, and the master control chip comprises:
the master control chip converts the synchronous pulse level corresponding to each group of M groups of cameras through the output level conversion circuit corresponding to each group of M groups of cameras; the method comprises the steps of,
and outputting the synchronous pulse interface circuits corresponding to the groups of the M groups of cameras to the M groups of cameras.
8. The track inspection robot camera synchronization module of claim 1, further comprising: the data uploading circuit is connected with the main control chip;
and the main control chip determines the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot, and reports the movement speed and the movement mileage of the driven wheel of the track inspection robot through the data uploading circuit.
9. The track inspection robot camera synchronization module of claim 8, wherein the master control chip determines a movement speed of the track inspection robot driven wheel and a movement mileage of the track inspection robot, comprising:
the main control chip determines the correlation coefficient of the perimeter and the pulse number of the driven wheel of the track inspection robot, and counts the target pulse number of the initial pulse;
and the main control chip determines the movement speed of the driven wheel of the track inspection robot and the movement mileage of the track inspection robot according to the target pulse number and the correlation coefficient.
10. The track inspection robot camera synchronization module of any one of claims 1 to 9, wherein the master control chip comprises: FPGA, CPLD or singlechip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110236150.2A CN113037946B (en) | 2021-03-03 | 2021-03-03 | Synchronous module of track inspection robot camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110236150.2A CN113037946B (en) | 2021-03-03 | 2021-03-03 | Synchronous module of track inspection robot camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113037946A CN113037946A (en) | 2021-06-25 |
| CN113037946B true CN113037946B (en) | 2023-05-30 |
Family
ID=76466629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110236150.2A Active CN113037946B (en) | 2021-03-03 | 2021-03-03 | Synchronous module of track inspection robot camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113037946B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7755660B2 (en) * | 2003-05-02 | 2010-07-13 | Ensco, Inc. | Video inspection system for inspection of rail components and method thereof |
| CN102572283B (en) * | 2012-01-09 | 2014-07-09 | 北京凌云光视数字图像技术有限公司 | External synchronous signal card and image collection system for linear array camera |
| CN108214554B (en) * | 2018-02-05 | 2020-11-24 | 刘春梅 | Self-checking system for intelligent track traffic inspection robot |
| CN208075878U (en) * | 2018-04-02 | 2018-11-09 | 成都精工华耀科技有限公司 | A kind of rail polling high precision odometer counting apparatus based on linear array scanning imaging |
| CN110515339A (en) * | 2019-10-08 | 2019-11-29 | 上海市东方海事工程技术有限公司 | A kind of Multi-path synchronous triggering device, tunnel area array cameras and tunnel cruising inspection system |
| CN111413349A (en) * | 2020-03-17 | 2020-07-14 | 南昌大学 | Device and method for recording track image position at fixed pulse distance |
-
2021
- 2021-03-03 CN CN202110236150.2A patent/CN113037946B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113037946A (en) | 2021-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10972637B2 (en) | Systems and methods for synchronizing sensor capture | |
| CN105915781B (en) | Method for synchronizing results of multiple vision system processors | |
| CN109104259A (en) | A kind of multisensor clock synchronization synchronization system and method | |
| CA2017579C (en) | Communication circuit fault detector | |
| DE102013104894B4 (en) | Image processing systems and methods with predictive motion control | |
| CN113037946B (en) | Synchronous module of track inspection robot camera | |
| US3010024A (en) | Missile tracking system | |
| CN107480016B (en) | Transmission equipment interface circuit self-checking method and circuit self-checking system thereof | |
| CN100469312C (en) | Radiographic image diagnosis device | |
| CN102759885A (en) | Pulsar time synchronous device with high reliability | |
| DE102017009983A1 (en) | Image capture device and image acquisition process | |
| US20150312093A1 (en) | System and method for input and output between hardware components | |
| CN106131461A (en) | A kind of multiple image sensor synchronous control system and image processing module | |
| US3609729A (en) | Telemetry system | |
| CN110049204B (en) | Multi-camera synchronous triggering system and method for tunnel image acquisition | |
| SE504920C2 (en) | Method and system for redundant clock distribution to telecommunications equipment in which switching of selected clock signal among the incoming clock signals is constantly taking place | |
| CN110543118B (en) | General FPGA synchronous trigger controller with trigger monitoring function and method | |
| US20210231788A1 (en) | System and method for detecting presence of multiple people using an fmcw radar | |
| CN208114598U (en) | A kind of wireless transmission CT system | |
| CN103048663B (en) | Optical target tracking and monitoring integrated television system | |
| CN112764377B (en) | Real-time line time adjusting device and method for push-broom optical remote sensing camera | |
| DE112016001985T5 (en) | Power-Good Detector for Ultrabroad Broadband Transmitters with Low Power Consumption | |
| Beechy et al. | Time and data distribution systems at the fermilab accelerator | |
| CN105167792B (en) | A kind of Multifunctional mobile CT electric machine control system and implementation method | |
| CN111601010A (en) | Unified device of multichannel shooting parameter |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |