CN113099174A - Multi-view camera and crawler with same - Google Patents
Multi-view camera and crawler with same Download PDFInfo
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- CN113099174A CN113099174A CN202110325950.1A CN202110325950A CN113099174A CN 113099174 A CN113099174 A CN 113099174A CN 202110325950 A CN202110325950 A CN 202110325950A CN 113099174 A CN113099174 A CN 113099174A
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- 230000009193 crawling Effects 0.000 claims description 11
- 230000007547 defect Effects 0.000 abstract description 17
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000003384 imaging method Methods 0.000 description 2
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- 208000003464 asthenopia Diseases 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The invention discloses a multi-view camera and a crawler comprising the same, and relates to the field of pipeline detection, wherein the multi-view camera comprises a camera component and a lens base, and the camera component comprises a main camera and a plurality of side cameras; the camera lens base comprises a rear seat and a camera fixing platform positioned at the front end of the rear seat, the camera fixing platform comprises a top surface and a plurality of side surfaces distributed on the periphery of the top surface, and the top surface and the side surfaces form an angle with each other; the number of the side faces is the same as that of the side cameras, the main camera is located on the top face, the side cameras are located on the side faces, and each side face corresponds to one side camera. The invention can effectively improve the detection efficiency of the pipeline interface and the accuracy of defect interpretation.
Description
Technical Field
The invention relates to the field of pipeline detection, in particular to a multi-view camera and a crawler comprising the same.
Background
Currently, a CCTV (Closed Circuit Television) pipeline inspection robot in the market all uses a front-view camera to observe the condition inside a pipeline by adjusting the pitch and rotation of the camera. When pipeline robot marchd at the pipeline, need carry out 360 degrees observations to every pipeline interface, it is specific: the robot firstly travels to the interface, then tilts the lens upwards for 90 degrees, then controls the lens to rotate for 360 degrees, resets the lens to the default position, continues to travel, and records in real time in the process. And subsequently, the video record is played back, so that whether the pipeline interface has defects or not is judged. In the shooting process of the video at the pipeline interface, the lens needs to be upwards pitched 90 degrees at each time, then rotates 360 degrees clockwise, then rotates 360 degrees anticlockwise, and then pitches 90 degrees downwards, so that the shooting mode not only greatly influences the detection efficiency on site, but also the imaging quality in the motion can be obviously reduced, and the missed judgment and the wrong judgment appear during the later-stage defect judgment.
Meanwhile, the existing CCTV pipeline robot detection mainly has two modes for judging and reading the defects: the first is on-site interpretation, namely, in the process of advancing of a pipeline of the robot, an operator needs to observe real-time video data returned by a crawler in real time, and when the operator finds suspected defects, the operator takes a snapshot of a real-time picture to interpret; the second is internal interpretation, namely, real-time returned video data in the advancing process of the crawler in the pipeline is stored, and then the video data is delivered to professional workers, and the professional workers interpret the video data through video screenshot when suspected defects are found through video playback. The two modes require the staff to watch the video for a long time, so that the interpretation efficiency is greatly influenced, and the visual fatigue and the missed interpretation are easily caused because the imaging quality in motion is obviously reduced and the staff watches the video for a long time. Therefore, the sizes and positions of the defects cannot be accurately quantified by the two interpretation modes, and the interpretation is completely dependent on the service level and experience of workers, so that the interpretation accuracy is greatly influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-view camera and a crawler comprising the same, which can effectively improve the detection efficiency of a pipeline interface and the accuracy of defect interpretation.
In order to achieve the above object, the present invention provides a multi-view camera, comprising:
a camera assembly comprising a main camera and a plurality of side cameras;
the camera comprises a lens base, a lens fixing base and a lens, wherein the lens base comprises a rear base and a camera fixing platform positioned at the front end of the rear base, the camera fixing platform comprises a top surface and a plurality of side surfaces distributed on the periphery of the top surface, and angles are formed between the top surface and the side surfaces;
the number of the side faces is the same as that of the side cameras, the main camera is located on the top face, the side cameras are located on the side faces, and each side face corresponds to one side camera.
On the basis of the technical scheme, the lens base is cylindrical, and the front end of the lens base extends forwards to form a camera fixing table.
On the basis of the technical scheme, the top surface is located at the front end of the camera fixing table, the plane where the top surface is located is parallel to the cross section of the lens base, the side surfaces are uniformly distributed on the periphery of the top surface, the front ends of the side surfaces are connected with the outer side of the top surface, and the rear ends of the side surfaces are connected with the lens base.
On the basis of the technical scheme, an included angle between the top surface and the side surface is an obtuse angle.
On the basis of the technical scheme, the number of the side faces and the number of the side cameras are 3, one side camera is arranged on each side face, the lens of each side camera is parallel to the plane where the side face is located, and the lens of each main camera is parallel to the plane where the top face is located.
The invention provides a crawler with a multi-view camera, which comprises:
a camera assembly comprising a main camera and a plurality of side cameras;
the camera comprises a lens base, a lens fixing base and a lens fixing device, wherein the lens base comprises a rear base and a camera fixing platform positioned at the front end of the rear base, the camera fixing platform comprises a top surface and a plurality of side surfaces distributed on the periphery of the top surface, angles are formed between the top surface and the side surfaces, the number of the side surfaces is the same as that of side cameras, the main camera is positioned on the top surface, the side cameras are positioned on the side surfaces, and each side surface corresponds to one side camera;
the top of the crawling trolley is provided with a support rod, the lower end of the support rod is connected with the top of the crawling trolley, and the upper end of the support rod is connected with the lens base.
On the basis of the technical scheme, the lens base is cylindrical, the front end of the lens base extends forwards to form a camera fixing table, the top surface is located at the front end of the camera fixing table, the plane where the top surface is located is parallel to the cross section of the lens base, a plurality of side surfaces are uniformly distributed on the periphery of the top surface, the front ends of the side surfaces are connected with the outer side of the top surface, and the rear end of the side surfaces is connected with the lens base.
On the basis of the technical scheme, the included angle between the top surface and the side surface is an obtuse angle, the side surfaces and the side cameras are 3, one side camera is arranged on each side surface, the lens of each side camera is parallel to the plane where the side surface is located, and the lens of each main camera is parallel to the plane where the top surface is located.
On the basis of the technical scheme, the rear end of the lens base is provided with a connecting seat, and the upper end of the support rod is connected with the connecting seat.
On the basis of the technical scheme, the crawling trolley comprises a trolley main body and 4 walking wheels, the walking wheels are located on the side face of the trolley main body, and the lower end of the support rod is fixed to the top end of the trolley main body.
Compared with the prior art, the invention has the advantages that: when the pipeline interface is required to be detected, the crawler is advanced to the pipeline interface, the main camera and the side cameras are installed on the crawler to shoot, the shot images are spliced into 360-degree panoramic pictures, so that when the pipeline interface is detected, a rotating lens is not needed, the detection efficiency of the pipeline interface is effectively improved, the 360-degree panoramic pictures are beneficial to defect interpretation of the pipeline interface, and the accuracy of interpretation is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-view camera in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a lens mount according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a crawler including a multi-view camera according to an embodiment of the present invention.
In the figure: 1-lens base, 2-back seat, 3-camera fixed platform, 4-side surface, 5-side camera, 6-main camera, 7-top surface, 8-connecting seat, 9-crawling trolley, 10-stay bar, 11-trolley body and 12-walking wheel.
Detailed Description
The embodiment of the invention provides a multi-view camera, and through the arrangement of a main camera 6 and a plurality of side cameras 5, shot pictures can be spliced into a 360-degree panoramic picture, so that when a pipeline interface is detected, a lens does not need to be rotated, the detection efficiency of the pipeline interface is effectively improved, the 360-degree panoramic picture is beneficial to defect interpretation of the pipeline interface, and the interpretation accuracy is effectively improved. The embodiment of the invention correspondingly provides the crawler with the multi-view camera.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Referring to fig. 1, a multi-view camera according to an embodiment of the present invention includes a camera module and a lens base 1. The camera assembly includes a main camera 6 and a plurality of side cameras 5. The number of the main cameras 6 is only 1, and the number of the side cameras 5 is flexibly set according to actual needs.
Referring to fig. 2, the lens base 1 and the lens base 1 include a rear seat 2 and a camera fixing platform 3 located at the front end of the rear seat 2, the camera fixing platform 3 includes a top surface 7 and a plurality of side surfaces 4 distributed around the top surface 7, and the top surface 7 and the side surfaces 4 form an angle with each other. The number of the side surfaces 4 is the same as that of the side cameras 5, the main camera 6 is positioned on the top surface 7, the side cameras 5 are positioned on the side surfaces 4, and each side surface 4 corresponds to one side camera 5.
Specifically, the front end of the lens base 1 extends forward to form a camera fixing stage 3. The top surface 7 is located the front end of camera fixed station 3, and the plane that top surface 7 is located with the cross section of camera lens base 1 is parallel, and a plurality of side 4 evenly distributed are around top surface 7, the front end of side 4 links to each other with the outside of top surface 7, and the rear end links to each other with camera lens base 1. The angle between the top surface 7 and the side surface 4 is obtuse. The number of the side faces 4 and the number of the side cameras 5 are 3, one side camera 5 is arranged on each side face 4, the lens of each side camera 5 is parallel to the plane where the side face 4 is located, and the lens of each main camera 6 is parallel to the plane where the top face 7 is located. 3 side camera 5 interval 120 degrees ring distribution, main camera 6 and side camera 5 gather image data in real time, carry out the real-time image concatenation with the image that main camera 6 and side camera 5 gathered, can obtain 360 degrees panoramic pictures.
Referring to fig. 3, the crawler including the multi-view camera according to the embodiment of the present invention includes a camera assembly, a lens base 1 and a crawling trolley 9.
The camera assembly comprises a main camera 6 and a plurality of side cameras 5; the lens base 1 comprises a rear seat 2 and a camera fixing table 3 positioned at the front end of the rear seat 2, the camera fixing table 3 comprises a top surface 7 and a plurality of side surfaces 4 distributed around the top surface 7, an angle is formed between the top surface 7 and the side surfaces 4, the number of the side surfaces 4 is the same as that of the side cameras 5, a main camera 6 is positioned on the top surface 7, the side cameras 5 are positioned on the side surfaces 4, and each side surface 4 corresponds to one side camera 5; the top of the crawling trolley 9 is provided with a stay bar 10, the lower end of the stay bar 10 is connected with the top of the crawling trolley 9, and the upper end of the stay bar 10 is connected with the lens base 1.
Lens base 1 is cylindrical, and the front end of lens base 1 stretches out forward and forms camera fixed station 3, and top surface 7 is located the front end of camera fixed station 3, and top surface 7 place the plane with the cross section of lens base 1 is parallel, and a plurality of side 4 evenly distributed is around top surface 7, and the front end of side 4 links to each other with the outside of top surface 7, and the rear end links to each other with lens base 1.
The included angle between top surface 7 and side 4 is the obtuse angle, and side 4 and side camera 5 are 3, set up one side camera 5 on every side 4, and the camera lens of side camera 5 is parallel with the plane that side 4 was located, and the camera lens of main camera 6 is parallel with the plane that top surface 7 was located. The rear end of the lens base 1 is provided with a connecting seat 8, and the upper end of the stay bar 10 is connected with the connecting seat 8. The crawling trolley 9 comprises a trolley main body 11 and 4 walking wheels 12, the walking wheels 12 are located on the side face 4 of the trolley main body 11, and the lower end of the support rod 10 is fixed at the top end of the trolley main body 11. When shooing and marcing, main camera 6 on the crawler all is to the place ahead, and main camera 6 carries out the dead ahead and shoots, and side camera 5 is located side 4, relies on the cooperation of camera lens wide angle and inclined plane angle for 360 degrees homoenergetic before the whole crawler can be observed.
The method comprises the steps of collecting image data in real time through cameras which are annularly distributed at intervals of 120 degrees, splicing real-time images collected by the cameras in real time to obtain 360-degree panoramic photos in a pipeline, and splicing the 360-degree panoramic photos of the whole pipeline into a whole pipeline section photo by calculating the travelling distance of a crawler in the pipeline in real time.
When a pipeline interface image needs to be acquired, a clear picture at the pipeline interface can be acquired only by moving the crawler of the embodiment of the invention to the pipeline interface and storing the current 360-degree panoramic picture of the pipeline spliced in real time, a lens does not need to be rotated, the detection efficiency is greatly improved, and the picture is obtained by shooting under a static condition, the definition is higher than that of a moving video, and the panoramic picture of the whole interface is more favorable for defect interpretation. In the whole defect interpretation process, only the whole pipeline section picture needs to be interpreted, long-time boring video browsing is not needed, the picture interpretation is clearer compared with video interpretation, the length and the width of the whole section picture respectively correspond to the length of a pipeline and the circumference of the pipeline, and the length and the diameter of the pipeline are known, so that a pixel scale can be further obtained, the size of the defect is accurately calculated, and the distance from the defect to a wellhead and the circumferential direction of the defect are calculated.
The steps of obtaining the panoramic picture by splicing in the embodiment of the invention sequentially comprise video image acquisition, internal reference calibration, distortion correction, feature extraction, feature matching, perspective transformation parameter calculation, image homography matrix calculation, image matching, image fusion and video image output. Firstly, video images are collected to calibrate camera parameters, distortion correction parameters are calculated, homography matrixes are calculated, and the video images are fused. The calculation of the homography matrix is the key of image splicing, firstly, feature point extraction is carried out on each image, affine or perspective transformation parameters of a relative reference plane are calculated through matched point coordinate pairs, and then the images are fused to the reference plane in a superposition area to obtain a large scene image.
According to the crawler with the multi-view camera, when the pipeline interface needs to be detected, the crawler is moved to the pipeline interface, shooting is carried out through the main camera 6 and the side cameras 5 which are installed on the crawler, and the shot images are spliced into the 360-degree panoramic picture, so that when the pipeline interface is detected, a lens does not need to be rotated, the detection efficiency of the pipeline interface is effectively improved, the 360-degree panoramic picture is beneficial to defect judgment of the pipeline interface, and the judgment accuracy is effectively improved.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, 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. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. 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 application. Thus, the present application 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 multi-view camera, comprising:
a camera assembly comprising a main camera (6) and a plurality of side cameras (5);
the camera lens comprises a lens base (1), wherein the lens base (1) comprises a rear seat (2) and a camera fixing platform (3) positioned at the front end of the rear seat (2), the camera fixing platform (3) comprises a top surface (7) and a plurality of side surfaces (4) distributed around the top surface (7), and the top surface (7) and the side surfaces (4) form an angle with each other;
the number of the side faces (4) is the same as that of the side cameras (5), the main camera (6) is located on the top face (7), the side cameras (5) are located on the side faces (4), and each side face (4) corresponds to one side camera (5).
2. A multi-view camera as claimed in claim 1, wherein: the camera lens base (1) is cylindrical, and the front end of the camera lens base (1) extends forwards to form a camera lens fixing table (3).
3. A multi-view camera as claimed in claim 2, wherein: the camera comprises a camera base (1), a top surface (7), a plurality of side surfaces (4), a plurality of fixing seats (3) and a plurality of camera fixing seats (7), wherein the top surface (7) is located at the front end of the camera fixing seat (3), the plane where the top surface (7) is located is parallel to the cross section of the camera base (1), the side surfaces (4) are uniformly distributed on the periphery of the top surface (7), the front end of each side surface (4) is connected with the outer side of the.
4. A multi-view camera as claimed in claim 1, wherein: the included angle between the top surface (7) and the side surface (4) is an obtuse angle.
5. A multi-view camera as claimed in claim 1, wherein: the side face (4) and the side camera (5) are 3, one side camera (5) is arranged on each side face (4), the lens of each side camera (5) is parallel to the plane where the side face (4) is located, and the lens of the main camera (6) is parallel to the plane where the top face (7) is located.
6. The utility model provides a crawler that contains many meshes camera which characterized in that includes:
a camera assembly comprising a main camera (6) and a plurality of side cameras (5);
the camera lens comprises a lens base (1), wherein the lens base (1) comprises a rear seat (2) and a camera fixing table (3) located at the front end of the rear seat (2), the camera fixing table (3) comprises a top surface (7) and a plurality of side surfaces (4) distributed on the periphery of the top surface (7), the top surface (7) and the side surfaces (4) form an angle with each other, the number of the side surfaces (4) is the same as that of side cameras (5), a main camera (6) is located on the top surface (7), the side cameras (5) are located on the side surfaces (4), and each side surface (4) corresponds to one side camera (5);
the novel camera lens base is characterized by comprising a crawling trolley (9), wherein a support rod (10) is arranged on the top end of the crawling trolley (9), the lower end of the support rod (10) is connected with the top end of the crawling trolley (9), and the upper end of the support rod is connected with the lens base (1).
7. The crawler of claim 6, wherein said crawler includes a plurality of cameras: the utility model discloses a camera lens, including camera lens base (1), camera lens base (1) and top surface (7), camera lens base (1) is cylindrical, the front end of camera lens base (1) stretches out forward and forms camera fixed station (3), top surface (7) are located the front end of camera fixed station (3), just top surface (7) place plane with the cross section of camera lens base (1) is parallel, a plurality of side (4) evenly distributed around top surface (7), the front end of side (4) links to each other with the outside of top surface (7), and the rear end links to each other with camera lens base (1).
8. The crawler of claim 6, wherein said crawler includes a plurality of cameras: the included angle between top surface (7) and side (4) is the obtuse angle, side (4) and side camera (5) are 3, set up one side camera (5) on every side (4), and the camera lens of side camera (5) is parallel with the plane at side (4) place, and the camera lens of main camera (6) is parallel with the plane at top surface (7) place.
9. The crawler of claim 6, wherein said crawler includes a plurality of cameras: the rear end of the lens base (1) is provided with a connecting seat (8), and the upper end of the support rod (10) is connected with the connecting seat (8).
10. The crawler of claim 6, wherein said crawler includes a plurality of cameras: the crawling trolley (9) comprises a trolley main body (11) and 4 walking wheels (12), the walking wheels (12) are located on the side face (4) of the trolley main body (11), and the lower end of the support rod (10) is fixed to the top end of the trolley main body (11).
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| CN202110325950.1A CN113099174A (en) | 2021-03-26 | 2021-03-26 | Multi-view camera and crawler with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114827480A (en) * | 2022-06-29 | 2022-07-29 | 武汉中仪物联技术股份有限公司 | Pipeline inner wall panoramic expansion map acquisition method and device and electronic equipment |
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| CN114827480A (en) * | 2022-06-29 | 2022-07-29 | 武汉中仪物联技术股份有限公司 | Pipeline inner wall panoramic expansion map acquisition method and device and electronic equipment |
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