CN113163085A - Intelligent industrial camera based on binocular IDE development software - Google Patents
Intelligent industrial camera based on binocular IDE development software Download PDFInfo
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- CN113163085A CN113163085A CN202110353604.4A CN202110353604A CN113163085A CN 113163085 A CN113163085 A CN 113163085A CN 202110353604 A CN202110353604 A CN 202110353604A CN 113163085 A CN113163085 A CN 113163085A
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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
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
The invention discloses an intelligent industrial camera based on binocular IDE development software, which comprises a first camera and a second camera for image acquisition, wherein the base lengths of the first camera and the second camera are adjustable, the first camera and the second camera are both connected with a circuit board, a heterogeneous computing card is arranged on the circuit board and used for controlling a data acquisition program and analyzing image data, binocular IDE software is developed and designed at the same time, and an ARM technology is used for remotely controlling the circuit board to realize the functions of remote cross compiling, data acquisition and image processing. The operation environment is simplified, one-key operation is realized, and the image processing is more rapid and convenient.
Description
Technical Field
The invention relates to the field of intelligent cameras, in particular to the field of intelligent industrial cameras based on binocular IDE development software.
Background
With the popularization of industrial 4.0, the analysis and application of the production environment and the production quality condition are more and more performed by acquiring field image data by using an industrial camera. The use of traditional industry camera is through the host computer connection, and intelligent industry camera can break away from the host computer and use, has so both saved the cost and has reduced the consumption. When the intelligent industrial camera is used for data acquisition at present, the difficulty of real-time data acquisition and analysis is undoubtedly increased by the clamp of factors of complex development environment, excessive required protocols, high hardware bottom layer operation difficulty and unfriendly current remote debugging interaction.
The monocular intelligent industrial camera system on the network still collects image data through a camera module connected with an upper computer, stores the collected image data in the upper computer, and performs image processing through independent image processing software in the upper computer. The system has the problems of high cost, high power consumption, complex operating environment, high image processing difficulty and resource waste. Meanwhile, the industrial camera has limited computing capability, and cannot meet the image processing of high-performance computation, such as 3D real-time model and AI computation, and careless mistakes in the production flow are easily caused when the production environment and the production quality condition are analyzed in real time; the industrial camera has high image processing difficulty, the system does not integrate an image processing program, an independent upper computer and program operation are needed, resources are wasted, and the resource advantages in the upper computer are not effectively utilized; the industrial camera has a complex operating environment, cannot be operated by one key, and cannot be remotely operated; when the quality of left and right input pictures is not ideal due to the fact that the focal length of a common binocular camera and the distance between two lenses are not matched, a depth map obtained in the prior art is not ideal, cost is high, and power consumption is large.
Disclosure of Invention
Aiming at the defects in the prior art, the intelligent industrial camera based on the IDE development software directly performs image acquisition and image processing by applying the heterogeneous computing technology inside, improves the edge computing capability of the binocular intelligent industrial camera, reduces the cost, increases the computing resources and reduces the power consumption. The remote interaction of IDE software is realized by using ARM technology, and the functions of remote cross compilation, data acquisition and image processing are realized. The operation environment is simplified, one-key operation is realized, and the image processing is more rapid and convenient.
The technical scheme of the invention is as follows:
an intelligent industrial camera based on binocular IDE development software comprises:
a first camera for acquiring image data;
the second camera is used for collecting image data, and the length of a base line of the second camera and the base line of the first camera is adjustable;
the circuit board is connected with the first camera and the second camera, is provided with a heterogeneous computing card and is used for controlling an image data acquisition program and analyzing image data;
and binocular IDE software for remotely controlling the circuit board by using ARM technology.
Preferably, the circuit board includes:
the first acquisition circuit board is detachably provided with a first camera;
the second acquisition circuit board is detachably provided with a second camera;
the control circuit board is respectively connected with the first acquisition circuit board and the second acquisition circuit board, and is provided with an FPGA (field programmable gate array) calculation card;
and the computing circuit board is connected with the control circuit board and is provided with a CPU and GPU cooperative computing card.
Preferably, the binocular IDE software development process is as follows:
remotely compiling the codes according to the required functions to generate a target program, and calling a visual algorithm;
remotely debugging to monitor whether the target program is executed;
operating a target program, and acquiring image data by the first camera and the second camera;
and storing the image data, and generating and outputting a result graph through calculation.
Preferably, the development process of the binocular IDE software further includes:
creating a script file to enable the target program to be started up and started automatically;
remotely deleting a file executable by the code;
and remotely controlling the shutdown operation of the remote device.
Preferably, the remote compiling comprises the steps of:
and calling a cross compiling tool to analyze the codes, and compiling the object program running on the basis of the ARM platform locally.
Transmitting the target program to a lower computer through a server;
and calling an application program command, running the target program and displaying the output information of the target program in the compiler.
Optionally, the remote debugging includes the following steps:
establishing a debugging monitoring process and setting a breakpoint of a target program;
calling an operation parent process to track the operation data of the child process;
and the state of the sub-process is observed in real time by capturing a breakpoint signal of the sub-process.
Preferably, the remote debugging further comprises establishing security verification by the upper computer and the lower computer, wherein the security verification process comprises the following steps:
creating a pair of public key and private key, and storing the public key on a server;
when a user is to connect to the server, the client sends an authentication request to the server by using a private key;
the server searches a public key corresponding to the private key, encrypts an inquiry file by using the public key and sends the inquiry file to the client;
the client decrypts the challenge file by using the private key and sends the challenge file to the server to complete login.
Preferably, the result map comprises one or more of a monocular map, a binocular map, and a depth map.
Preferably, the system further comprises a visual algorithm library which is arranged in the IDE development software and used for storing the autonomously developed visual algorithms.
A computer readable storage medium storing binocular IDE software, the binocular IDE software when executed, may implement the above-described intelligent industrial camera image acquisition and image data analysis method.
The invention has the beneficial effects that:
1. the binocular camera hardware is independently researched and developed, the length of a baseline between the binocular cameras can be adjusted according to the using condition, and the working mode can be switched into a mode of a monocular/binocular/depth map.
2. The module is separated from the upper computer, image acquisition and image processing are directly carried out by applying a heterogeneous computing technology inside, the processed depth map is directly output, the edge computing capability of the binocular intelligent industrial camera is improved, the cost is reduced, computing resources are increased, and the power consumption is reduced.
3. The intelligent industrial camera IDE software is developed independently, has multiple functions and is integrated with an independently developed visual algorithm library. The remote interaction of IDE software can be realized by utilizing an ARM technology in heterogeneous computing, and the functions of remote cross compiling, data acquisition and image processing are realized. The operation environment is simplified, one-key operation is realized, and the image processing is more rapid and convenient.
Drawings
Fig. 1 is a design block diagram of a binocular intelligent industrial camera provided by the invention.
Fig. 2 is a diagram of the binocular IDE software development process of the present invention.
Fig. 3 is a functional diagram of binocular IDE software according to the present invention.
Fig. 4 is a schematic diagram of binocular IDE software remote debugging in the present invention.
Fig. 5 is a captured image of a binocular camera in an embodiment of the present invention.
Fig. 6 is an output image of a binocular camera in an embodiment of the present invention.
Fig. 7 is a captured image of a binocular camera in an embodiment of the present invention.
Fig. 8 is an output image of a binocular camera in an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
It should be noted that in the description of the present invention, the terms "middle", "upper", "lower", "lateral", "inner", and the like, which indicate directions or positional relationships, are based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that a device or an element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The circuit board used in the module independently developed on hardware is shown in fig. 1 in a design block diagram, and comprises a first acquisition circuit board C1, a second acquisition circuit board C2, a control circuit board B1 and a calculation circuit board B2.
The first acquisition circuit board C1 is detachably provided with a first camera for acquiring image data; the second acquisition circuit board C2 is detachably mounted with a second camera for acquiring image data; the control circuit board B1 is respectively connected with the first acquisition circuit board C1 and the second acquisition circuit board C2, and the calculation circuit board B2 is connected with the control circuit board B1. The control circuit board B1 is provided with an FPGA (field programmable gate array) computing card, the computing circuit board B2 is provided with a CPU (central processing unit) and GPU (graphics processing unit) cooperative computing card, and the control circuit board B1 and the computing circuit board B2 jointly realize heterogeneous computing of image data acquired by the first camera and the second camera.
By adopting the FPGA + CPU + GPU computing mode, the computing processing capacity locally exceeding 1Tflops can be realized, and the running of various artificial intelligence algorithms can be supported. The circuit board that independently research and develop the inside use of module on hardware, through adjusting the relative position of first collection circuit board C1 and second collection circuit board C2, can adjust the baseline distance of first camera and second camera to make the image scope who acquires increase, can be applied to in the different scenes after the quick adjustment.
As shown in fig. 2, the development process of binocular IDE software specifically includes the following steps:
s110 creates the project using the IDE software.
And S120, remotely compiling the codes according to the required functions to generate the target program.
And calling a cross compiling tool to analyze the codes, and compiling the object program running on the basis of the ARM platform locally. Transmitting the target program to a lower computer through a server; and calling an application program command, operating the target program and displaying the output information of the target program in the compiler.
The ARM architecture is a simplified instruction set processor architecture, is widely applied to embedded system design, and has the characteristics of low cost, high performance and low power consumption. Because it is cross-platform compilation, the compilation environment needs to be configured in native. In the installation integrated development environment, all the dynamic libraries (external dependent libraries and additional drivers and algorithm interfaces) needed are already included.
S121 invokes a vision algorithm.
The built-in visual algorithm library of the IDE software is used for storing the self-developed visual algorithm, and the software calls the corresponding visual algorithm according to the functional requirements.
S130, remotely debugging and running the target program.
The principle of remote debugging is as shown in fig. 3, a debugging monitoring process is created, and a breakpoint of a target program is set; calling an operation parent process to track the operation data of the child process; and observing the state of the subprocess in real time by capturing a breakpoint signal of the subprocess.
In the process of remote debugging and running, the upper computer and the lower computer communicate by using SSH (encrypted network transmission protocol), and the process of the safety verification of the upper computer and the lower computer is as follows:
creating a pair of public key and private key, and storing the public key on a server;
when a user is to connect to the server, the client sends an authentication request to the server by using a private key;
the server searches a public key corresponding to the private key, encrypts an inquiry file by using the public key and sends the inquiry file to the client;
the client decrypts the challenge file by using the private key and sends the challenge file to the server to complete login.
S140 camera collects image data
S150 stores the image data and analyzes, generates, and outputs a result map.
The result graph is one or more of a monocular graph, a binocular graph and a depth graph according to different functional requirements.
FIG. 4 illustrates the binocular IDE software of the present invention including creation items; remotely compiling, debugging and running the code; deleting the code executable file; automatically and interactively starting the executable file remotely; and remote shutdown operation.
In one embodiment, after the binocular intelligent industrial camera is powered on, the system automatically operates and outputs an image by selecting a depth map mode.
And creating a project in an IDE interface, wherein the IDE can call a cross compiling tool provided by an ARM framework to analyze the code and locally compile a program running based on an ARM platform.
And transmitting the compiled running program to a lower computer by utilizing SSH. The Secure Shell (SSH) is a Secure network protocol established on the basis of an application layer, is a protocol specially used for providing security for remote login and callback and other network services, and can effectively make up for vulnerabilities in a network. Compared with the traditional mode of transmitting data, user account numbers and user passwords by using plain text in the process of FTP and POP, the SSH has higher security. If Build & Run is used, the IDE calls the shell command using SSH, runs the target program and displays the output information of the program in the interrupt window in VScode.
A ptrace system call exists in a linux system, and the ptrace system call runs a parent process to track the running data of a child process. The trace debug function of gdb sets the breakpoint break point of the program, and the parent process takes over all signals except SIGKILL from the pipe process through ptrace. When a child process (i.e. a program we debug) sends break point or single-step debugging, a signal SIGTRAP is generated and captured by a parent process (gdb here), and then a user can observe the current state of the child process through gdb in real time.
Before the program runs, a GDB monitor process is created to monitor whether the fixed program is executed, and after the target program starts to be executed, the GDB monitor program can capture the program. The operation in the IDE will transmit information to the lower computer through the GDB Server for the purpose of controlling the program.
When the device runs in an examination, the image data acquired by the first camera and the second camera are shown in fig. 5, and a depth map is generated by heterogeneous computing in a computing mode of FPGA + CUP + GPU, as shown in fig. 6. Still another image data is acquired as shown in fig. 7, and a depth map generated by heterogeneous computation is shown in fig. 8.
Compared with the traditional industrial camera, the intelligent industrial camera based on the binocular IDE development software is more convenient and intelligent. The module cost is reduced, the power consumption of the system is reduced, the operating environment of the module system is optimized, the edge computing capability of the binocular intelligent industrial camera is improved, and the application of computing such as outputting a depth map, a 3D real-time model and AI can be met.
In the above embodiments, the technical features may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the technical features.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to the specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.
Claims (10)
1. The utility model provides an intelligence industry camera based on two mesh IDE development software which characterized in that includes:
a first camera for acquiring image data;
the second camera is used for collecting image data, and the length of a base line of the second camera and the base line of the first camera is adjustable;
the circuit board is connected with the first camera and the second camera, is provided with a heterogeneous computing card and is used for controlling an image data acquisition program and analyzing the image data;
and binocular IDE software for remotely controlling the circuit board by using ARM technology.
2. The binocular IDE development software-based intelligent industrial camera of claim 1, wherein the circuit board comprises:
the first acquisition circuit board is detachably provided with the first camera;
the second acquisition circuit board is detachably provided with the second camera;
the control circuit board is respectively connected with the first acquisition circuit board and the second acquisition circuit board, and is provided with an FPGA (field programmable gate array) calculation card;
and the computing circuit board is connected with the control circuit board and is provided with a CPU and GPU cooperative computing card.
3. The intelligent industrial camera based on binocular IDE development software according to claim 2, wherein the binocular IDE software development process is:
remotely compiling the codes according to the required functions to generate a target program, and calling a visual algorithm;
remotely debugging to monitor whether the target program is executed;
operating the target program, and acquiring image data by the first camera and the second camera;
and storing the image data, and generating and outputting a result graph through calculation.
4. The binocular IDE development software-based intelligent industrial camera of claim 3, wherein the binocular IDE software development process further comprises:
creating a script file to enable the target program to be started up and started automatically;
remotely deleting a file executable by the code;
and remotely controlling the shutdown operation of the remote device.
5. The binocular IDE development software based intelligent industrial camera of claim 4, wherein the remote compilation comprises the steps of:
calling a cross compiling tool to analyze the codes and compiling a target program running on the basis of the ARM platform locally;
transmitting the target program to a lower computer through a server;
and calling an application program command, operating the target program and displaying the output information of the target program in a compiler.
6. The binocular IDE development software based intelligent industrial camera of claim 5, wherein the remote debugging comprises the steps of:
establishing a debugging monitoring process and setting a breakpoint of the target program;
calling an operation parent process to track the operation data of the child process;
and observing the state of the subprocess in real time by capturing a breakpoint signal of the subprocess.
7. The binocular IDE development software-based intelligent industrial camera of claim 6, wherein the remote debugging further comprises an upper computer and a lower computer creating security verification, the security verification process being:
creating a pair of public key and private key, and storing the public key on a server;
when a user is to connect to the server, the client sends an authentication request to the server by using the private key;
the server searches the public key corresponding to the private key, encrypts a challenge file by using the public key and sends the challenge file to the client;
the client decrypts the challenge file by using the private key and sends the challenge file to the server to complete login.
8. The binocular IDE development software based intelligent industrial camera of claim 7, wherein the result graph includes one or more of a monocular graph, a binocular graph, a depth graph.
9. The binocular IDE development software-based intelligent industrial camera of claim 8, further comprising a visual algorithm library, disposed inside the IDE development software, for storing autonomously developed visual algorithms.
10. A computer readable storage medium storing binocular IDE software which when executed can implement the intelligent industrial camera image acquisition and image data analysis method of claims 1-9.
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