CN113205555B - Method, system, apparatus and storage medium for maintaining a blade centered in a camera field of view - Google Patents
Method, system, apparatus and storage medium for maintaining a blade centered in a camera field of view Download PDFInfo
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- CN113205555B CN113205555B CN202110592232.0A CN202110592232A CN113205555B CN 113205555 B CN113205555 B CN 113205555B CN 202110592232 A CN202110592232 A CN 202110592232A CN 113205555 B CN113205555 B CN 113205555B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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- Computer Vision & Pattern Recognition (AREA)
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Abstract
The present disclosure provides a method, system, apparatus, and storage medium for maintaining a blade centered in a field of view of a camera, wherein the method comprises the steps of: s1: acquiring point cloud information received by a radar; s2: extracting point cloud information and acquiring the midpoint of a blade edge line; s3: connecting the midpoints of the edge lines of the two blades to obtain the middle position of the connecting line of the midpoints of the edge lines of the two blades; s4: and judging whether the included angle between the connecting line of the midpoints of the two blade edge lines and the point cloud drawing target direction of the radar is smaller than a set threshold value, if so, adjusting the camera to enable the middle position of the connecting line of the midpoints of the two blade edge lines to approach to the middle position of the point cloud drawing target direction of the radar in the direction. The method, the system, the equipment and the storage medium for keeping the blade positioned in the middle of the field of view of the camera can be accurately adjusted only by simple parameter setting and a small amount of data calculation; the memory occupation of the computer is also small, and the whole cost is not increased by adjustment.
Description
Technical Field
The disclosure relates to the field of control of cameras mounted on unmanned aerial vehicles through an electronic control cradle head, and in particular relates to a method, a system, equipment and a storage medium for keeping a blade positioned in the middle of a camera field of view.
Background
At present, when the unmanned aerial vehicle is utilized to carry a camera (the camera is connected with the unmanned aerial vehicle through a cradle head), the unmanned aerial vehicle needs to be away from the blade by several meters or even more than ten meters to shoot images due to the fact that the blade is very huge. However, in this case, the unmanned aerial vehicle needs to move continuously, and the flight attitude of the unmanned aerial vehicle is often mainly used for controlling the relative position between the unmanned aerial vehicle and the blade, but the blade cannot be guaranteed to be always located in the middle of the frame of the camera.
The photographed blade image cannot be located in the middle of the camera frame, and can certainly bring great difficulty to subsequent splicing and recognition work. Even more serious problems occur in that the photographed picture cannot be used.
Disclosure of Invention
The present disclosure generally provides a method, system, apparatus, and storage medium that maintains a blade in the middle of a camera field of view that can be accurately adjusted with only simple parameter settings and a small amount of data calculations; the memory occupation of the computer is small, the computational effort occupation of the computer is small, the performance requirement of the computer is small, and the computer with a high computation example does not need to be specially equipped for the computer, so that the overall cost is not increased due to adjustment.
The present disclosure provides a method of maintaining a blade centered in a field of view of a camera, comprising the steps of:
s1: acquiring point cloud information received by a radar, wherein the radar scans along the length direction of a blade;
s2: extracting the point cloud information, finding out the point cloud information of the middle blade, and acquiring the midpoint of the blade edge line from the point cloud information of the blade;
s3: connecting the midpoints of the two blade edge lines to obtain the middle position of the connecting line of the midpoints of the two blade edge lines;
s4: and judging whether the included angle between the connecting line of the midpoints of the two blade edge lines and the point cloud drawing target direction of the radar is smaller than a set threshold value, and if so, adjusting the camera to enable the middle position of the connecting line of the midpoints of the two blade edge lines to approach to the middle position of the point cloud drawing target direction of the radar in the direction.
Preferably, before the step S1, the method further includes the step of: and setting parameters of the camera and the radar so that the central lines of the fields of view of the camera and the radar in the horizontal and vertical directions coincide.
Preferably, the step S4 further includes the step of: and comparing the included angles between the connecting line of the midpoints of the edge lines of the two blades and the horizontal and longitudinal directions of the point cloud drawing of the radar, and selecting the direction with the smaller included angle as the target direction.
Preferably, in the step S4, the step of adjusting the camera to approach the middle position of the line connecting the midpoints of the edge lines of the two blades to the middle position of the point cloud frame of the radar in the direction further includes the steps of:
setting the values of the point cloud frames and the point cloud information of the middle blade;
calculating to obtain a numerical value of the middle position of the point cloud drawing and a numerical value of the middle position of a connecting line of the midpoints of the two blade edge lines;
comparing whether the difference value between the numerical value of the middle position of the point cloud picture and the numerical value of the middle position of the connecting line of the midpoints of the two blade edge lines is in a preset range or not, if not, adjusting; otherwise, controlling the cradle head carrying the camera and the radar to swing so that the difference value is within the preset range.
The present disclosure provides a system for maintaining a blade in the middle of a field of view of a camera, for implementing a method for maintaining a blade in the middle of a field of view of a camera according to the present disclosure, the system comprising:
the information acquisition module is used for acquiring point cloud information received by the radar;
the information extraction module is used for extracting the point cloud information, finding out the point cloud information of the middle blade, and acquiring the midpoint of the blade edge line from the point cloud information of the blade;
the data processing module is used for calculating and comparing the middle position of the connecting line of the middle point of the blade edge line with the middle position of the point cloud picture of the radar; and controlling and adjusting a camera to enable the middle position of a connecting line of the middle points of the two blade edge lines to approach to the middle position of the point cloud picture of the radar in the target direction.
The present disclosure provides an apparatus for maintaining a blade centered in a field of view of a camera, comprising:
a memory for storing a computer program;
a processor for implementing steps of a method of maintaining a blade centered in a field of view of a camera as described in the present disclosure when executing the computer program.
The present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method of maintaining a blade centered in a field of view of a camera as described in the present disclosure.
The technical scheme is adopted, so that the novel energy-saving device has the following beneficial effects:
only simple parameter setting and a small amount of data calculation are needed to accurately adjust; the memory occupation of the computer is small, the computational effort occupation of the computer is small, the performance requirement of the computer is small, and the computer with a high computation example does not need to be specially equipped for the computer, so that the overall cost is not increased due to adjustment.
Drawings
FIG. 1 is a flow chart of a method of maintaining a blade centered in a field of view of a camera in accordance with an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a system for maintaining a blade in the middle of a field of view of a camera in accordance with an embodiment of the present disclosure;
FIG. 3 is a schematic structural view of an apparatus for maintaining a blade in the middle of a field of view of a camera according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present disclosure.
Description of the embodiments
Based on the above, the blade is kept in the middle of the field of view of the camera, which has great significance for carrying the camera inspection fan blade by using the unmanned aerial vehicle.
At present, when the unmanned aerial vehicle is utilized to carry a camera (the camera is connected with the unmanned aerial vehicle through a cradle head), the unmanned aerial vehicle needs to be away from the blade by several meters or even more than ten meters to shoot images due to the fact that the blade is very huge. However, in this case, the unmanned aerial vehicle needs to move continuously, and the flight attitude of the unmanned aerial vehicle is often mainly used for controlling the relative position between the unmanned aerial vehicle and the blade, but the blade cannot be guaranteed to be always located in the middle of the frame of the camera. The photographed blade image cannot be located in the middle of the camera frame, and can certainly bring great difficulty to subsequent splicing and recognition work. Even more serious problems occur in that the photographed picture cannot be used.
In order to solve the problems that the existing photographed blade image cannot be positioned in the middle of a camera frame, so that great difficulty is brought to subsequent splicing and identification work and the photographed image cannot be used, the present disclosure provides a method, a system, equipment and a storage medium for keeping the blade positioned in the middle of a camera field of view, wherein the blade can be accurately adjusted only by simple parameter setting and a small amount of data calculation, and the blade is kept in the middle of the camera field of view; the memory occupation of the computer is small, the computational effort occupation of the computer is small, the performance requirement of the computer is small, and the computer with a high computation example does not need to be specially equipped for the computer, so that the overall cost is not increased due to adjustment.
The present disclosure is described in detail below with reference to specific embodiments. The following examples will assist those skilled in the art in further understanding the present disclosure, but are not intended to limit the disclosure in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the spirit of the present disclosure. These are all within the scope of the present disclosure.
The following description of the preferred embodiments of the present disclosure will be given with reference to fig. 1 to 4 of the accompanying drawings, so that the functions and features of the present disclosure can be better understood.
FIG. 1 is a flow chart of a method for maintaining a blade centered in a field of view of a camera according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a system for maintaining a blade in the middle of a field of view of a camera according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an apparatus for maintaining a blade in the middle of a field of view of a camera according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of a computer-readable storage medium according to an embodiment of the present disclosure.
Referring to fig. 1, a method for keeping a blade positioned in the middle of a field of view of a camera according to an embodiment of the present disclosure includes the steps of:
s1: acquiring point cloud information received by a radar, and scanning the radar according to the length direction of the blade;
s2: extracting point cloud information, finding out the point cloud information of the middle blade, and acquiring the midpoint of the blade edge line from the point cloud information of the blade;
s3: connecting the midpoints of the edge lines of the two blades to obtain the middle position of the connecting line of the midpoints of the edge lines of the two blades;
s4: and judging whether the included angle between the connecting line of the midpoints of the two blade edge lines and the point cloud drawing target direction of the radar is smaller than a set threshold value, if so, adjusting the camera to enable the middle position of the connecting line of the midpoints of the two blade edge lines to approach to the middle position of the point cloud drawing target direction of the radar in the direction.
In this embodiment, the step S1 further includes the steps of: and setting parameters of the camera and the radar so that the vision fields of the camera and the radar coincide with the central lines in the horizontal and vertical directions. In other embodiments, many radars and cameras carried by the cradle head have in fact defaults to these parameter settings, so many such drone photographing devices do not require additional re-settings.
The step S4 also comprises the steps of: comparing the included angles between the connecting line of the midpoints of the edge lines of the two blades and the horizontal and vertical directions of the point cloud drawing of the radar, and selecting the direction with the smaller included angle as the target direction.
In step S4, the step of adjusting the camera to approach the middle position of the connecting line of the middle points of the edge lines of the two blades to the middle position of the point cloud frame of the radar in the direction further includes the steps of:
setting values of point cloud information of the point cloud picture and the middle blade;
calculating to obtain the numerical value of the middle position of the point cloud drawing and the numerical value of the middle position of the connecting line of the midpoints of the edge lines of the two blades;
comparing whether the difference value between the numerical value of the middle position of the point cloud picture and the numerical value of the middle position of the connecting line of the middle points of the edge lines of the two blades is in a preset range or not, if not, adjusting; otherwise, the cradle head carrying the camera and the radar is controlled to swing, so that the difference value is within a preset range.
For example: the value of one side of the radar point cloud frame (in the transverse or longitudinal direction) is set to 0, and the value of the other opposite side is set to 1, then the median value in that direction is 0.5. Under the numerical setting of the radar picture (the information of the blade is on the picture, the transverse and longitudinal central lines of the picture are coincident with the transverse and longitudinal central lines of the radar), the numerical value of the middle position of the connecting line between the two edge lines of the blade can be calculated. After calculation, the calculated values are compared with 0.5 in the radar frame, when the calculated values are consistent with 0.5, adjustment is not needed, and when the calculated values are inconsistent, the cradle head is controlled to swing so that the calculated values of the middle positions of the middle points of the two edge lines of the blade are consistent with 0.5 (the calculated values can be consistent with a certain floating range, for example, 0.498 or 0.502 can be considered to be consistent).
Referring to fig. 2, the present disclosure provides a system for maintaining a blade centered in a field of view of a camera, for implementing a method of maintaining a blade centered in a field of view of a camera of the present disclosure, the system comprising:
the information acquisition module 101 is used for acquiring point cloud information received by the radar;
the information extraction module 102 is configured to extract point cloud information, find point cloud information of the middle blade from the point cloud information, and obtain a midpoint of a blade edge line from the point cloud information of the blade;
the data processing module 103 is used for calculating and comparing the middle position of the connecting line of the middle point of the blade edge line with the middle position of the point cloud picture of the radar; and controlling and adjusting the camera to enable the middle position of the connecting line of the middle points of the edge lines of the two blades to approach to the middle position of the point cloud picture of the radar in the target direction.
Referring to fig. 3, the present disclosure provides an apparatus for maintaining a blade in the middle of a field of view of a camera, comprising:
a memory 201 for storing a computer program;
a processor 202 for implementing steps of a method of maintaining a blade centered in a field of view of a camera as in the present disclosure when executing a computer program.
Referring to fig. 4, the present disclosure provides a computer readable storage medium 300 having a computer program stored thereon, which when executed by a processor, performs the steps of a method of maintaining a blade centered in a field of view of a camera as in the present disclosure.
The present disclosure has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the disclosure based on the above description. Accordingly, certain details of the embodiments are not to be interpreted as limiting the disclosure, which is defined by the scope of the appended claims.
Claims (5)
1. A method of maintaining a blade centered in a field of view of a camera, comprising the steps of:
s1: acquiring point cloud information received by a radar, wherein the radar scans along the length direction of a blade;
s2: extracting the point cloud information, finding out the point cloud information of the middle blade, and acquiring the midpoint of the blade edge line from the point cloud information of the blade;
s3: connecting the midpoints of the two blade edge lines to obtain the middle position of the connecting line of the midpoints of the two blade edge lines;
s4: judging whether the included angle between the connecting line of the midpoints of the two blade edge lines and the point cloud drawing target direction of the radar is smaller than a set threshold value, if so, adjusting the camera to enable the middle position of the connecting line of the midpoints of the two blade edge lines to approach to the middle position of the point cloud drawing target direction of the radar in the direction;
the step S4 further comprises the steps of: comparing the connecting line of the midpoints of the two blade edge lines with the horizontal and longitudinal included angles of the point cloud drawing of the radar, and selecting the direction with the smaller included angle as the target direction;
in the step S4, the step of adjusting the camera to approach the middle position of the line connecting the midpoints of the edge lines of the two blades to the middle position of the point cloud frame of the radar in the direction further includes the steps of:
setting the values of the point cloud frames and the point cloud information of the middle blade;
calculating to obtain a numerical value of the middle position of the point cloud drawing and a numerical value of the middle position of a connecting line of the midpoints of the two blade edge lines;
comparing whether the difference value between the numerical value of the middle position of the point cloud picture and the numerical value of the middle position of the connecting line of the midpoints of the two blade edge lines is in a preset range or not, if not, adjusting; otherwise, controlling the cradle head carrying the camera and the radar to swing so that the difference value is within the preset range.
2. The method for maintaining the blade in the middle of the field of view of the camera according to claim 1, wherein the step S1 is preceded by the further step of: and setting parameters of the camera and the radar so that the central lines of the fields of view of the camera and the radar in the horizontal and vertical directions coincide.
3. A system for maintaining a blade centered in a camera field of view for implementing the method of maintaining a blade centered in a camera field of view of claim 1 or 2, the system comprising:
the information acquisition module is used for acquiring point cloud information received by the radar;
the information extraction module is used for extracting the point cloud information, finding out the point cloud information of the middle blade, and acquiring the midpoint of the blade edge line from the point cloud information of the blade;
the data processing module is used for calculating and comparing the middle position of the connecting line of the middle point of the blade edge line with the middle position of the point cloud picture of the radar; and controlling and adjusting a camera to enable the middle position of a connecting line of the middle points of the two blade edge lines to approach to the middle position of the point cloud picture of the radar in the target direction.
4. An apparatus for maintaining a blade in the middle of a field of view of a camera, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of holding a blade in the middle of a camera field of view as claimed in claim 1 or 2 when executing said computer program.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the steps of the method of maintaining a blade in the middle of a camera field of view according to claim 1 or 2.
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| CN202110592232.0A CN113205555B (en) | 2021-05-28 | 2021-05-28 | Method, system, apparatus and storage medium for maintaining a blade centered in a camera field of view |
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| CN202110592232.0A CN113205555B (en) | 2021-05-28 | 2021-05-28 | Method, system, apparatus and storage medium for maintaining a blade centered in a camera field of view |
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| CN113205555B true CN113205555B (en) | 2023-09-19 |
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| CN114463648B (en) * | 2022-01-09 | 2024-04-16 | 中国长江三峡集团有限公司 | Method for keeping fan blade positioned in middle of camera vision based on pure vision |
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2021
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