CN113315919A - Shooting visual angle dynamic tracking method and detection vehicle - Google Patents
Shooting visual angle dynamic tracking method and detection vehicle Download PDFInfo
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- CN113315919A CN113315919A CN202110863637.3A CN202110863637A CN113315919A CN 113315919 A CN113315919 A CN 113315919A CN 202110863637 A CN202110863637 A CN 202110863637A CN 113315919 A CN113315919 A CN 113315919A
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/60—Noise processing, e.g. detecting, correcting, reducing or removing noise
- H04N25/62—Detection or reduction of noise due to excess charges produced by the exposure, e.g. smear, blooming, ghost image, crosstalk or leakage between pixels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
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- Studio Devices (AREA)
Abstract
The application discloses a dynamic tracking method for a shooting visual angle and a detection vehicle, and belongs to the technical field of tunnel detection. The dynamic tracking method for the shooting visual angle comprises the following steps: rotating a first shooting camera to enable the first shooting camera and an object to be shot to be in a relatively static state; wherein the first photographing camera is rotatably mounted on a mobile device; acquiring a first shooting signal according to the moving position of the first shooting camera relative to the mobile device; and controlling the first shooting camera to shoot a first image according to the first shooting signal. The dynamic tracking method for the shooting visual angle can remarkably reduce the smear phenomenon of the shot image.
Description
Technical Field
The application relates to the technical field of tunnel detection, in particular to a dynamic tracking method for a shooting visual angle and a detection vehicle.
Background
In the related art, a camera is generally used to photograph an object, but when the object moves or the camera itself moves, a smear phenomenon is generally generated in a photographed image, and it is difficult to acquire a high-quality image. In some application scenarios, the smear phenomenon needs to be avoided, for example, when a tunnel lining is photographed, a detection vehicle with a camera installed therein is generally used to photograph the tunnel lining, so as to provide a basis for subsequent detection of tunnel lining leakage. The general scheme is that a camera is fixed on a detection vehicle, and the position and the direction of the camera are fixed and not adjustable during shooting. When the camera is used for shooting, the shot part is in a relative motion state because the detection vehicle advances, the shot image has certain smear, the detection resolution effect is further influenced, and the smear phenomenon becomes more serious under the conditions that the camera exposure time is long, the frame rate is low and the advancing speed of the detection vehicle is high. In order to overcome the smear phenomenon, a camera with a faster photographing rate is generally adopted, or a line camera with a higher frame rate is adopted for photographing. However, it is difficult to find a far infrared camera or a far infrared line camera meeting the requirements when a camera with a faster photographing rate or a line camera with a higher frame rate is used, for example, a far infrared thermal imager is used to detect the leakage of the tunnel lining.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a dynamic tracking method for a shooting visual angle and a detection vehicle, which can reduce the smear phenomenon of a shot image.
The dynamic tracking method for the shooting view angle comprises the following steps:
rotating a first shooting camera to enable the first shooting camera and an object to be shot to be in a relatively static state; wherein the first photographing camera is rotatably mounted on a mobile device;
acquiring a first shooting signal according to the moving position of the first shooting camera relative to the mobile device;
and controlling the first shooting camera to shoot a first image according to the first shooting signal.
The shooting visual angle dynamic tracking method according to the embodiment of the application has at least the following beneficial effects: firstly, rotating a first shooting camera on a mobile device, and enabling the first shooting camera and a shot object to be in a relatively static state; then, acquiring a first shooting signal according to the moving position of the first shooting camera relative to the moving device; and then, controlling the first shooting camera to shoot the first image according to the first shooting signal, wherein the shot object moves in the opposite direction relative to the moving direction of the moving device at the moment, so that the shot object can be still relative to the shooting camera, no smear is generated, and the smear phenomenon of the shot image can be remarkably reduced.
According to some embodiments of the present application, the rotating the first photographing camera includes:
rotating the first shooting camera to a preset shooting position or a preset initial position; and an included angle is formed between the preset photographing position and the preset initial position.
According to some embodiments of the present application, further comprising a second photographing camera rotatably mounted on the mobile device, and rotating the first photographing camera to a preset photographing position or a preset initial position, comprises the steps of:
when the first shooting camera is rotated to the preset shooting position, the second shooting camera is rotated to the preset initial position;
or the like, or, alternatively,
and when the first shooting camera is rotated to the preset initial position, the second shooting camera is rotated to the preset shooting position.
According to some embodiments of the application, comprising:
the mobile device comprises a mounting plate and two driving mechanisms, wherein each driving mechanism comprises a driving wheel and a driving component, the mounting plate is fixedly arranged on the mobile device, and the first shooting camera and the second shooting camera are respectively and rotatably arranged on two sides of the mounting plate; the two driving wheels are rotatably connected with the mounting plate through a rotating shaft; the end face, far away from the mounting plate, of each driving wheel is provided with a first bump; one end of each of the two driving assemblies is sleeved on the corresponding first bump, and the other end of each of the two driving assemblies is movably connected with the first shooting camera or the second shooting camera;
the method comprises the following steps:
one end of the driving component rotates along with the driving wheel so as to drive the first shooting camera or the second shooting camera which is movably connected with the other end of the driving component to rotate.
According to some embodiments of the present application, the acquiring the first photographing signal includes:
and triggering and generating the first shooting signal through a proximity switch sensor.
According to some embodiments of the present application, the controlling the first photographing camera to photograph a first image according to the first photographing signal includes:
and controlling the first shooting camera to shoot a first image according to preset delay time and the first shooting signal.
According to some embodiments of the present application, the first photographing camera or the second photographing camera is an area-array camera.
According to the detection vehicle of the second aspect embodiment of the application, the detection vehicle is provided with a shooting mechanism, the shooting mechanism comprises a first shooting camera, and the shooting mechanism is used for executing the shooting visual angle dynamic tracking method of the first aspect embodiment.
According to the detection vehicle of the embodiment of the application, at least the following beneficial effects are achieved:
the detection vehicle provided by the embodiment of the application is provided with the shooting mechanism, wherein the shooting mechanism comprises a first shooting camera, and the shooting mechanism is used for executing the shooting visual angle dynamic tracking method provided by the embodiment of the first aspect, so that the smear phenomenon of a shot image can be remarkably reduced.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The present application is further described with reference to the following figures and examples, in which:
fig. 1 is a schematic flow chart of a dynamic tracking method for a shooting angle of view according to the present application;
fig. 2 is a schematic structural diagram of a shooting mechanism for executing a shooting angle of view dynamic tracking method according to the present application;
FIG. 3 is a schematic structural view of the mounting plate shown in FIG. 2;
FIG. 4 is a schematic structural view of the drive mechanism shown in FIG. 2;
FIG. 5 is a schematic structural view of the first driver blade shown in FIG. 4;
FIG. 6 is a schematic structural view of the second driver blade shown in FIG. 4;
FIG. 7 is another schematic structural view of the second driver blade shown in FIG. 4;
FIG. 8 is a schematic view of the drive wheel shown in FIG. 2;
FIG. 9 is a partial schematic view of the camera mechanism shown in FIG. 2;
fig. 10 is a schematic structural view of the first photographing camera shown in fig. 2.
Reference numerals:
the camera comprises a first shooting camera 100, an adjusting block 110, a second strip-shaped through hole 120, a connecting hole 130, a driving mechanism 200, a driving wheel 210, a first bump 211, a rotating shaft 212, a driving assembly 220, a first driving strip 221, a first sawtooth part 2211, a first strip-shaped through hole 2212, a positioning hole 2213, a driving rod 2214, a second driving strip 222, a second sawtooth part 2221, a protruding part 2222, a second bump 2223, a third bump 2224, a mounting plate 300, a first mounting block 310, a boss 320, a groove 330, a mounting hole 340, a second mounting block 350, a reflective strip 410 and a fixed contact 420.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present number, and the above, below, within, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
A photographing view angle dynamic tracking method according to an embodiment of the present application is described below with reference to fig. 1.
As shown in fig. 1, a dynamic tracking method of a shooting angle of view according to an embodiment of the present application includes the following steps:
step S100 of rotating the first photographing camera 100 to make the first photographing camera 100 and the object in a relatively stationary state; wherein the first photographing camera 100 is rotatably mounted on the mobile device;
step S200, acquiring a first photographing signal according to a moving position of the first photographing camera 100 relative to the mobile device;
in step S300, the first photographing camera 100 is controlled to photograph the first image according to the first photographing signal.
First, the first photographing camera 100 on the mobile device is rotated, and the first photographing camera 100 and the object are in a relatively stationary state; then, acquiring a first shooting signal according to the moving position of the first shooting camera 100 relative to the mobile device, that is, acquiring a first shooting signal according to the rotating position of the first shooting camera 100 on the mobile device during the moving process of the mobile device; then, controlling the first photographing camera 100 to photograph the first image according to the first photographing signal; through moving the shot object to the opposite direction relative to the moving direction of the mobile device, the shot object and the first shooting camera 100 can be in relative rest, no smear is generated, the smear phenomenon of the shot image can be obviously reduced, and the manufacturing cost is effectively reduced relative to the mode of adopting a far infrared camera or a far infrared linear array camera.
The first photographing camera 100 is rotated, including the steps of:
rotating the first photographing camera 100 to a preset photographing position or a preset initial position; wherein, it is the contained angle to predetermine between the initial position to shoot the position and predetermine.
The photographing position and the initial position are preset through setting, the rotation preset angle of the first photographing camera 100 can be conveniently adjusted, the angle is preset through adjustment, and then the photographing position of the first photographing camera 100 can be adjusted, and the operation is convenient.
It can be understood that the dynamic tracking method for the shooting angle of view according to the embodiment of the present application further includes a second shooting camera rotatably mounted on the mobile device, and rotating the first shooting camera 100 to the preset shooting position or the preset initial position further includes the following steps:
when the first photographing camera 100 is rotated to a preset photographing position, the second photographing camera is rotated to a preset initial position;
or the like, or, alternatively,
when the first photographing camera 100 is rotated to a preset initial position, the second photographing camera is rotated to a preset photographing position.
The first photographing camera 100 and the second photographing camera can be alternately photographed by alternately moving the first photographing camera 100 and the second photographing camera to photographing positions.
It can be understood that the preset photographing position includes a first preset photographing position and a second preset photographing position, and the preset initial position includes a first preset initial position and a second preset initial position, and according to the dynamic tracking method for a photographing angle of view of the embodiment of the present application, rotating the first photographing camera 100 to the preset photographing position or the preset initial position further includes the following steps:
rotating the first photographing camera 100 to a first preset photographing position, and rotating the second photographing camera to a second preset initial position;
or the like, or, alternatively,
when the first photographing camera 100 is rotated to the first preset initial position, the second photographing camera is rotated to the second preset photographing position.
By setting the first preset photographing position and the second preset photographing position, and the first preset initial position and the second preset initial position, different photographing areas can be photographed while the first photographing camera 100 and the second photographing camera alternately photograph, and more images of the photographing areas can be acquired.
It is understood that, in some embodiments of the present application, the moving means is provided as an inspection vehicle, the photographic subject is provided as a tunnel lining area, and the first photographing camera 100 is rotatably provided on the inspection vehicle. With the above arrangement, when the inspection vehicle moves in the tunnel, the first photographing camera 100 can be rotated to make the first photographing camera 100 and the tunnel lining area in a relatively stationary state, and further make the first photographing camera 100 photograph the first image.
It is understood that in some embodiments of the present application, the second camera is rotatably disposed on the inspection vehicle. When the detection vehicle moves in the tunnel, the first shooting camera 100 is rotated to a first preset shooting position, and the second shooting camera is rotated to a second preset initial position; or, the first photographing camera 100 is rotated to a first preset initial position, and the second photographing camera is rotated to a second preset photographing position. Through the arrangement, when the inspection vehicle moves, the first shooting camera 100 and the second shooting camera are controlled to alternately shoot different tunnel lining areas.
It can be understood that the shooting angle of view dynamic tracking method according to the embodiment of the present application, as shown in fig. 2 and 8, includes:
the mobile device comprises a mounting plate 300 and two driving mechanisms 200, wherein each driving mechanism 200 comprises a driving wheel 210 and a driving component 220, the mounting plate 300 is fixedly arranged on the mobile device, and the first shooting camera 100 and the second shooting camera are respectively and rotatably arranged on two sides of the mounting plate 300; the two driving wheels 210 are rotatably connected with the mounting plate 300 through a rotating shaft 212; the end surface of each driving wheel 210 far away from the mounting plate 300 is provided with a first bump 211; one end of each of the two driving assemblies 220 is respectively sleeved on the corresponding first bump 211, and the other end of each of the two driving assemblies 220 is respectively movably connected with the first shooting camera 100 or the second shooting camera;
the method comprises the following steps:
one end of the driving assembly 220 rotates along with the driving wheel 210 to drive the first photographing camera 100 or the second photographing camera movably connected with the other end of the driving assembly 220 to rotate.
It is understood that the acquiring of the first photographing signal includes the steps of:
and triggering and generating a first shooting signal through a proximity switch sensor.
The first shooting signal is generated by triggering of the proximity switch sensor, so that a complex scheme generated by software program operation can be avoided, and the hardware implementation is more stable. Further, the proximity switch sensors are arranged in two, one proximity switch sensor triggers generation of a first shooting signal, and the other proximity switch sensor triggers generation of a second shooting signal of a second shooting camera.
It is understood that controlling the first photographing camera 100 to photograph the first image according to the first photographing signal includes the steps of:
the first photographing camera 100 is controlled to photograph the first image according to a preset delay time and the first photographing signal.
By controlling the time delay, the first photographing camera 100 can be made to photograph a better image at the first preset photographing position.
It will be appreciated that the delay time may be 1 second.
It is understood that the first photographing camera 100 or the second photographing camera is an area-array camera.
By adopting the area-array camera, the production and manufacturing cost can be effectively saved.
It can be understood that the dynamic tracking method for the shooting angle of view according to the embodiment of the present application further includes: the control system is used for receiving the first shooting signal and sending the first shooting signal to the first shooting camera 100 according to the first shooting signal;
controlling the first photographing camera 100 to photograph the first image according to the first photographing signal, further comprising:
receiving a first shooting signal;
the first photographing camera 100 is controlled to photograph a first image according to the first photographing signal.
When the inspection vehicle moves, the driving wheel 210 drives the driving assembly 220 and drives the first photographing camera 100 to rotate, when the driving wheel 210 rotates to a preset rotation angle, one proximity switch sensor generates a first photographing signal, the first photographing signal is sent to the control system, and the control system performs time delay processing to photograph the relatively static tunnel lining once when the first photographing camera 100 rotates to the preset angle.
It is understood that the preset angle at which the first photographing camera 100 is rotated is adjusted according to the height of the tunnel. Specifically, the linear distance from the tunnel lining surface to the first shooting camera 100 can be measured in advance, and then angle adjustment can be performed according to the linear distance, so that the method is flexible and convenient, and the application range is wide.
It is understood that the first photographing camera 100, the second photographing camera, the driving wheel 210 and the mounting plate 300 are disposed on the top of the inspection vehicle. In this case, by being installed on the roof of the inspection vehicle, a wider field of view can be obtained, and images of the tunnel lining in a larger area can be captured.
It can be understood that, as shown in fig. 4, 5 and 6, each driving assembly 220 includes a first driving bar 221 and a second driving bar 222, one end of the first driving bar 221 is movably connected to the corresponding first protrusion 211, the other end of the first driving bar 221 is provided with a first sawtooth portion 2211, one end of the second driving bar 222 is provided with a second sawtooth portion 2221, the other end of the first driving bar 221 and one end of the second driving bar 222 are in engagement connection through the first sawtooth portion 2211 and the second sawtooth portion 2221, and the other end of the second driving bar 222 is movably connected to the first photographing camera 100 or the second photographing camera.
Through setting up first sawtooth part 2211 and second sawtooth part 2221, and first sawtooth part 2211 and second sawtooth part 2221 interlock are connected, when drive wheel 210 drive first drive strip 221 rotated, can drive second drive strip 222 round trip movement, simple structure, easily implementation.
It is understood that, as shown in fig. 5, the other end of the first driver strip 221 has a fan shape, and the first serration part 2211 is provided on the end surface of the other end of the first driver strip 221. The fan shape is more beneficial for the first driving bar 221 to drive the second driving bar 222 to move back and forth.
It is understood that, as shown in fig. 6, the second serration part 2221 has a rectangular shape. The rectangle is arranged, so that the driving strip can be better matched with the first driving strip 221, and the movement is more convenient.
It can be understood that, as shown in fig. 9, the proximity switch sensor includes a sensor body, a light reflecting strip 410 and a fixed contact 420, the light reflecting strip 410 is disposed on a side wall of the driving wheel 210, the fixed contact 420 is disposed at one side of the mounting plate 300 and close to the driving wheel 210, the fixed contact 420 is connected with the sensor body, and the proximity switch sensor body is configured to send a photographing signal according to light emitted from the fixed contact 420 and according to light reflected by the light reflecting strip 410 received by the fixed contact 420.
Through the setting of proximity switch sensor for every rotation cycle of drive wheel 210 can be predetermine rotation angle and trigger proximity switch sensor, makes proximity switch sensor produce and shoots the signal, through the setting of hardware, has avoided implementing comparatively complicated control method through the software program, makes the mistake of being difficult to appear when shooing, and stability is strong.
It is understood that the proximity switch sensor is a non-contact proximity switch sensor.
It is understood that the light reflecting strip 410 is replaced with a moving contact, and the proximity switch sensor is a contact type proximity switch sensor for transmitting a photographing signal according to the contact of the moving contact with the fixed contact 420.
It can be understood that, as shown in fig. 5 and 8, one end of the first driving bar 221 is provided with a first bar-shaped through hole 2212, and each first protrusion 211 is inserted through the first bar-shaped through hole 2212 and slidably connected with the first bar-shaped through hole 2212.
Through the arrangement of the first strip-shaped through hole 2212 and the first bump 211, when the driving wheel 210 drives the first driving strip 221 to rotate, the first driving strip 221 can be well driven to rotate, the scheme is simple, a complex structure does not need to be designed, and the implementation is easy.
It can be understood that, as shown in fig. 3 and 5, the mounting plate 300 is further provided with a boss 320, a first mounting block 310 is provided on the boss 320, the other end of the first driving strip 221 is provided with a positioning hole 2213, and the first mounting block 310 is arranged through the positioning hole 2213. The first driving strip 221 is more conveniently installed by the arrangement of the first installation block 310. In order to improve the flexibility of the first driving bar 221, a boss 320 may be provided at a side of the mounting plate 300, and the first mounting block 310 is provided on the boss 320, in which case the first driving bar 221 may obtain better flexibility.
It can be understood that, as shown in fig. 5, the first driving bar 221 is further provided with a driving rod 2214, a positioning hole 2213 is provided at the connecting position of the driving rod 2214 and the first sawtooth portion 2211, and a screw is inserted into the positioning hole 2213 to rotatably mount the first driving bar 221 on the side of the mounting plate 300. Easy dismounting, convenient operation. Furthermore, the first driving strip 221 is an integrally formed structure, so that the manufacturing is more convenient, and the installation of more parts can be reduced.
It can be understood that, as shown in fig. 8, the two first protrusions 211 are respectively disposed opposite to each other in the radial direction of the two driving wheels 210, and the two driving wheels 210 make the first photographing camera 100 and the second photographing camera perform reverse movement through the two first protrusions 211.
Through setting up two first lugs 211, and two first lugs 211 set up in the side of two drive wheels 210 relatively respectively, and further make two first lugs 211 use the center of two drive wheels 210 to be opposite direction equidistance setting as the starting point, can make drive wheel 210 drive first drive strip 221 and second drive strip 222 through first lug 211, and when further driving first shooting camera 100 and second shooting camera rotation, can make first shooting camera 100 and second shooting camera be opposite direction motion, therefore can shoot more tunnel lining's image promptly, be favorable to improving detection effect, guarantee detection quality.
It can be understood that, as shown in fig. 8, the two first protrusions 211 are oppositely arranged and are equidistantly staggered from the centers of the two driving wheels 210, and the two first protrusions 211 are located at the edges of the driving wheels 210, so that the first photographing camera 100 and the second photographing camera can rotate more widely, and a wider rotation angle can be obtained.
It can be understood that the two first protrusions 211 are oppositely disposed, and the centers of the two first protrusions 211 are overlapped and further disposed at the edges of the two driving wheels 210, respectively, in such a way that the first camera 100 and the second camera move synchronously, and more images of the tunnel lining can be obtained.
It can be understood that as shown in fig. 8, the centers of the two driving wheels 210 are fixedly connected through the rotating shaft 212, and the centers are overlapped, so that the driving of the driving wheels 210 can be more convenient.
It can be understood that, as shown in fig. 6 and 10, the other end of the second driving bar 222 is provided with a second protrusion 2223, one end of the first photographing camera 100 is provided with an adjusting block 110, the adjusting block 110 is provided with a second bar-shaped through hole 120, and the second protrusion 2223 is inserted through the second bar-shaped through hole 120 and slidably connected with the second bar-shaped through hole 120.
Through the setting of second lug 2223 to further set up regulating block 110, can be fine rotate first shooting camera 100, convenient to use, and the second shooting camera has the same structure with first shooting camera 100.
It will be appreciated that one end of the second driver blade 222 is also provided with a projection 2222, and the projection 2222 is provided with a second projection 2223. The projection 2222 is provided to allow the first photographing camera 100 to be more flexibly rotated.
It can be understood that, as shown in fig. 7, the two ends of the second driving bar 222 are provided with the protrusion 2222 and the second projection 2223, which have a fool-proof function, when the two second driving bars 222 are respectively installed at the two sides of the installation plate 300, there is no need to select one of the second driving bars 222, and the second driving bar 222 can be installed at one side of the installation plate 300.
It will be appreciated that, as shown in fig. 3 and 6, the second driving bar 222 is provided with a third projection 2224 at one side thereof, the mounting plate 300 is provided with a groove 330 at the bottom side thereof, and the third projection 2224 is disposed in the groove 330 and slidably coupled with the groove 330.
Through the arrangement of the groove 330 and the third projection 2224, the second driving bar 222 can be slidably disposed on one side of the bottom of the mounting plate 300, so that the second driving bar 222 is convenient for driving the first photographing camera 100 to rotate.
It is understood that, as shown in fig. 10, an adjustment block 110 is telescopically provided at one end of the first photographing camera 100, and the adjustment block 110 is used to adjust a preset angle of rotation of the first photographing camera 100.
Through the scalable setting of regulating block 110, can manually adjust the flexible position of regulating block 110, can make when adjusting the rotatory angle of presetting of first shooting camera 100 more convenient, it is the rotatable angle of the first shooting camera 100 that sets up in advance to preset the angle.
As shown in fig. 3 and 8, the mounting plate 300 is further provided with a mounting hole 340, and the rotating shaft 212 is disposed through the mounting hole 340.
It is understood that, as shown in fig. 3 and 10, the mounting plate 300 is further provided with a second mounting block 350, the photographing camera 100 is provided with the connection hole 130, and the second mounting block 350 is disposed at the connection hole 130 and movably connected with the connection hole 130. With this arrangement, the photographing camera 100 can be conveniently rotated and mounted.
It is understood that the proximity switch sensor may also be disposed at one side of the second driving bar 222, and the first photographing signal of the first photographing camera 100 may also be generated when the second driving bar 222 approaches the proximity switch sensor.
It is understood that the proximity switch sensor may also be disposed near any one of both ends of the second driving bar 222, and the first photographing signal of the first photographing camera 100 may also be generated when the second driving bar 222 approaches the proximity switch sensor.
An inspection vehicle according to an embodiment of the present application is described below with reference to fig. 1.
As shown in fig. 1, according to the detection vehicle of the embodiment of the present application, the detection vehicle is provided with a shooting mechanism, and the shooting mechanism is used for executing the shooting angle of view dynamic tracking method of the embodiment.
The detection vehicle provided by the embodiment of the application is provided with the shooting mechanism, and the shooting mechanism is used for executing the shooting visual angle dynamic tracking method of the embodiment, so that tracking shooting can be carried out when the tunnel lining moves, the smear phenomenon of a shot image is obviously reduced, a far infrared camera or a far infrared linear camera is not needed, and the manufacturing cost is effectively reduced.
A specific embodiment of the shooting angle of view dynamic tracking method according to the embodiment of the present application is described below according to the above-described structure.
Firstly, when the inspection vehicle runs, as shown in fig. 2 to 10, the first photographing camera 100 and the second photographing camera installed at both sides of the installation plate 300 are powered on and turned on;
secondly, starting the linkage of the advancing mechanism of the detection vehicle and the two driving wheels 210 to rotate the two driving wheels 210, and enabling one end of each first driving strip 221 to rotate along with each driving wheel 210 on the same side of the mounting plate 300 so as to drive the first shooting camera 100 movably connected with one end of the second driving strip 222 on the same side of the mounting plate 300 to rotate and rotate from the first preset initial position to the first preset shooting position;
thirdly, when the driving wheel 210 installed on the same side of the mounting plate 300 as the first photographing camera 100 rotates to a first preset rotation angle, the proximity switch sensor installed on the same side of the mounting plate 300 as the first photographing camera 100 sends out a first photographing signal, and the first photographing camera 100 photographs a first image according to the first photographing signal at a first preset photographing position;
fourthly, the first photographing camera 100 is rotated and returns to the first preset initial position, the driving wheel 210 on the same side as the second photographing camera is rotated, and the first driving bar 221 on the same side as the second photographing camera is driven to rotate, so that the second driving bar 222 on the same side as the second photographing camera is driven to slide, and the second photographing camera is rotated from the second preset initial position to the second preset photographing position through the sliding of the second driving bar 222;
fifthly, when the driving wheel 210 installed on the same side of the mounting plate 300 as the second photographing camera rotates to a second preset rotation angle, the proximity switch sensor installed on the same side of the mounting plate 300 as the second photographing camera sends out a second photographing signal, and the second photographing camera 100 photographs a second image according to the second photographing signal at a second preset photographing position;
sixthly, the first photographing camera 100 is rotated from the first preset initial position to the first preset photographing position again, and the second photographing camera 100 is rotated from the second preset photographing position to the second preset initial position, and the process is repeated in a circulating manner.
The following describes a specific implementation case of the dynamic tracking method for shooting angle of view according to an embodiment of the present application.
In a certain application scenario of tunnel lining, it is assumed that:
the distance of the tunnel lining surface from the first camera 100 is: 3 meters.
The traveling speed of the detection vehicle is as follows: 6 meters per second.
The distance of each frame of image covering the tunnel lining in the front-back direction is as follows: 1.57 m.
The yaw angular velocity of the first photographing camera 100 can be calculated, and since the driving wheel 210 is linked with the travel mechanism of the inspection vehicle, the yaw angular velocity =6 meters/second/3 meters/circumference ratio × 180 degrees = 6/3/3.14 × 180 degrees/second, where the circumference ratio takes 3.14, and the result is rounded.
The angle covered by each frame of image taken can be calculated later, namely:
1.57 m/3 m/3.14 × 180 degrees =30 degrees, i.e. one frame image covers 30 degrees per beat.
Corresponding to the angular velocity, when the rotation angle of the first photographing camera 100 is set to 30 degrees, that is, each time the first photographing camera swings at an angle of 30 degrees, 115 ÷ 30=4 times of swinging are required per second, and photographing is triggered once per swinging.
If the first photographing camera 100 swings at an angle of 60 degrees every time, 115 ÷ 60=2 times per second, and 2 times photographing is triggered every time the first photographing camera swings.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (8)
1. The dynamic tracking method for the shooting visual angle is characterized by comprising the following steps of:
rotating a first shooting camera to enable the first shooting camera and an object to be shot to be in a relatively static state; wherein the first photographing camera is rotatably mounted on a mobile device;
acquiring a first shooting signal according to the moving position of the first shooting camera relative to the mobile device;
and controlling the first shooting camera to shoot a first image according to the first shooting signal.
2. The dynamic tracking method of shooting angle of view according to claim 1, wherein said rotating the first shooting camera comprises the steps of:
rotating the first shooting camera to a preset shooting position or a preset initial position; and an included angle is formed between the preset photographing position and the preset initial position.
3. The dynamic tracking method for shooting angle of view of claim 2, further comprising a second shooting camera rotatably mounted on the mobile device, said rotating the first shooting camera to a preset shooting position or a preset initial position, comprising the steps of:
when the first shooting camera is rotated to the preset shooting position, the second shooting camera is rotated to the preset initial position;
or the like, or, alternatively,
and when the first shooting camera is rotated to the preset initial position, the second shooting camera is rotated to the preset shooting position.
4. The dynamic tracking method of shooting perspective according to claim 3, comprising:
the mobile device comprises a mounting plate and two driving mechanisms, wherein each driving mechanism comprises a driving wheel and a driving component, the mounting plate is fixedly arranged on the mobile device, and the first shooting camera and the second shooting camera are respectively and rotatably arranged on two sides of the mounting plate; the two driving wheels are rotatably connected with the mounting plate through a rotating shaft; the end face, far away from the mounting plate, of each driving wheel is provided with a first bump; one end of each of the two driving assemblies is sleeved on the corresponding first bump, and the other end of each of the two driving assemblies is movably connected with the first shooting camera or the second shooting camera;
the method comprises the following steps:
one end of the driving component rotates along with the driving wheel so as to drive the first shooting camera or the second shooting camera which is movably connected with the other end of the driving component to rotate.
5. The dynamic tracking method of shooting angle of view according to claim 1, wherein said acquiring the first shooting signal comprises the steps of:
and triggering and generating the first shooting signal through a proximity switch sensor.
6. The dynamic tracking method for shooting angle of view according to claim 1, wherein said controlling the first shooting camera to shoot a first image according to the first shooting signal comprises the following steps:
and controlling the first shooting camera to shoot a first image according to preset delay time and the first shooting signal.
7. The dynamic tracking method of shooting angle of view of claim 3, wherein the first shooting camera or the second shooting camera is an area-array camera.
8. Inspection vehicle, characterized in that it is provided with a shooting mechanism comprising a first shooting camera, said shooting mechanism being adapted to perform a shooting perspective dynamic tracking method according to any one of claims 1 to 7.
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