CN114051093B - Portable navigation mark lamp field detection system based on image processing technology - Google Patents
Portable navigation mark lamp field detection system based on image processing technology Download PDFInfo
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- CN114051093B CN114051093B CN202111317580.3A CN202111317580A CN114051093B CN 114051093 B CN114051093 B CN 114051093B CN 202111317580 A CN202111317580 A CN 202111317580A CN 114051093 B CN114051093 B CN 114051093B
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- 238000012545 processing Methods 0.000 title claims abstract description 18
- 238000005516 engineering process Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
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- 230000033764 rhythmic process Effects 0.000 abstract description 10
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- 238000005259 measurement Methods 0.000 description 5
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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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
- G06T7/90—Determination of colour characteristics
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/745—Detection of flicker frequency or suppression of flicker wherein the flicker is caused by illumination, e.g. due to fluorescent tube illumination or pulsed LED illumination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a portable navigation mark lamp field detection system based on an image processing technology, which is characterized by comprising a camera, a lens, a polaroid, a laser range finder, a cradle head, an embedded processor, a touch screen display, a power supply module, a serial port and a network port; the navigation mark lamp detection system integrating navigation mark lamp rhythm, period, color and light intensity on-site detection functions based on the photoelectric detection technology realizes on-site detection of indexes such as navigation mark lamp rhythm, period, color and light intensity during navigation mark inspection and navigation mark efficacy inspection, and has important significance for developing navigation mark lamp fine management and improving navigation mark navigation aid efficacy.
Description
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a portable navigation mark light field detection system based on an image processing technology, which is a field portable detection system based on light indexes such as navigation mark light rhythm, period, color, light intensity and the like of the photoelectric detection technology.
Background
Navigation marks are very important signs that help guide the vessel to navigate, locate and mark obstacles and represent warnings. At present, the navigation mark detection mainly depends on laboratory detection, and workers are required to go to the sea regularly to bring the navigation mark lamp back to the on-shore laboratory for detection, so that whether the navigation mark lamp has a problem is judged. Because the navigation mark lamp is large in volume and complex in disassembly process, the problems that the detection environment is high in requirement, the detection process is complex, outdoor portable detection cannot be realized and the like exist. In addition, the flashing rhythm, period, color and light intensity of the navigation mark lamp are important technical indexes, and when the navigation mark is inspected on site, the efficacy is evaluated and tested, the index is known and mastered in real time, so that the navigation mark lamp has important significance in verifying whether the navigation mark lamp provides good navigation aid service. The research restriction conditions for the light rhythm and period of the navigation mark lamp based on the optical fiber spectrometer are less, but the light intensity and color detection of the navigation mark lamp can still be carried out in a laboratory, and meanwhile, the large and medium navigation mark lamps provided with fixed navigation marks such as a lighthouse, a lighthouse and the like are difficult to detect in the laboratory due to the reasons of volume, weight and the like, so that the light performance of the navigation mark lamp is not favorable to be mastered in time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a portable navigation mark lamp field detection system based on an image processing technology.
The technical scheme provided by the invention is as follows: the portable navigation mark lamp field detection system based on the image processing technology is characterized by comprising a camera, a lens, a polaroid, a laser range finder, a cradle head, an embedded processor, a touch screen display, a power supply module, a serial port and a network port, wherein the embedded processor comprises a tracking system module, an automatic focusing module, a light intensity calculation module, a color recognition module, a frequency recognition module and a period recognition module;
the camera is used for connecting the information obtained by shooting to the embedded processor through the network port; the polaroid filters stray light and is connected with a lens, the lens is connected with a camera, the camera is connected with a laser range finder, the laser range finder is connected with a cradle head, and information transmission is carried out on measured distance information with an embedded processor through a serial port; the embedded processor is connected with the camera and the laser range finder in a two-way mode, the embedded processor transmits the detection structure to the touch screen display through HDMI, and transmits the detection structure to the cloud processing service and the serial port through the WiFi communication interface, and the serial port communication controls the cradle head; the power supply module is connected with the touch screen display in one way;
the camera, the lens and the polaroid form an imaging module together and are used for shooting the navigation mark lamp area on the sea surface in real time so as to obtain the light video image frames of the navigation mark lamp in different day and night environments at different time;
the laser range finder is used for obtaining the relative position information of the high-precision measuring equipment and the position relation between the high-precision measuring equipment and the navigation mark lamp so as to calculate the light intensity of the navigation mark lamp through a luminous intensity calculation formula;
the cradle head is used for ensuring that the navigation mark lamp is always kept in the visual field range in the shooting and measuring process, and automatically adjusting the translation and pitching angles according to the offset positions of the navigation mark lamp;
the embedded processor is used for processing the collected navigation mark lamp video and position information and giving out corresponding parameter results;
the tracking system module and the automatic focusing module in the embedded processor sequentially receive distance data from the laser range finder through a serial port; meanwhile, the tracking system controls the cradle head according to the tracking condition by means of the network port; the light intensity calculation module, the color recognition module, the frequency recognition module and the period recognition module load data from the navigation mark lamp acquired by the camera from the internet access in the form of rtsp video stream;
the touch screen display is used for transmitting information obtained by the embedded processor to the screen through a high-definition data line for visual display;
the battery is used for supplying power to the touch screen display.
The invention has the beneficial effects that: 1. the invention relates to a portable navigation mark light rhythm, period, color and light intensity field detection system based on an image processing technology, which realizes the field detection of indexes such as navigation mark light rhythm, period, color and acting distance and the like, and ensures the detection of indexes such as navigation mark light rhythm, period, color and acting distance and the like during navigation mark inspection and navigation mark efficacy inspection; 2. the system function can be used for detecting the rhythm, the period and the color of the navigation mark light on the navigation mark light work site by hand, and judging the compliance of the navigation mark light; 3. the light intensity of the navigation mark lamp can be detected, and the light range is calculated; 4. the system has the functions of laser and satellite positioning dual-mode ranging and automatic target locking and tracking; 5. the acquisition and calculation of the optical signals are realized by adopting an image-based technology, the measured object is captured, and meanwhile, the color and brightness information of the light source is acquired in a photoelectric conversion mode, so that the subsequent parameter analysis and calculation are facilitated; the measurement of the distance parameter adopts a multi-mode distance measurement mode of complementation of laser distance measurement and longitude and latitude coordinate reading; the intelligent image and video processing technology is applied to the whole navigation mark lamp target tracking process, and unmanned and automatic processes are realized in the whole process; the portable detection module adopts an embedded processor with strong computing power, and can deploy a containerized Azure solution with an AI acceleration function on a large scale so as to process a plurality of cameras, more complex robot application programs, an edge AI gateway scene and other application programs; has important significance for developing the fine management of the navigation mark lamp and improving navigation mark navigation-aid efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Detailed Description
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
As shown in fig. 1, a portable navigation mark lamp field detection system based on an image processing technology comprises a camera 1, a lens 2, a polaroid 3, a laser range finder 4, a cradle head 5, an embedded processor 6, a touch screen display 7, a power supply module 8, a serial port 9 and a network port 10, and a tracking system module 11, an automatic focusing module 12, a light intensity calculation module 13, a color recognition module 14, a frequency recognition module 15 and a period recognition module 16 which are arranged in the embedded processor 6;
the shooting camera 1 connects the shot information to the embedded processor 6 through the network port 10; the method comprises the steps of connecting a polaroid 3 for filtering stray light with a lens 2, connecting the lens 2 with a camera 1, connecting the camera 1 with a laser range finder 4, connecting the laser range finder 4 with a cradle head 5, and transmitting measured distance information with a processor 6 through a serial port 9; the embedded processor 6 is in bidirectional connection with the camera 1 and the laser range finder 4, the embedded processor 6 transmits the detection structure to the touch screen display 7 through HDMI, and transmits the detection structure to the cloud processing service and the serial port 9 through the WiFi communication interface, and the serial port 9 is used for controlling the cradle head 5 in a communication mode; the power supply module 8 is connected with the touch screen display 7 in a one-way; wherein:
the camera 1, the lens 2 and the polaroid 3 form an imaging module together and are used for shooting a navigation mark lamp area on the sea surface in real time so as to obtain the light video image frames of the navigation mark lamp in different day and night environments at different time;
the laser range finder 4 is used for obtaining relative position information of the high-precision measuring equipment and the navigation mark lamp according to the position relation between the high-precision measuring equipment and the navigation mark lamp, so as to calculate the light intensity of the navigation mark lamp according to a luminous intensity calculation formula;
the cradle head 5 is used for ensuring that the navigation mark lamp is always kept in the visual field range in the shooting measurement process, and automatically adjusting the translational and pitching angles according to the offset positions of the navigation mark lamp;
the embedded processor 6 is the core of the whole system and is used for processing the collected navigation mark lamp video and position information and giving out corresponding parameter results;
the tracking system module 11 and the automatic focusing module 12 in the embedded processor 6 sequentially receive the distance data from the laser range finder 4 through the serial port 9; meanwhile, the tracking system controls the cradle head 5 according to the tracking condition by means of the network port 10;
the video data information of the navigation mark lamp is loaded to the light intensity calculation module 13, the color identification module 14, the frequency identification module 15 and the period identification module 16 of the processor from the video camera 1 through the internet access 10 in the form of rtsp stream;
the touch screen display 7 is used for transmitting information obtained by the embedded processor 6 to a screen through a high-definition data line for visual display;
the power supply module 8 is used for supplying power to the touch screen display 7, is externally connected with 24V output and outputs 16.8V to the touch screen display 7 through the rectifier, so that normal and stable operation of the touch screen display 7 is ensured.
The method for detecting the navigation mark lamp in real time by adopting the navigation mark lamp field detection system comprises the following steps:
1. tracking and detecting:
before tracking and monitoring are started, determining the actual physical position of a navigation mark lamp box to be detected, and touch-controlling and detecting a corresponding instruction on a touch screen display of a detector to start measurement; after receiving a start command, the detection system identifies a white navigation mark lamp area from a navigation mark lamp video image frame shot by the imaging module and accurately frames the white navigation mark lamp area;
the tracking system reads in the identified navigation mark lamp frame selection area, matches the template image with the candidate area in the real-time video image frame through the processor system, generates a response image of the template image, searches a corresponding part of a point with the highest response value in the candidate area in the way, and determines the predicted navigation mark lamp target position;
2. auto-focus correction
After tracking detection, the detection system immediately starts to perform real-time automatic focusing correction on the predicted navigation mark light area:
the automatic focusing module detects the tracking and monitoring process in the previous step in real time, and corrects and judges each hundred frames of the video once so as to determine whether the target object of the navigation mark lamp runs out of the frame or enters the frame from the outside of the frame in the process;
if the condition that the target of the navigation mark lamp is lost is not detected in the hundred frames, the next frame selection area image processing, namely color recognition, is carried out;
if the target of the navigation mark lamp frame selection area is lost in one hundred frames, carrying out five-frame continuous identification tracking on the real-time image video stream, wherein the identification process comprises the following steps: if the accurate position of the current navigation mark lamp can be continuously determined in the five-frame video stream, the relative position information at the moment is updated to the tracking system; if the area of the navigation mark lamp cannot be determined, jumping back to the first step to perform identification frame selection on the navigation mark lamp again;
3. color identification
Before color identification, the detection standard of RGB chromaticity coordinates is required to be imported into the processing preset of the color identification module, the color of the current navigation mark lamp is determined to be red or white, and the upper and lower boundaries of thresholds of different colors are set;
extracting color information in the ROI area of the navigation mark light video signal, tracking, identifying and completing automatic focusing correction, collecting five characteristic points of the whole area, calculating the brightness statistical average value of the characteristic points in three RGB color channels, and mapping the color information to a corresponding area in the color of the GB12708-1991 navigation mark light signal; comparing and judging the color information of the three dimensions extracted by the navigation mark lamp to be detected at the moment with preset chromaticity coordinates, and determining the luminous color of the navigation mark lamp at the moment and whether the luminous color belongs to a normal chromaticity range or not;
4. cycle, frequency detection
After the color identification of the navigation mark lamp is completed, the detection system records the time of each color change interval of the navigation mark lamp, the frequency of color change in one period and the time of no light emission, knows the flashing rhythm of the navigation mark lamp, and calculates the light emitting period and the light emitting frequency of the navigation mark lamp; the specific steps of the period and frequency detection flow are as follows:
firstly, extracting color information of a frame-selected ROI region, detecting the extracted color information, comparing the detected color information with RGB chromaticity coordinates to determine, and carrying out color recognition; if the color is obtained by the first judgment, starting to record the corresponding time a when the color appears, and if the color is obtained by the first judgment of other colors, recording the corresponding time b; the color recording time a and the color recording time b within a certain time are tidied, and the period and the frequency of the navigation mark are calculated and analyzed;
5. light intensity detection
Before light intensity detection, the relative position between the detector and the navigation mark lamp and the position coordinate data of the detector and the navigation mark lamp on the GPS sensor are acquired through a laser range finder of a detection system;
reading preset distance position information of the current navigation mark lamp as a distance parameter l; the distance from the center of the light source of the measured beacon light to the receiving surface of the detection system is calculated according to the luminous intensity calculation formula of the beacon light:
and calculating to obtain the luminous intensity of the navigation mark lamp light source at the moment.
Claims (1)
1. The portable navigation mark lamp field detection system based on the image processing technology is characterized by comprising a camera, a lens, a polaroid, a laser range finder, a cradle head, an embedded processor, a touch screen display, a power supply module, a serial port and a network port, wherein the embedded processor comprises a tracking system module, an automatic focusing module, a light intensity calculation module, a color recognition module, a frequency recognition module and a period recognition module;
the camera is used for connecting the information obtained by shooting to the embedded processor through the network port; the polaroid filters stray light and is connected with a lens, the lens is connected with a camera, the camera is connected with a laser range finder, the laser range finder is connected with a cradle head, and information transmission is carried out on measured distance information with an embedded processor through a serial port; the embedded processor is connected with the camera and the laser range finder in a two-way mode, the embedded processor transmits the detection structure to the touch screen display through HDMI, and transmits the detection structure to the cloud processing service and the serial port through the WiFi communication interface, and the serial port communication controls the cradle head; the power supply module is connected with the touch screen display in one way;
the camera, the lens and the polaroid form an imaging module together and are used for shooting the navigation mark lamp area on the sea surface in real time so as to obtain the light video image frames of the navigation mark lamp in different day and night environments at different time;
the laser range finder is used for obtaining the relative position information of the high-precision measuring equipment and the position relation between the high-precision measuring equipment and the navigation mark lamp so as to calculate the light intensity of the navigation mark lamp through a luminous intensity calculation formula;
the cradle head is used for ensuring that the navigation mark lamp is always kept in the visual field range in the shooting and measuring process, and automatically adjusting the translation and pitching angles according to the offset positions of the navigation mark lamp;
the embedded processor is used for processing the collected navigation mark lamp video and position information and giving out corresponding parameter results;
the tracking system module and the automatic focusing module in the embedded processor sequentially receive distance data from the laser range finder through a serial port; meanwhile, the tracking system controls the cradle head according to the tracking condition by means of the network port; the light intensity calculation module, the color recognition module, the frequency recognition module and the period recognition module load data from the navigation mark lamp acquired by the camera from the internet access in the form of rtsp video stream;
the touch screen display is used for transmitting information obtained by the embedded processor to the screen through a high-definition data line for visual display;
the battery is used to power the touch screen display.
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| CN115902685B (en) * | 2022-11-14 | 2023-07-18 | 集美大学 | Optical test system special for navigation mark lamp |
| CN116573175B (en) * | 2023-04-25 | 2024-01-26 | 交通运输部南海航海保障中心三沙航标处 | Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology |
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