CN114979442A - Multi-path image acquisition device and control method thereof - Google Patents
Multi-path image acquisition device and control method thereof Download PDFInfo
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- CN114979442A CN114979442A CN202210572960.XA CN202210572960A CN114979442A CN 114979442 A CN114979442 A CN 114979442A CN 202210572960 A CN202210572960 A CN 202210572960A CN 114979442 A CN114979442 A CN 114979442A
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- 238000012544 monitoring process Methods 0.000 claims abstract 2
- 230000005855 radiation Effects 0.000 claims description 20
- 238000003745 diagnosis Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000010248 power generation Methods 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 230000006870 function Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000004092 self-diagnosis Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
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- 230000036541 health Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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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
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses a multi-path image acquisition device and a control method thereof. The device comprises a protective shell, a reflection hole, a reflector and a rotatable camera. According to the control method, the multi-path image acquisition device is adopted, external light enters the reflection hole from the hole inlet, the light is transmitted along the hole path of the reflection hole through the reflection effect of the reflector on the light, the light is finally emitted from the hole outlet, the rotatable camera is rotated to face the hole outlet in the observation direction, and the acquisition of the multi-path images by the single camera is realized through the well-arranged control method. The invention has the beneficial effects that: the principle that light rays can be subjected to mirror reflection and gamma rays with strong penetrating power cannot be subjected to mirror reflection is adopted, monitoring of the external environment is achieved, meanwhile, the reflection holes are flexibly formed, the rotatable camera is controlled, and multiple angles can be freely observed without extra weight increment.
Description
Technical Field
The invention belongs to the field of nuclear robots, and particularly relates to a multi-path image acquisition device and a control method thereof.
Background
The nuclear power has the characteristics of high efficiency, cleanness, safety and the like, and is one of important ways for realizing carbon cleanness and carbon peak reaching. The nuclear radiation has strong penetrating power, has great influence on personnel and electronic equipment, and ordinary image acquisition equipment cannot work normally in a radioactive environment and needs to be subjected to radiation-resistant reinforcement. The nuclear robot is a robot which replaces personnel to operate a radiation scene in a radiation environment, the operation condition of the nuclear robot is severe, the nuclear robot is extremely prone to failure and extremely harmful in an extreme environment, and the nuclear robot needs to have a failure self-diagnosis function in order to ensure safe and reliable continuous operation of the nuclear robot.
The image sensing is used as the most abundant information source, and is particularly important for fault detection and health state evaluation of the robot, and various information such as images, sounds, rotating speeds, energy consumption and the like are required for realizing fault self-diagnosis of the nuclear robot, so that multi-directional images of the robot are collected, and the multi-view images are comprehensively utilized to judge the health state of the robot. Since resources such as computation and storage of the teleoperation robot are severely limited and it is difficult to provide a strong computational power to support fault self-diagnosis, it is necessary to acquire image information of a plurality of directions by using a nuclear robot having a cloud-side cooperative fault diagnosis function.
The radiation-resistant reinforcement is carried out on each path of image acquisition equipment independently, the additionally increased volume and weight of the equipment cannot be borne by the robot, the price of the radiation-proof camera in the current market is very expensive, and the visual range is very limited, so that a device structure and a control method for carrying out multi-azimuth visual image recording on a nuclear radiation field on the robot are needed. The device can be used for robot cloud-side cooperative fault detection and radioactive scene perception.
Disclosure of Invention
The invention aims to: the invention provides a multi-path image acquisition device and a control method thereof, which solve the problem that the existing image acquisition device can not realize multi-direction visual image acquisition of a single camera.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a multichannel image acquisition device, includes protective housing, is equipped with the reflection hole of two at least ways in the protective housing, and the hole entry of reflection hole is towards the outside, is equipped with the reflector that makes light propagate along the hole route in the reflection hole, and the hole export of reflection hole is relative with the camera route of rotatable camera.
Furthermore, the protective casing be the radiation protection casing, rotatable camera is ordinary camera.
Furthermore, the protective shell is internally provided with four reflecting holes, namely a front reflecting hole, a rear reflecting hole, a left reflecting hole and a right reflecting hole.
Furthermore, the reflecting holes are symmetrically arranged.
Furthermore, the hole inlet is in a horn shape.
Furthermore, the reflecting hole is Z-shaped, an upper reflecting mirror is arranged at the upper corner of the reflecting hole, and a lower reflecting mirror is arranged at the lower corner of the reflecting hole.
Furthermore, the upper reflector and the lower reflector are both convex mirrors.
Furthermore, the reflection hole includes upper horizontal section, vertical section and lower horizontal section that communicate in proper order, and the mirror surface of upper reflector is arranged downwards and slope 45, and the mirror surface of lower reflector is arranged upwards and slope 45.
Furthermore, the protective casing on be equipped with the top fixed plate, go up the reflector and establish on the top fixed plate, be equipped with the side fixed plate on the protective casing, be connected with back fixed plate and end fixed plate between the relative side fixed plate, the reflector is fixed on back fixed plate and end fixed plate down.
A control method adopts the multi-path image acquisition device, external light enters a reflection hole from a hole inlet, the light is transmitted along a hole path of the reflection hole through the reflection effect of a reflector on the light, and is finally emitted from a hole outlet, a camera is rotated to face to the hole outlet in the observation direction through a controller driving motor, and the acquisition of multi-path images by a single camera is realized.
The controller is provided with a manual control mode and an automatic control mode so as to drive the motor to drive the camera to rotate.
When being in automatic mode, the motor can drive the camera according to setting up of host computer and carry out regular rotation, according to actual conditions set up turning to, the rotational speed of rotatable camera, export dwell time, the hole and the timing operating time of selection stay at every hole, after regularly finishing, will upload data to high in the clouds server to realize cloud limit fault diagnosis function in coordination.
The automatic mode comprises five schemes of positive rotation, reverse rotation, scheme 1, scheme 2 and user-defined; when a forward rotation scheme is selected, setting the rotating speed of the camera to be 10r/min, turning to be clockwise, setting the observation time of each hole to be 20s, and timing the working time to be 30min, so that the camera stays at the outlet of each hole for 20s in sequence, rotates forward at the speed of 10r/min, and stops after 30 min; the reverse rotation scheme and the forward rotation scheme are opposite in rotation direction, and the design parameters are the same; scheme 1 and scheme 2 are that the internal camera only rotates to two opposite holes respectively. The user-defined scheme sets the rotation direction and the rotation speed of the camera, the stay time at the outlet of each hole, the hole selected to stay and the timing working time according to the actual situation.
When being in manual mode, the controller accessible network interface is long-range with the edge end communication to drive the camera rotation through the mode driving motor of the long-range teleoperation of edge end, thereby detect the radiation environment, the user can carry out operation control to the camera according to actual conditions, after receiving the end command, the camera will stop rotating, and with data upload to high in the clouds server, thereby realize the cloud side fault diagnosis function in coordination. The network interface comprises a CAN bus and a LAN network interface, and the edge end comprises a mobile end, a PC end and a remote controller.
The invention overcomes the technical defects that: in surveying nuclear radiation scenes, the camera portion of the robot can be damaged due to the presence of large amounts of nuclear radiation and the complexity of the radiation scene. The robot needs to diagnose the fault, so the visual image transmission needs to be carried out on site in an all-round way, and a camera which can flexibly detect a plurality of directions without additionally adding excessive weight needs to be developed, so that the fault detection is convenient while the ambient radiation environment is detected. The price of the radiation-proof camera in the current market is very expensive, and multi-azimuth detection cannot be achieved. If a plurality of radiation-proof cameras are installed to detect in multiple directions, the self weight of the robot is increased seriously, and the flexibility of the image robot is detected in a complex radiation environment.
The invention realizes the following functions: gamma rays and other various radiation rays have higher penetrating power, visible light transmits light to a camera positioned under the protection of a lead plate after being reflected according to a mirror surface, and the surrounding conditions of the robot can be checked in real time according to the rotation of the camera. The camera overcomes the technical defects, can control and adjust the visual angle according to actual needs, and is suitable for the needs of different radiation environments.
The invention has the beneficial effects that: the radiation-proof camera is composed of a small camera which rotates by means of a motor, a controller which drives the motor and a radiation-proof shell, wherein the radiation-proof shell is of a structure with a high middle part and a low periphery. The middle of the radiation-proof shell is provided with a reflection hole, and two convex reflectors which form an angle of 45 degrees in the horizontal direction are arranged in each hole. The number of the holes can be reduced according to actual needs, and is usually four holes, namely, four directions of front, back, left and right in the horizontal direction. The camera is positioned in the center of the hole in the radiation-proof shell. The camera can be driven to rotate by the controller according to different modes (automatic/manual), and the external radiation environment can be observed by the camera through light reflected by the convex reflector.
The principle that light can be reflected by a mirror surface and gamma rays with strong penetrating power cannot be reflected by the mirror surface is adopted, so that the external environment is monitored, meanwhile, the reflecting holes are flexibly formed, the rotatable camera is controlled, and a plurality of angles can be freely observed without extra weight increment.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
Drawings
Fig. 1 is a front view of the structure of the present invention.
Fig. 2 is a top view of the structure of the present invention.
Fig. 3 is a bottom view of the structure of the present invention.
Fig. 4 is a perspective cross-sectional view of the present invention.
Fig. 5 is a front cross-sectional view of the present invention.
Fig. 6 is a control flow diagram of the present invention.
FIG. 7 is a manual mode cloud edge collaboration diagram of the present invention.
FIG. 8 is an automatic mode cloud edge collaboration diagram of the present invention.
In the figure: 1-protective shell, 2-reflective hole, 3-hole inlet, 4-hole outlet, 5-upper reflector, 6-lower reflector, 7-rotatable camera, 8-top fixing plate, 9-side fixing plate, 10-back fixing plate, 11-bottom fixing plate and 12-screw.
Detailed Description
The following non-limiting examples serve to illustrate the invention.
Example 1:
referring to fig. 1 to 5, a multi-channel image capturing apparatus includes a protective housing 1, a reflective cavity 2, a cavity inlet 3, a cavity outlet 4, an upper reflective mirror 5, a lower reflective mirror 6, a rotatable camera 7, a top fixing plate 8, a side fixing plate 9, a back fixing plate 10, a bottom fixing plate 11, and screws 12.
The protective shell 1 is a lead radiation-proof shell, is of a platform-shaped structure with a high middle part and a bottom at the periphery, and can be modified in thickness and material according to actual protection requirements. Be equipped with reflection hole 2 of preceding, back, left and right four ways symmetrical arrangement in protective housing 1, also can design the reflection hole 2 that the adjustment light got into according to actual need, reflection hole 2's position is the symmetry in geometry to the rotatory observation of camera.
The hole entrance 3 of the reflection hole 2 faces outwards and is in a horn shape, so that the better visual field is achieved, and the hole exit 4 of the reflection hole 2 is opposite to the camera path of the rotatable camera 7, so that external light can be reflected to the camera.
The upper reflector 5 and the lower reflector 6 are both convex mirrors and are matched with the horn-shaped structure of the hole inlet 3, so that the camera can acquire wider visual field images. The upper reflector 5 and the lower reflector 6 enable light rays to be transmitted along the path of the hole, so that the light rays enter from one end and are emitted from the other end after being reflected, and the damage of radiation to the camera is avoided by utilizing the principle that gamma rays cannot be reflected by a mirror surface.
Be fixed with on protective housing 1 and push up fixed plate 8, go up reflector 5 and establish on top fixed plate 8 through screw 12, be equipped with side fixed plate 9 on protective housing 1, be connected with back of the body fixed plate 10 and bottom fixed plate 11 between the relative side fixed plate 9, form horizontal section down and hole export 4 inwards between side fixed plate 9, back of the body fixed plate 10 and the bottom fixed plate 11, reflector 6 passes through screw 12 to be fixed on back of the body fixed plate 10 and bottom fixed plate 11 down.
The lower part center department of protective housing 1 is equipped with rotatable camera 7, and rotatable camera 7 is ordinary camera, does not have fixed model, can place in the geometric centre of a plurality of holes can, the shell of shell for the lead system also can change all the other materials according to actual need, for example: a boron-containing polyethylene sheet. The outside camera lens of rotatable camera 7 forms an annular camera route, and it is rotatory to drive the camera through controller driving motor, and the external radiation environment is observed through the light through the reflection of convex surface speculum to the camera. The device can be used for cloud edge cooperation by utilizing communication equipment, and realizes fault self-diagnosis for the robot.
Example 2:
referring to fig. 1 to 5, in a control method of the above-mentioned multi-path image capturing device, external light enters a reflective hole 2 from a hole inlet 3, horizontal light is reflected to vertical light by an upper reflective mirror 5, and vertical light is reflected to horizontal light by a lower reflective mirror 6, so that light is transmitted along a hole path of the reflective hole 2, and finally light is emitted from a hole outlet 4, and a rotatable camera 7 is rotated to face the hole outlet 4 in an observation direction, thereby capturing multi-path images by a single camera.
The controller is provided with a manual control mode and an automatic control mode so as to drive the motor to drive the camera to rotate.
When being in automatic mode, the motor can drive the camera according to setting up of host computer and carry out regular rotation, according to actual conditions set up turning to, the rotational speed of rotatable camera, export dwell time, the hole and the timing operating time of selection stay at every hole, after regularly finishing, will upload data to high in the clouds server to realize cloud limit fault diagnosis function in coordination.
The automatic mode comprises five schemes of positive rotation, reverse rotation, scheme 1, scheme 2 and user-defined; when a forward rotation scheme is selected, setting the rotating speed of the camera to be 10r/min, turning to be clockwise, setting the observation time of each hole to be 20s, timing the working time to be 30min, and enabling the camera to stay at the outlet of each hole for 20s in sequence, forward rotating at the speed of 10r/min, and stopping after 30 min; the reverse rotation scheme and the forward rotation scheme are opposite in rotation direction, and the design parameters are the same; scheme 1 and scheme 2 are that the internal camera only rotates to two opposite holes respectively. The user-defined scheme sets the rotation direction and the rotation speed of the camera, the stay time at the outlet of each hole, the hole selected to stay and the timing working time according to the actual situation.
When being in manual mode, the controller accessible network interface is long-range with the edge end communication to drive the camera rotation through the mode driving motor of the long-range teleoperation of edge end, thereby detect the radiation environment, the user can carry out operation control to the camera according to actual conditions, after receiving the end command, the camera will stop rotating, and with data upload to high in the clouds server, thereby realize the cloud side fault diagnosis function in coordination. The network interface comprises a CAN bus and a LAN network interface, and the edge end comprises a mobile end, a PC end and a remote controller.
Referring to fig. 6, control begins by first performing an initialization operation to make a mode selection.
After the automatic mode is selected, the scheme is selected, the rotating speed, the observation time and the timing working time are automatically set according to the first four schemes which are set in advance, and the rotating speed, the observation time and the timing working time are input and set according to the fifth self-defined scheme. And then resetting the camera, starting the camera to work, judging a normal reading mode, if so, continuing to judge that the camera turns normally, if so, continuing to judge that the rotating speed of the camera is normal, if so, continuing to judge that the observation time is normal, and if not, alarming and returning to the step of resetting the camera. If the observation time is normal, judging that the positioning is finished, if so, stopping the camera, and if not, returning to the step of judging that the camera turns to be normal.
And after the manual mode is selected, selecting a terminal of an edge end, wherein the edge end is a remote controller, a mobile end or a PC end, connecting the terminal after the edge end is selected, then judging that the connection is successful, and returning to the terminal selection step if the connection is not successful. If yes, resetting the camera, starting the camera to work, and reading the remote control signal. And then judging that the rotation speed of the camera is normal, if so, continuing to judge that the rotation speed of the camera is normal, and if not, alarming and returning to the step of resetting the camera. If the rotation speed of the camera is normal, continuing to judge that a stop command is received, if not, returning to the step of reading the remote control signal, and if so, stopping the camera.
And after the cameras in the two modes stop rotating, uploading the data to a cloud end, judging that the uploading is successful, alarming and returning to the data uploading cloud end if the uploading is not successful, continuously judging that a reset command is received if the uploading is successful, returning to the initialization step if the uploading is successful, and ending if the uploading is not successful.
Referring to fig. 7, in the manual mode control, the camera uploads data to the cloud server, the camera and the edge end are in bilateral communication connection, the edge end performs remote control on the camera, and the camera feeds back an alarm to the edge end. Referring to fig. 8, in the automatic mode, the camera uploads data to the cloud server, the upper computer transmits control scheme settings to the camera, and the camera feeds back an alarm to the upper computer.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a multichannel image acquisition device, includes protective housing (1), its characterized in that: protective housing (1) in be equipped with reflection hole (2) of two at least ways, the hole entry (3) of reflection hole (2) are towards the outside, are equipped with the reflector that makes light propagate along the hole route in reflection hole (2), the hole export (4) of reflection hole (2) are relative with the camera route of rotatable camera (7).
2. The multi-channel image capturing device as claimed in claim 1, wherein: the protective casing (1) is a radiation-proof casing, and the rotatable camera (7) is a common camera.
3. The multi-channel image capturing device as claimed in claim 1, wherein: the protective shell (1) is internally provided with four reflecting holes (2) of a front path, a rear path, a left path and a right path.
4. The multi-channel image capturing device according to claim 1 or 3, wherein: the reflecting holes (2) are symmetrically arranged.
5. The multi-channel image capturing device as claimed in claim 1, wherein: the hole inlet (3) is in a horn shape.
6. The multi-channel image capturing device as claimed in claim 1 or 5, wherein: the reflection hole (2) is Z-shaped, an upper reflector (5) is arranged at the upper corner of the reflection hole (2), and a lower reflector (6) is arranged at the lower corner of the reflection hole (2).
7. The multi-channel image capturing device as claimed in claim 6, wherein: the upper reflector (5) and the lower reflector (6) are both convex mirrors.
8. The multi-channel image capturing device as claimed in claim 6, wherein: the reflection hole (2) comprises an upper horizontal section, a vertical section and a lower horizontal section which are sequentially communicated, the mirror surface of the upper reflector (5) is arranged downwards and inclined by 45 degrees, and the mirror surface of the lower reflector is arranged upwards and inclined by 45 degrees.
9. The multi-channel image capturing device as claimed in claim 6, wherein: the novel solar photovoltaic power generation protective device is characterized in that a top fixing plate (8) is arranged on the protective shell (1), an upper reflector (5) is arranged on the top fixing plate (8), side fixing plates (9) are arranged on the protective shell (1), a back fixing plate (10) and a bottom fixing plate (11) are connected between the opposite side fixing plates (9), and a lower reflector (6) is fixed on the back fixing plate (10) and the bottom fixing plate (11).
10. A method for controlling a multi-channel image capturing device as claimed in any one of claims 1 to 9, characterized in that: external light enters the reflection hole (2) from the hole inlet (3), is transmitted along the hole path of the reflection hole (2) through the reflection action of the reflector on the light and is finally emitted from the hole outlet (4), the rotatable camera (7) is rotated to face the hole outlet (4) in the observation direction according to the set control mode, and the collection of multiple paths of images by the single camera is realized;
the controller is provided with a manual control mode and an automatic control mode so as to drive the motor to drive the camera to rotate;
when the intelligent monitoring system is in an automatic mode, the motor drives the camera to regularly rotate according to the setting of the upper computer, the steering and rotating speed of the rotatable camera (7), the stay time at the outlet of each hole, the stay hole selection and the timing working time are set according to the actual situation, and after the timing is finished, the uploaded data are transmitted to the cloud server, so that the cloud-side cooperative fault diagnosis function is realized;
when being in manual mode, the controller accessible network interface is long-range with the edge end communication to drive the camera rotation through the mode driving motor of the long-range teleoperation of edge end, thereby detect the radiation environment, the user can carry out operation control to the camera according to actual conditions, after receiving the end command, the camera will stop rotating, and with data upload to high in the clouds server, thereby realize the cloud side fault diagnosis function in coordination.
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