CN115268183A - Mirror reflection shooting method and device and computer readable storage medium - Google Patents
Mirror reflection shooting method and device and computer readable storage medium Download PDFInfo
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- CN115268183A CN115268183A CN202210875581.8A CN202210875581A CN115268183A CN 115268183 A CN115268183 A CN 115268183A CN 202210875581 A CN202210875581 A CN 202210875581A CN 115268183 A CN115268183 A CN 115268183A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/565—Optical accessories, e.g. converters for close-up photography, tele-convertors, wide-angle convertors
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Abstract
The invention discloses a mirror reflection shooting method, a mirror reflection shooting device and a computer readable storage medium, wherein the shooting method comprises the following steps: driving the reflecting device to rotate through the driving device; the induction strip is inducted through the trigger sensor to trigger the shooting camera to shoot towards the mirror surface. The invention has the beneficial effects that: the smear influence during moving shooting is obviously reduced, and the dynamic shooting performance is improved. The system has the advantages of simplicity, easiness in installation and maintenance, low cost and easiness in adapting to the area-array cameras of different models.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a method and an apparatus for photographing specular reflection, and a computer-readable storage medium.
Background
The image scanning is increasingly applied to tunnel lining detection as a general nondestructive detection mode, the principle of image scanning of tunnel lining is that a camera is installed on a detection vehicle, a tunnel lining surface is photographed in the advancing process of the detection vehicle, a computer analyzes and processes the acquired photos, and disease characteristics such as cracks, leakage, falling and the like are searched on the photo images.
In the prior art, as shown in fig. 1, the camera is fixed on the inspection vehicle, and the position and direction of the camera are fixed and unadjustable 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 can generate certain smear phenomenon, the detection resolution effect is directly influenced, and the smear phenomenon can become 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 linear array camera with a higher photographing speed or a higher frame rate can be selected. However, in some application scenarios, such as an application scenario in which a far infrared thermal imager is used to detect leakage of a tunnel lining, it is difficult to find a far infrared camera or a far infrared line camera with a fast shooting speed. As shown in fig. 2, when the camera takes an image, the tunnel detection surface to be taken is in a relatively moving state, which causes a movement of the part to be taken and a phenomenon that the taken image is smeared.
As shown in fig. 3, there is also an improved solution to the above drawbacks, which is implemented by rotating the camera during shooting and keeping the shooting position unchanged by changing the shooting direction of the camera. The method for keeping the shooting position relatively unchanged by rotating the direction of the camera has the defects that the reliability of a common camera is easily damaged by vibration caused by repeated motion of the camera and the structure of a camera reciprocating device is complex.
In addition, in order to overcome the problem of smear, the prior art also has to select a linear camera with a faster photographing rate or a higher frame rate. However, in some application scenarios, such as the application scenario of detecting the leakage of the tunnel lining by using a far infrared thermal imager, it is difficult to find a far infrared camera or a far infrared line camera with a fast shooting speed. If the area-array camera with more common parameters can be used for testing, the composition of a testing system can be simplified, and the cost is reduced.
Disclosure of Invention
The invention provides a mirror reflection shooting method and device and a computer readable storage medium, which solve the problems that a certain smear phenomenon is generated in an image shot at present, the reliability of a common camera is easily damaged by vibration caused by repeated motion of the camera, the structure of a camera reciprocating device is complex, and the cost is high.
In order to solve the above problems, in one aspect, the present invention provides a mirror reflection shooting method, which is implemented by using a shooting mechanism, wherein the shooting mechanism comprises a shooting camera, a reflection mechanism and a trigger device, the shooting camera is arranged on a detection vehicle body, the reflection mechanism comprises a driving device and a reflection device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotatably connected to the reflection device, a mirror is arranged on the surface of the reflection device, the trigger device comprises a trigger sensor and an induction element, the trigger sensor is electrically connected with the shooting camera, and the induction element is arranged on the reflection device;
the shooting method comprises the following steps:
driving the reflecting device to rotate through the driving device;
the induction strip is inducted through the trigger sensor to trigger the shooting camera to shoot towards the mirror surface.
The driving the reflection device to rotate through the driving device comprises:
acquiring the current speed of the detection vehicle body;
controlling the rotation speed of the reflecting device according to the current speed.
The obtaining of the current speed of the detection vehicle body includes:
sensing the reading of the position encoder through a position sensor to acquire the tire position information of the detection vehicle body;
transmitting the tire position information to a linkage controller;
calculating the current speed of the detection vehicle body according to the tire position through a linkage controller; the driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror; the motor is connected with the rotating shaft in a driving mode, the rotating shaft is fixedly connected with the reflecting body, and the reflecting mirror is arranged on the surface of the reflecting body, so that when the motor rotates, the rotating shaft is driven to rotate, and the reflecting body is driven to rotate, so that the angle formed by the plane of the reflecting mirror and the shooting direction of the shooting camera is continuously changed; the shooting mechanism further comprises a position encoder used for measuring the tire position of the detection vehicle body, a position sensor used for sensing the reading of the position encoder and a linkage controller, wherein the position sensor is electrically connected with the linkage controller, and the linkage controller is electrically connected with the motor.
The sensing bar through the trigger sensor to trigger the shooting camera to shoot towards the mirror surface, including:
when the trigger sensor senses the induction strip, generating a trigger signal; wherein the reflector body has a plurality of axial surfaces, each of the axial surfaces being provided with the reflector; the induction piece is arranged between every two adjacent axial surfaces;
triggering the shooting camera to shoot according to the trigger signal; wherein, the shooting direction of shooting camera is the radial of reflection body.
The triggering of the shooting camera according to the trigger signal comprises:
controlling the shooting camera to execute preset exposure setting according to a trigger signal so that the shooting camera is exposed when aiming at the current reflector;
and controlling the shooting camera to take a picture in the exposure process.
On one hand, the mirror reflection shooting device is realized by adopting a shooting mechanism, the shooting mechanism comprises a shooting camera, a reflection mechanism and a trigger device, the shooting camera is arranged on a detection vehicle body, the reflection mechanism comprises a driving device and a reflection device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotationally connected with the reflection device, a mirror is arranged on the surface of the reflection device, the trigger device comprises a trigger sensor and a sensing piece, the trigger sensor is electrically connected with the shooting camera, and the sensing piece is arranged on the reflection device;
the photographing apparatus includes:
the driving module is used for driving the reflecting device to rotate through the driving device;
the triggering module is used for triggering the shooting camera to shoot towards the mirror surface by the induction strip induced by the triggering sensor.
The driving module includes:
the speed acquisition module is used for acquiring the current speed of the detection vehicle body;
and the rotation control module is used for controlling the rotation speed of the reflecting device according to the current speed.
The speed acquisition module comprises:
the reading sensing sub-module is used for sensing the reading of the position encoder through a position sensor so as to acquire the tire position information of the detection vehicle body;
the information sending submodule is used for sending the tire position information to the linkage controller;
the speed calculation submodule is used for calculating the current speed of the detection vehicle body according to the tire position through the linkage controller; the driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror; the motor is connected with the rotating shaft in a driving mode, the rotating shaft is fixedly connected with the reflecting body, and the reflecting mirror is arranged on the surface of the reflecting body, so that when the motor rotates, the rotating shaft is driven to rotate, and the reflecting body is driven to rotate, so that the angle formed by the plane of the reflecting mirror and the shooting direction of the shooting camera is continuously changed; the shooting mechanism further comprises a position encoder used for measuring the tire position of the detection vehicle body, a position sensor used for sensing the reading of the position encoder and a linkage controller, wherein the position sensor is electrically connected with the linkage controller, and the linkage controller is electrically connected with the motor.
The trigger module includes:
the signal generating module is used for generating a trigger signal when the trigger sensor senses the induction strip; wherein the reflector body has a plurality of axial surfaces, each of the axial surfaces being provided with the reflector; the induction piece is arranged between every two adjacent axial surfaces;
the photographing triggering module is used for triggering the photographing camera to photograph according to the triggering signal; wherein the shooting direction of the shooting camera is the radial direction of the reflecting body;
the photographing triggering module comprises:
the exposure execution sub-module is used for controlling the shooting camera to execute preset exposure setting according to the trigger signal so as to enable the shooting camera to be exposed when aiming at the current reflector;
and the photographing control sub-module is used for controlling the photographing camera to photograph in the exposure process.
In one aspect, a computer-readable storage medium is provided, wherein the storage medium has a plurality of instructions stored therein, and the instructions are adapted to be loaded by a processor to execute one of the above-mentioned specular reflection photographing methods.
The invention has the beneficial effects that: by utilizing the mirror reflection principle, the continuous visual tracking photographing can be realized without moving the camera only by rotating the reflector, and the dynamic photographing performance can be improved by obviously reducing the smear influence in the moving photographing process by matching with the area array camera. The system has the advantages of simplicity, easiness in installation and maintenance, low cost and easiness in adapting to the area-array cameras of different models.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of a prior art inspection vehicle photographing a lining surface of a tunnel during traveling;
FIG. 2 is a diagram illustrating a tunnel detection surface shot in a moving state according to the prior art;
fig. 3 is a schematic diagram of changing a photographing direction of a camera to keep a photographing position constant in a moving state of the related art;
FIG. 4 is a flowchart of a mirror reflection photographing method according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a camera moving state in which a shooting direction of the camera is changed to keep a shooting position unchanged;
FIG. 6 is a schematic structural diagram of a mirror-reflected camera according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a trigger of a camera according to an embodiment of the present invention;
FIG. 8 is a perspective view of an inspection vehicle according to one embodiment of the present invention;
fig. 9 is a sectional view of an inspection vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present disclosure, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Referring to fig. 4, fig. 4 is a flowchart of a mirror reflection photographing method according to an embodiment of the present invention, where the mirror reflection photographing method is implemented by using a mirror reflection photographing mechanism 100.
Referring to fig. 5, fig. 5 is a schematic diagram of changing the shooting direction of the camera to keep the shooting position unchanged in the moving state according to an embodiment of the present invention, in the present invention, a position encoder 91 is skillfully used to detect the rotation angle of the wheel, a synchronous control motor 211 is used to control two rotating mirror 222 surface sets with different phases, and the reflection principle is used to keep the angle of view of a certain tunnel lining shot by a fixed camera at a certain angle unchanged. By utilizing the mirror reflection principle, the effect of continuous visual tracking photographing can be realized without moving the camera only by rotating the reflector 222, and meanwhile, the influence of photographing smear can be obviously reduced by matching with an area array camera, and the dynamic photographing performance is further improved. The system has the characteristics of simplicity, easiness in installation and maintenance and strong practicability, and can adapt to area-array cameras with different performance parameters. The camera and the shooting device thereof move along with the detection vehicle to shoot, the reflection angle of the reflector 222 is adjusted in a rotating mode in the shooting process and is always aligned with the same shooting area to be fixed, and the position of the visual range of tracking shooting is kept unchanged, so that the smear cannot be generated.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a mirror-reflection shooting mechanism 100 according to an embodiment of the present invention, where the mirror-reflection shooting mechanism 100 includes a shooting camera 1, a reflection mechanism 2, a trigger device 3, a camera mounting base 4, a bearing seat 5, a sensing mounting base 6, a motor mounting base 7, a mounting base plate 8, a position encoder 91 for measuring a tire position of a detection vehicle body 200, a position sensor 92 for sensing a reading of the position encoder 91, and a linkage controller 93.
The shooting camera 1 is arranged on the inspection vehicle body 200; the reflecting mechanism 2 comprises a driving device 21 and a reflecting device 22, the driving device 21 is arranged on the inspection vehicle body 200 and is arranged close to the shooting camera 1, the driving device 21 is rotatably connected to the reflecting device 22 to drive the reflecting device 22 to rotate, and a mirror surface is arranged on the surface of the reflecting device 22; the triggering device 3 comprises a triggering sensor 31 and a sensing piece 32, the triggering sensor 31 is electrically connected with the shooting camera 1, the sensing piece 32 is arranged on the reflecting device 22, and when the driving device 21 rotates, the triggering sensor 31 senses the sensing strip to trigger the shooting camera 1 to shoot facing the mirror surface. The driving device 21 comprises a motor 211 and a rotating shaft 212, and the reflecting device 22 comprises a reflecting body 221 and a reflecting mirror 222; the motor 211 is connected to the rotating shaft 212 in a driving manner, the rotating shaft 212 is fixedly connected to the reflection body 221, and the reflector 222 is disposed on the surface of the reflection body 221, so that when the motor 211 rotates, the rotating shaft 212 is driven to rotate, and the reflection body 221 is driven to rotate, so that an angle formed by a plane of the reflector 222 and a shooting direction of the shooting camera 1 is continuously changed. The reflecting body 221 has a plurality of axial surfaces, each of which is provided with the sensing element 32. The induction member 32 is disposed between each two adjacent axial surfaces.
Referring to fig. 7, fig. 7 is a schematic triggering diagram of the shooting camera 1 according to an embodiment of the present invention, a shooting direction and a shooting position of the shooting camera 1 are kept unchanged, and are directly opposite to the lenses of the rotating reflector 222 that are arranged in a staggered manner, when shooting, the rotating shaft 212 is rotated to drive the reflector 222 to rotate, when the next position sensing component 32 triggers a sensing signal, the shooting camera 1 shoots a next picture again, and through the continuous rotation of the rotating shaft 212, the shooting camera 1 continuously shoots a dynamic picture through the reflector 222, so that a phenomenon of dragging does not occur. Referring to fig. 5 and 8, fig. 8 is a perspective view of the inspection vehicle according to an embodiment of the present invention, in the process of the inspection vehicle moving, the rotating shaft 212 rotates synchronously, and when the rotating shaft rotates to the triggering position, the sensing element 32 at the position enables the triggering sensor 31 to generate a photographing triggering signal to trigger the photographing camera 1 to photograph. The trigger time and the exposure time delay of the shooting camera 1 are set to trigger the shooting time of the camera that the new mirror surface just rotates to the front of the lens, before the exposure is ended, the current lens is still the current mirror surface, and the current mirror surface is not switched to the next mirror surface by rotating.
Wherein, the trigger sensor 31 is used with the sensing piece 32. If the trigger sensor 31 uses a reflective position sensor, the corresponding sensing element 32 needs to use a reflective strip; if the trigger sensor 31 uses a magnetic induction type position sensor, the corresponding sensing member 32 needs to use a magnetic strip. The sensing members 32 are fixedly disposed on the reflecting body 221 at symmetrical positions, the reflecting body 221 may be shaped as a polygonal cylinder having a plurality of sides, each side is provided with a reflecting mirror 222, and the sensing members 32 are disposed between every two adjacent sides. Preferably, each shooting camera 1 corresponds to only one trigger sensor 31, and the position is adjustable.
The driving device 21 further includes a coupler 213 connected between the motor 211 and the rotating shaft 212, the rotating shaft 212 is axially connected to the reflection body 221, and the rotating shaft 212 and the coupler 213 are both disposed on the axis of the reflection body 221. The camera mounting base 4 is fixed on the inspection vehicle body 200 through the mounting base plate 8, and the shooting direction of the shooting camera 1 is set to be the radial direction of the reflection body 221. Bearing frame 5 swing joint in pivot 212, sensing installation base 6 is fixed trigger sensor 31, motor installation base 7 is fixed motor 211, mounting plate 8 are fixed in detect car body 200, sensing installation base 6 is fixed in on the bearing frame 5, bearing frame 5 and motor installation base 7 is fixed in on the mounting plate 8.
The shooting camera 1 is installed on the installation bottom plate 8 through the camera installation base 4, the motor 211, the bearing seat 5 and the camera installation base 4 are all fixed on the installation bottom plate 8 through bolts, and the installation bottom plate 8 is fixed on the detection vehicle body 200 through bolts.
The shooting cameras 1 and the reflecting mechanisms 2 are arranged in plurality; the motor 211 is drivingly connected to the rotating shafts 212 of the plurality of reflection mechanisms 2, and the shooting directions of the plurality of shooting cameras 1 are respectively set to be radial directions of the reflection bodies 221 of the plurality of reflection mechanisms 2.
However, the operation principle is the same, and the design is not limited to two imaging cameras 1, and may be a design of a plurality of or more than two rotary imaging mechanisms 100. The plurality of shooting cameras 1 share one rotating shaft 212, the rotating phase and the shooting trigger time can be reasonably staggered, and the better effect of continuous shooting coverage can be obtained through interactive shooting.
The position sensor 92 is electrically connected to the linkage controller 93, and the linkage controller 93 is electrically connected to the motor 211.
The motion parameters of the position encoder 91 on the wheel shaft are measured by the position sensor 92 and are uploaded to the linkage controller 93 through the optical cable 300, the linkage controller 93 sends an instruction to the motor 211 after data integration, the motor 211 drives the rotating shaft 212 through the coupler 213 to rotate the two reflecting mechanisms 2 which are arranged on the rotating shaft 212 in a staggered manner at a speed matched with the traveling speed of the detection vehicle, when an induction strip at the peripheral position of the reflecting mirror 222 is close to or covers the trigger sensor 31, a trigger induction signal is generated, and meanwhile, the shooting camera 1 is triggered to shoot. After the test is started, the detection vehicle advancing mechanism is linked with the rotating shaft 212, the trigger sensor 31 is started, the shooting camera 1 is opened, and the shooting triggering mode of the camera is set as external triggering. When the test is finished, the linkage of the rotating shaft 212 is closed, and the trigger sensor 31, the position sensor 92 and the shooting camera 1 are closed.
Wherein, pivot 212 linkage explains: the rotation of the rotating shaft 212 is synchronous with the advance of the detection vehicle, so that the uniform and continuous coverage of the detected surface by photographing can be ensured, and the best dynamic tracking effect is achieved. Compared with a linkage implementation method using a mechanical transmission device, the device vibration is easily caused, as the advancing driving part of the detection vehicle is arranged at the bottom of the vehicle, the photographing part is arranged at the top of the vehicle, the distance position is far away, the device arrangement is not facilitated, the parameter adjustment is inconvenient and flexible, the position encoder 91 is used for sensing the advancing state of the detection vehicle, the mode that the rotating shaft 212 is adjusted to synchronously rotate by controlling the motor 211 according to the sensing parameter of the position encoder 91 is easier to realize, the parameter adjustment is more flexible, and the position of the detection vehicle is convenient to mark, so that the detection vehicle is taken as an optimal scheme. As shown in fig. 9, fig. 9 is a cross-sectional view of a detection vehicle according to an embodiment of the present invention, a position encoder 91 is used for detecting a rotation state parameter of a driving wheel of the detection vehicle, and after receiving and processing the rotation parameter of the position encoder 91, a linkage controller 93 adjusts a rotation parameter of a rotating shaft 212 by controlling a motor 211, so as to realize rotation linkage of the rotating shaft 212 and the driving wheel of the detection vehicle. The linkage controller 93 may be integrated with a camera picture processing controller, so that it is convenient to integrate the moving position information of the inspection vehicle in the photographed picture, and to correspond the photographed picture to the inspection position.
Referring to fig. 8 to 9, the inspection vehicle includes a vehicle body 200 and a mirror-reflected photographing mechanism 100.
The method is characterized in that a linkage mechanism is utilized, so that two (not limited to two) rotating octagonal mirror surfaces which are arranged in a staggered mode (not limited to an octagonal mode) are utilized, and a camera realizes continuous position dynamic tracking shooting through a mirror reflection principle. The position encoders 91 respectively arranged on the rotating surface of the wheel shaft and the side surface of the rotating mirror shaft are used for detecting the rotation state parameters of the driving wheel of the detection vehicle, the angular speed of the mirror transmission shaft is equal to the angular speed of the detection wheel through the controller, the shot tunnel lining leakage picture is kept still, and a relatively static clear picture can be shot.
The mirror reflection shooting method comprises the following steps of S1-S2:
s1, driving the reflecting device 22 to rotate through the driving device 21; step S1 includes steps S11-S12:
s11, acquiring the current speed of the detection vehicle body 200; step S11 includes steps S111-S113:
and S111, sensing the reading of the position encoder 91 through the position sensor 92 to acquire the tire position information of the detection vehicle body 200.
In this embodiment, the position encoder 91 is used to detect the rotation state parameters of the driving wheel of the detection vehicle, and the linkage controller 93 adjusts the rotation parameters of the rotating shaft 212 by controlling the motor 211 after receiving and processing the rotation parameters of the position encoder 91, so as to realize the rotation linkage of the rotating shaft 212 and the driving wheel of the detection vehicle.
And S112, sending the tire position information to the linkage controller 93.
And S113, calculating the current speed of the detection vehicle body 200 through the linkage controller 93 according to the tire position.
In this embodiment, the linkage controller 93 may be integrated with a camera image processing controller, so that the moving position information of the inspection vehicle may be conveniently integrated into the shot image, and the shot image may be corresponded to the inspection position.
And S12, controlling the rotating speed of the reflecting device 22 according to the current speed.
In this embodiment, the rotation speed of the motor 211 is controlled according to the current speed to rotate the reflection body 221 according to the rotation speed.
S2, the induction strip 32 is induced through the trigger sensor 31 to trigger the shooting camera 1 to shoot facing the mirror surface. Step S2 includes steps S21-S22:
and S21, generating a trigger signal when the trigger sensor 31 senses the induction strip 32.
And S22, triggering the shooting camera 1 to shoot according to the trigger signal. Step S22 includes steps S221-S222:
s221, controlling the shooting camera 1 to execute a preset exposure setting according to the trigger signal, so that the shooting camera 1 exposes when aiming at the current mirror 222.
In this embodiment, the shooting time is that the new mirror surface just rotates to the front of the lens, the current lens before the exposure is ended is still the current mirror surface, and the rotation is not started to switch to the next mirror surface.
And S222, controlling the shooting camera 1 to shoot in the exposure process.
In one aspect, a mirror reflection imaging apparatus is provided, in which a mirror reflection imaging method is implemented by using a mirror reflection imaging mechanism 100, and the imaging apparatus includes:
a driving module, configured to drive the reflecting device 22 to rotate through the driving device 21;
and the triggering module is used for sensing the sensing strip 32 through the triggering sensor 31 so as to trigger the shooting camera 1 to shoot facing the mirror surface.
The driving module includes:
a speed obtaining module, configured to obtain a current speed of the detection vehicle body 200;
a rotation control module for controlling the rotation speed of the reflecting device 22 according to the current speed.
The speed acquisition module comprises:
a reading sensing sub-module for sensing the reading of the position encoder 91 through the position sensor 92 to obtain the tire position information of the detection vehicle body 200;
an information sending sub-module for sending the tire position information to the linkage controller 93;
and the speed calculation submodule is used for calculating the current speed of the detection vehicle body 200 according to the tire position through the linkage controller 93.
The trigger module includes:
a signal generating module, configured to generate a trigger signal when the trigger sensor 31 senses the sensor strip 32;
the shooting triggering module is used for triggering the shooting camera 1 to shoot according to the triggering signal;
the photographing triggering module comprises:
an exposure execution sub-module, configured to control the shooting camera 1 to execute a preset exposure setting according to a trigger signal, so that the shooting camera 1 is exposed when aiming at the current mirror 222;
and the photographing control sub-module is used for controlling the photographing camera 1 to photograph in the exposure process.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor. To this end, embodiments of the present invention provide a storage medium having stored therein a plurality of instructions, which can be loaded by a processor to perform any of the steps in the method for capturing images of specular reflection provided by embodiments of the present invention.
Wherein the storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the storage medium can execute the steps in any one of the mirror reflection photographing methods provided by the embodiments of the present invention, the beneficial effects that can be achieved by any one of the mirror reflection photographing methods provided by the embodiments of the present invention can be achieved, which are detailed in the foregoing embodiments and will not be described again here.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A mirror reflection shooting method is achieved by adopting a shooting mechanism, the shooting mechanism comprises a shooting camera, a reflection mechanism and a trigger device, the shooting camera is arranged on a detection vehicle body, the reflection mechanism comprises a driving device and a reflection device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotatably connected to the reflection device, a mirror surface is arranged on the surface of the reflection device, the trigger device comprises a trigger sensor and a sensing piece, the trigger sensor is electrically connected with the shooting camera, and the sensing piece is arranged on the reflection device;
the shooting method is characterized by comprising the following steps:
driving the reflecting device to rotate through the driving device;
the induction strip is inducted through the trigger sensor to trigger the shooting camera to shoot towards the mirror surface.
2. The shooting method according to claim 1, wherein the driving the reflection device to rotate by the driving device includes:
acquiring the current speed of the detection vehicle body;
controlling the rotation speed of the reflecting device according to the current speed.
3. The shooting method according to claim 2, wherein the obtaining of the current speed of the detection vehicle body comprises:
sensing the reading of the position encoder through a position sensor to acquire the tire position information of the detection vehicle body;
transmitting the tire position information to a linkage controller;
calculating the current speed of the detection vehicle body according to the tire position through a linkage controller; the driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror; the motor is connected with the rotating shaft in a driving mode, the rotating shaft is fixedly connected with the reflecting body, and the reflecting mirror is arranged on the surface of the reflecting body, so that when the motor rotates, the rotating shaft is driven to rotate, and the reflecting body is driven to rotate, so that the angle formed by the plane of the reflecting mirror and the shooting direction of the shooting camera is continuously changed; the shooting mechanism further comprises a position encoder used for measuring the tire position of the detection vehicle body, a position sensor used for sensing the reading of the position encoder and a linkage controller, wherein the position sensor is electrically connected with the linkage controller, and the linkage controller is electrically connected with the motor.
4. The shooting method according to claim 3, wherein the sensing bar by the trigger sensor to trigger the shooting camera to shoot facing the mirror surface comprises:
when the trigger sensor senses the induction strip, generating a trigger signal; wherein the reflector body has a plurality of axial surfaces, each of which is provided with the reflector; the induction piece is arranged between every two adjacent axial surfaces;
triggering the shooting camera to shoot according to the trigger signal; wherein, the shooting direction of the shooting camera is the radial direction of the reflection body.
5. The shooting method according to claim 4, wherein the triggering the shooting camera to take a picture according to the trigger signal comprises:
controlling the shooting camera to execute preset exposure setting according to a trigger signal so that the shooting camera is exposed when aiming at the current reflector;
and controlling the shooting camera to take a picture in the exposure process.
6. A mirror reflection shooting device is realized by adopting a shooting mechanism, the shooting mechanism comprises a shooting camera, a reflecting mechanism and a triggering device, the shooting camera is arranged on a detection vehicle body, the reflecting mechanism comprises a driving device and a reflecting device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotationally connected with the reflecting device, a mirror surface is arranged on the surface of the reflecting device, the triggering device comprises a triggering sensor and a sensing piece, the triggering sensor is electrically connected with the shooting camera, and the sensing piece is arranged on the reflecting device;
characterized in that the photographing apparatus includes:
the driving module is used for driving the reflecting device to rotate through the driving device;
the triggering module is used for triggering the shooting camera to shoot towards the mirror surface by the induction strip induced by the triggering sensor.
7. The camera of claim 6, wherein the driving module comprises:
the speed acquisition module is used for acquiring the current speed of the detection vehicle body;
and the rotation control module is used for controlling the rotation speed of the reflecting device according to the current speed.
8. The camera of claim 7, wherein the speed acquisition module comprises:
the reading sensing sub-module is used for sensing the reading of the position encoder through a position sensor so as to acquire the tire position information of the detection vehicle body;
the information sending submodule is used for sending the tire position information to the linkage controller;
the speed calculation submodule is used for calculating the current speed of the detection vehicle body according to the tire position through the linkage controller; the driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror; the motor is connected with the rotating shaft in a driving mode, the rotating shaft is fixedly connected with the reflecting body, and the reflecting mirror is arranged on the surface of the reflecting body, so that when the motor rotates, the rotating shaft is driven to rotate, and the reflecting body is driven to rotate, so that the angle formed by the plane of the reflecting mirror and the shooting direction of the shooting camera is continuously changed; the shooting mechanism further comprises a position encoder used for measuring the tire position of the detection vehicle body, a position sensor used for sensing the reading of the position encoder and a linkage controller, wherein the position sensor is electrically connected with the linkage controller, and the linkage controller is electrically connected with the motor.
9. The camera of claim 8, wherein the triggering module comprises:
the signal generating module is used for generating a trigger signal when the trigger sensor senses the induction strip; wherein the reflector body has a plurality of axial surfaces, each of which is provided with the reflector; the induction piece is arranged between every two adjacent axial surfaces;
the shooting triggering module is used for triggering the shooting camera to shoot according to the triggering signal; wherein the shooting direction of the shooting camera is the radial direction of the reflecting body;
the photographing triggering module comprises:
the exposure execution sub-module is used for controlling the shooting camera to execute preset exposure setting according to the trigger signal so as to enable the shooting camera to be exposed when aiming at the current reflector;
and the photographing control sub-module is used for controlling the photographing camera to photograph in the exposure process.
10. A computer-readable storage medium having stored thereon instructions adapted to be loaded by a processor to perform a specular reflection photography method according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210875581.8A CN115268183A (en) | 2022-07-21 | 2022-07-21 | Mirror reflection shooting method and device and computer readable storage medium |
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| CN202210875581.8A CN115268183A (en) | 2022-07-21 | 2022-07-21 | Mirror reflection shooting method and device and computer readable storage medium |
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| KR100690083B1 (en) * | 2006-08-18 | 2007-03-08 | 주식회사 지니언 | Apparatus for omnidirectional image photographing of tube type structure |
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| CN113315920A (en) * | 2021-07-29 | 2021-08-27 | 深圳市永达电子信息股份有限公司 | Shooting mechanism and detection vehicle |
| CN216531542U (en) * | 2022-01-05 | 2022-05-13 | 中国铁建重工集团股份有限公司 | Rotating mirror type image acquisition device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100690083B1 (en) * | 2006-08-18 | 2007-03-08 | 주식회사 지니언 | Apparatus for omnidirectional image photographing of tube type structure |
| CN203117363U (en) * | 2013-01-06 | 2013-08-07 | 苏州华兴致远电子科技有限公司 | Image collection system and contact system detection system |
| CN113315920A (en) * | 2021-07-29 | 2021-08-27 | 深圳市永达电子信息股份有限公司 | Shooting mechanism and detection vehicle |
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