CN115902904A - Image data acquisition method and device based on dynamic identification - Google Patents
Image data acquisition method and device based on dynamic identification Download PDFInfo
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Abstract
The invention relates to the technical field of monitoring, in particular to an image data acquisition method and equipment based on dynamic identification, which comprises the following steps: s1: detecting airborne foreign matters simultaneously through a laser sensor and an ultrasonic sensor, and respectively generating first ranging data and second ranging data; s2: the first ranging data and the second ranging data are mutually verified to form a ranging data group; s3: removing the ranging data with large deviation in the ranging data group after filtering the ranging data group; s4: extracting 3 minimum values from the filtered ranging data group, and averaging to obtain the shortest distance of the target object; s5: whether the driving equipment is started or not is judged from the shortest distance, and the situation that birds often enter the sight of the monitoring device after nesting to further influence the normal use of the monitoring device is avoided.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to an image data acquisition method and device based on dynamic identification.
Background
The monitoring system is one of the most applied systems in the security system, and video monitoring is the mainstream at present. For example, the security monitoring system is an independent complete system which is formed by transmitting video signals in a closed loop by using optical fibers, coaxial cables or microwaves and performing image shooting, image display and image recording. The system can reflect the monitored object in real time, vividly and truly, not only greatly prolongs the observation distance of human eyes, but also enlarges the functions of the human eyes, can replace manpower to carry out long-time monitoring in severe environment, enables people to see all the actual conditions of the monitored site, and records the actual conditions through the monitoring video recorder. Meanwhile, the alarm system equipment alarms the illegal intrusion, the generated alarm signal is input into the alarm host, and the alarm host triggers the monitoring system to record the video.
Because the monitoring device is generally arranged at a higher position, birds are easy to stay, the excrement of the birds can be caused to appear on the surface of the monitoring device, the excrement of the birds is acidic and has certain corrosivity, the surface of the camera is easy to spray and drop, and nesting is more likely to be carried out on the monitoring device.
Disclosure of Invention
The invention aims to provide an image data acquisition method and equipment based on dynamic identification, which are used for solving the problems.
The invention is realized by the following technical scheme:
an image data acquisition method based on dynamic identification comprises the following steps:
s1: simultaneously detecting the foreign matters in the air by a laser sensor and an ultrasonic sensor to respectively generate first ranging data and second ranging data;
s2: the first ranging data and the second ranging data are mutually verified to form a ranging data group;
s3: removing the ranging data with large deviation in the ranging data group after filtering the ranging data group;
s4: extracting 3 minimum values from the filtered ranging data group, and averaging to obtain the shortest distance of the target object;
s5: and judging whether to start the driving device or not from the shortest distance.
Further, the following substeps are also included in S2:
s21: if the laser sensor and the ultrasonic sensor do not measure the null simultaneously, mutually verifying the first ranging data and the second ranging data;
s22: if the deviation of the first ranging data and the second ranging data is smaller than the check threshold value, the first ranging data and the second ranging data are effective ranging values; and if the deviation of the first ranging data and the second ranging data is larger than the check threshold, extracting small ranging data from the first ranging data and the second ranging data to serve as the current ranging value.
Further, the method in S5 further includes the steps of:
s51: if the shortest distance is smaller than the distance threshold, acquiring an image of the aerial foreign matter through image acquisition equipment;
s52: carrying out edge detection algorithm processing on the aerial foreign body image to obtain a boundary contour of the aerial foreign body;
s53: and judging whether to start the driving equipment or not by identifying the target object of the boundary outline.
Furtherly, drive arrangement includes the surveillance camera head, can dismantle on the top casing of surveillance camera head and be connected with fixed box, and the bottom of fixed box is equipped with the motor, and the output of motor is connected with the removal post, removes the fixed expansion board that is provided with on the post, is equipped with a plurality of head rod on the expansion board, is provided with the second connecting rod on every head rod perpendicularly.
Furthermore, still fixedly on fixed box is provided with the dead lever, fixedly on the dead lever be provided with first place the box, first through-hole has been seted up on first place the box, second through-hole has been seted up to the bottom of first place the box, be equipped with the guide bar in the first place the box, be equipped with the removal subassembly that can drive the guide bar and reciprocate on the removal post, the guide bar passes outside extension behind the second through-hole, the extension end fixedly connected with of guide bar scrapes the dirt brush, set up on the casing and scrape the first through-hole of dirt brush matched with, still fixedly be provided with the connecting box that is linked together with first through-hole on the casing, be equipped with the second through-hole with guide bar matched with on the connecting box, under the initial condition, it arranges in the connecting box to scrape the dirt brush.
Further, the removal subassembly includes that it is sinusoidal first spout to set up a plurality of intercommunication on the outer wall of removal post, the bottom of putting box inner wall is equipped with compression spring at first, the compression spring cover is established on the outer wall of guide bar, the tip that the dirt brush was kept away from to the guide bar is equipped with the guide block, outside the second through-hole was arranged in to the guide block part, and be equipped with the second on the guide block and place the box, place the box in the second and be equipped with the pneumatic cylinder, the fixed slip post that is provided with of output of pneumatic cylinder, the slip post cooperatees with first spout.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention adopts the combination of the laser sensor and the ultrasonic sensor to measure the distance of birds in the air, the distance measurement is carried out through the combination of the laser sensor and the ultrasonic sensor, in order to improve the precision and the reliability of the distance measurement, the distance measurement values of the laser sensor and the ultrasonic sensor are mutually verified, after the distance measurement at each sampling moment is finished, if the laser sensor and the ultrasonic sensor are not simultaneously empty-measured, the distance measurement values of the laser sensor and the ultrasonic sensor are mutually verified, and if the deviation of the first distance measurement data and the second distance measurement data is less than a verification threshold value, the first distance measurement data and the second distance measurement data are effective distance measurement values; if the deviation of the first distance measurement data and the second distance measurement data is larger than the check threshold value, small distance measurement data in the first distance measurement data and the second distance measurement data is taken as a distance measurement value of this time, so that the empty measurement value can be filtered when 1 of 2 sensors is empty, and an effective distance measurement value is reserved;
2. according to the invention, the motor is started intermittently by setting a time period every day, for example, the motor is started every 5 hours for 10 seconds, after the motor is started, the guide rod is driven by the moving assembly to move up and down, the dust scraping brush is initially arranged in the connecting box, so that the camera cannot be interfered, the guide rod drives the dust scraping brush to clean the mirror surface of the camera, and the phenomenon that water stains are formed on the mirror surface by small raindrops or dust is attached to the mirror surface of the camera, so that the blurring is caused is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic representation of bird ranging of the present invention;
FIG. 3 is a front view of the drive apparatus of the present invention;
FIG. 4 is a cross-sectional view of the mounting box of the present invention;
fig. 5 is a cross-sectional view of another structure of the present invention.
Reference numbers and corresponding part names in the drawings:
1-a shell; 2-fixing the box; 3, a motor; 4-moving the column; 5-an expansion board; 6-a first connecting rod; 7-a second connecting rod; 8-fixing the rod; 9-a first storage box; 10-a first via; 11-a sliding post; 12-a guide bar; 13-a dust scraping brush; 14-a junction box; 15-a first through hole; 16-a second through hole; 17-a first runner; 18-a compression spring; 19-fast boot; 20-a second housing box; 21-hydraulic cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
as shown in fig. 1 to 5, an image data acquisition method based on dynamic recognition includes the following steps:
s1: simultaneously detecting the foreign matters in the air by a laser sensor and an ultrasonic sensor to respectively generate first ranging data and second ranging data;
s2: the first ranging data and the second ranging data are mutually verified to form a ranging data group;
s3: filtering the ranging data group, and removing the ranging data with large deviation in the ranging data group;
s4: averaging 3 minimum values in the filtered ranging data group to obtain the shortest distance;
s5: and judging whether to start the driving equipment or not from the shortest distance.
It should be noted that the step S2 further includes the following substeps:
s21: if the laser sensor and the ultrasonic sensor do not measure the null simultaneously, mutually verifying the first ranging data and the second ranging data;
s22: if the deviation of the first ranging data and the second ranging data is smaller than the check threshold, the first ranging data and the second ranging data are effective ranging values; and if the deviation of the first ranging data and the second ranging data is larger than the check threshold, taking the small ranging data in the first ranging data and the second ranging data as the ranging value of this time.
In addition, S5 further includes the following steps:
s51: if the shortest distance is smaller than the distance threshold, acquiring an image of the foreign matter in the air by using an image acquisition sensor;
s52: carrying out edge detection algorithm processing on the aerial foreign body image to obtain a boundary contour of the aerial foreign body;
s53: and judging whether to start the driving device or not by identifying the target object of the boundary contour.
Because the monitoring device is generally arranged at a higher position, birds are easy to stay, the excrement of the birds can be caused to appear on the surface of the monitoring device, the excrement of the birds is acidic and has certain corrosivity, the surface of the camera is easy to spray and drop, nesting can be more likely to be carried out on the monitoring device, usually, the birds often hold branches, weeds and the like to be used as nesting materials when nesting, the birds often enter the sight of the monitoring device after nesting, and the normal use of the monitoring device is further influenced.
The invention adopts the laser sensor and the ultrasonic sensor to measure the distance of the birds in the air, if the distance measurement range is reduced and the precision is reduced in a strong light environment by using the laser sensor alone, the distance measurement can not be effectively measured, so the reliability of the distance measurement by using the laser sensor is not high, and the precision is difficult to ensure; if the ultrasonic ranging is used alone, the range finding accuracy is high without being affected by light, but the response time is related to the measured distance, and the range finding failure is easily caused by the fact that the reflected wave cannot be received for an object with a small reflection surface. Therefore, the combination of the laser and the ultrasonic sensor can be used for ranging birds in the air.
Suppose birds move towards surveillance camera head department, then laser or ultrasonic sensor are located a straight line at different moments or after ultrasonic sensor detected the signal, and laser sensor ray removes towards the signal after ultrasonic sensor discernment, carries out accurate positioning to it, records the distance with birds that n moments were surveyed in the cycle of measuring distance as d 1 、d 2 、...、d n Wherein: d is a radical of 1 Measuring the distance between a monitoring camera and birds for the 1 st time when a sensor enters a measurable area; d n The distance between the monitoring camera and the birds is measured finally in the measurable area for the sensor. In addition, if the distance measuring sensor is not within the measurable area of the bird (e.g., d) 0 、d n+1 ) And outputting a specific time pulse or numerical value when the birds cannot be detected, wherein the sensor is in an empty detection state, and judging the beginning and the end of the bird distance measurement period according to whether the laser sensor and the ultrasonic sensor simultaneously detect the empty.
Normally, the laser and ultrasonic sensors are very close to the range measurement value of the bird at the same time. However, due to the fact that the emitting angles of the ranging signals of the laser and the ultrasonic sensor are different, the ranging precision is affected by the irregular movement factor of the birds, so that the distance measured by the laser and the distance measured by the ultrasonic sensor at certain moments may have large deviation, and the empty measurement state can occur. Therefore, in order to improve the ranging accuracy and reliability, the ranging values of the two are checked against each other. After ranging at each sampling moment is finished, if the laser sensor and the ultrasonic sensor are not empty, the ranging values of the laser sensor and the ultrasonic sensor are checked with each other. If the deviation of the first ranging data and the second ranging data is smaller than the check threshold value, the first ranging data and the second ranging data are effective ranging values; and if the deviation of the first ranging data and the second ranging data is larger than the check threshold, taking the small ranging data in the first ranging data and the second ranging data as the ranging value of this time. Empty value can be surveyed in the filtration of having 1 to survey when empty in 2 sensors, and keeps effectual range finding value, gets the accuracy of little to detecting bird distance stronger when 2 sensors's range finding data have great deviation.
In the distance measurement period, although birds irregularly move, when flying to a certain target in a short distance, the birds have a relative linear track, deviation cannot be generated, and the positions of the birds relative to the straight line where the laser and the ultrasonic sensor are located are unchanged, so that the shortest distance from the contour line of the body of the birds to the straight line where the distance measurement sensor is located is the shortest distance between the monitoring camera and the birds, and the ultrasonic sensor and the laser sensor are both arranged on the monitoring camera.
Because the laser beam and the ultrasonic ranging signal both have horn-shaped emission angles, the boundary signal of the laser and the ultrasonic is reflected by birds in advance, so that the actual measurement distance is smaller than the real distance, and the circular function characteristic is not met. In order to find a curve suitable for the actually measured distance measuring data, a plurality of times of experimental analysis are carried out, and the fact that the actually measured distance measuring data of the birds are relatively consistent with the curve characteristics of a quadratic polynomial is found, as shown in fig. 2, so that the quadratic polynomial is selected to be matched with the actually measured distance measuring data of the birds.
Serializing n ranging data of birds measured by laser and ultrasonic sensors into a two-dimensional array, namely { (k, d) k ) I k =1,2, ·, n }, wherein d is k Indicating the ranging value at the kth time. The quadratic polynomial function that fits the distance array is:
in the formula, a, b and c are quadratic polynomial coefficients to be determined.
According to the characteristics of the distance array, the least square method is suitable for solving the coefficient of the quadratic polynomial, so that the calculation expressions of the coefficients a, b and c obtained based on the least square method are as follows:
coefficients a, b, c can be obtained from equations (2) to (4), thereby determining a quadratic polynomial (1) fitting the bird ranging data set.
The distance from the vertex of the quadratic polynomial fitting curve to the straight line where the distance measuring sensor is located is the shortest distance between the monitoring camera and the birds, and therefore the minimum value in the distance measuring data meeting the fitting curve can be taken as the shortest distance between the monitoring camera and the birds. The range finding data of surveying birds under ideal circumstances satisfies quadratic polynomial characteristic, nevertheless has birds flight more than in the air, and other insects appear still, especially sets up the surveillance camera head on the light pole, and the insect has phototaxis, and the interference to the surveillance camera head is stronger for unsatisfied quadratic polynomial characteristic. Therefore, in order to accurately obtain the shortest distance from the monitoring camera to the birds to be detected, the distance measuring points with larger deviation must be filtered;
for the set filter threshold value delta, the distance measurement value d at the time k k Satisfies the following conditions:
then look at the distance measurement value d k The method is effective; otherwise, the range value with larger deviation is considered to be discarded.
And (5) filtering the measured ranging data to obtain a group of ranging data meeting fitting quadratic polynomial. In order to improve the reliability, the average value of the minimum 3 in the distance array after filtering is taken as the shortest distance from the monitoring camera to the birds.
In summary, after the distance measurement data from the monitoring camera to the birds, which are measured by the laser and the ultrasonic sensor at each moment, are mutually verified, a quadratic polynomial is adopted to carry out fitting by a least square method, then the distance is filtered based on the fitted quadratic polynomial and a set threshold value, the distance with larger deviation is removed, and then the average value of the minimum 3 distances is obtained to serve as the shortest distance from the monitoring camera to the birds.
Judging whether the detected shortest distance is within a distance threshold value, if so, triggering image acquisition equipment to acquire images, and carrying out edge detection and identification on the acquired images.
The utility model provides an image data collection equipment for based on dynamic identification, drive arrangement includes the surveillance camera head, can dismantle on the top casing 1 of surveillance camera head and be connected with fixed box 2, the bottom of fixed box 2 is equipped with motor 3, motor 3's output is connected with removes post 4, remove 4 activities of post and run through fixed box 2 back to outer extension, the fixed expansion board 5 that is provided with of extension of removing post 4, be equipped with a plurality of head rod 6 on the expansion board 5, be provided with second connecting rod 7 on every head rod 6 perpendicularly. According to the bird repelling device, the motor 3 is started after the driving signal is received, the motor 3 drives the moving column 4 to rotate, the expansion plate 5 on the moving column 4 drives the first connecting rod 6 to rotate, the bird repelling device has a function of repelling birds, and the birds see static things to rotate suddenly and change directions, so that the situation that the birds bump into a camera to drop due to a shock is avoided, a safe distance threshold value is set for the birds, and the birds enter the safe distance threshold value, can react for a certain time and avoid being impacted.
It should be noted that a fixing rod 8 is further fixedly arranged on the fixing box 2, a first placing box 9 is fixedly arranged on the fixing rod 8, a first through hole 10 is formed in the first placing box 9, a second through hole is formed in the bottom of the first placing box 9, a guide rod 12 is arranged in the first placing box 9, a moving assembly capable of driving the guide rod 12 to move up and down is arranged on the moving column 4, the guide rod 12 extends outwards after penetrating through the second through hole, a dust scraping brush 13 is fixedly connected to an extending end of the guide rod 12, a first through hole 15 matched with the dust scraping brush 13 is formed in the shell 1, a connecting box 14 communicated with the first through hole 15 is further fixedly arranged on the shell 1, a second through hole 16 matched with the guide rod 12 is formed in the connecting box 14, and the dust scraping brush 13 is arranged in the connecting box 14 in an initial state.
Come to be interrupted starter motor 3 through setting up the time quantum every day, for example every 5h starter motor 3 rotates 10 seconds, motor 3 starts the back, carry out the removal from top to bottom through removing subassembly drive guide bar 12, scrape dirt brush 13 initial condition and arrange in connecting box 14, consequently can not cause the interference to its camera, guide bar 12 drives and scrapes dirt brush 13 and cleans the mirror surface of camera, avoid little raindrop to form water stain or dust attached to the camera mirror surface at the mirror surface, thereby lead to fuzzy, when scraping dirt brush 13 and stopping, be located connecting box 14.
It should be noted that, the removal subassembly includes that it is sinusoidal corrugated first spout 17 to set up a plurality of intercommunication on the outer wall of removal post 4, it is equipped with compression spring 18 to place the bottom of box 9 inner wall at first, compression spring 18 cover is established on the outer wall of guide bar 12, the tip that the dirt brush 13 was scraped to guide bar 12 is equipped with the guide block, outside the second through-hole was arranged in to the guide block part, and be equipped with the second on the guide block and place box 20, it is equipped with pneumatic cylinder 21 to place box 20 at the second, the fixed sliding column 11 that is provided with of output of pneumatic cylinder 21, sliding column 11 cooperatees with first spout 17.
When the guide rod 12 is not started, in an initial state, the sliding column 11 is not in contact with the first sliding groove 17, the hydraulic cylinder 21 is in signal connection with the controller, the controller is arranged on the monitoring camera, when the motor 3 is started, firstly, after the hydraulic cylinder 21 receives a trigger signal of the controller, the hydraulic cylinder 21 places the sliding column 11 in the first sliding groove 17, the motor 3 is started at the moment, the sliding column 11 is driven by the rotation of the moving column 4 to move up and down in the first sinusoidal sliding groove 17, therefore, the guide rod 12 also moves up and down in the vertical direction, so that the dust scraping brush 13 is driven to work, when the motor 3 stops, the initial position is the same as the initial position of the beginning, and at the moment, the hydraulic cylinder 21 retracts the sliding column 11 into the second placing box 20.
Example 2:
on the basis of the embodiment 1, there is another embodiment that the opposite inner walls of the first placing box 9 are respectively provided with a second sliding chute, and the guide block arranged in the first placing box 9 is provided with a sliding block matched with the second sliding chute. For maintaining stability of the guide rod moving up and down in the vertical direction.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An image data acquisition method based on dynamic identification is characterized by comprising the following steps:
s1: simultaneously detecting the foreign matters in the air by a laser sensor and an ultrasonic sensor to respectively generate first ranging data and second ranging data;
s2: the first ranging data and the second ranging data are mutually verified to form a ranging data group;
s3: removing the ranging data with large deviation in the ranging data group after filtering the ranging data group;
s4: extracting 3 minimum values from the filtered ranging data group, and averaging to obtain the shortest distance of the target object;
s5: and judging whether to start the driving device or not from the shortest distance.
2. The method for acquiring image data based on dynamic identification as claimed in claim 1, further comprising the following sub-steps in S2:
s21: if the laser sensor and the ultrasonic sensor do not measure the null simultaneously, mutually verifying the first ranging data and the second ranging data;
s22: if the deviation of the first ranging data and the second ranging data is smaller than the check threshold, the first ranging data and the second ranging data are effective ranging values; and if the deviation of the first ranging data and the second ranging data is larger than the check threshold, extracting small ranging data from the first ranging data and the second ranging data to serve as the current ranging value.
3. The method for acquiring image data based on dynamic identification as claimed in claim 1, further comprising the following steps in S5:
s51: if the shortest distance is smaller than the distance threshold, acquiring an image of the aerial foreign matter through image acquisition equipment;
s52: processing the aerial foreign body image by an edge detection algorithm to obtain a boundary outline of the aerial foreign body;
s53: and judging whether to start the driving equipment or not by identifying the target object of the boundary outline.
4. An image data acquisition device based on dynamic identification, the image data acquisition method based on any one of claims 1 to 3, characterized in that the driving device comprises a monitoring camera, a fixed box (2) is detachably connected to the top shell (1) of the monitoring camera, a motor (3) is arranged at the bottom of the fixed box (2), a movable column (4) is connected to the output end of the motor (3), an expansion plate (5) is fixedly arranged on the movable column (4), a plurality of first connecting rods (6) are arranged on the expansion plate (5), and a second connecting rod (7) is vertically arranged on each first connecting rod (6).
5. The image data acquisition equipment for dynamic identification as claimed in claim 4, wherein a fixing rod (8) is further fixedly arranged on the fixing box (2), a first placing box (9) is fixedly arranged on the fixing rod (8), a first through hole (10) is formed in the first placing box (9), a second through hole is formed in the bottom of the first placing box (9), a guide rod (12) is arranged in the first placing box (9), a moving assembly capable of driving the guide rod (12) to move up and down is arranged on the moving column (4), the guide rod (12) extends outwards after penetrating through the second through hole, a dust scraping brush (13) is fixedly connected to an extension end of the guide rod (12), a first through hole (15) matched with the dust scraping brush (13) is formed in the shell (1), a connecting box (14) communicated with the first through hole (15) is further fixedly arranged on the shell (1), a second through hole (16) matched with the guide rod (12) is arranged on the connecting box (14), and the dust scraping brush (13) is arranged in the connecting box (14) in an initial state.
6. The image data acquisition equipment for dynamic identification as claimed in claim 5, wherein the moving assembly comprises a plurality of first sliding grooves (17) which are communicated in a sine wave shape and are formed in the outer wall of the moving column (4), a compression spring (18) is arranged at the bottom of the inner wall of the first placing box (9), the compression spring (18) is sleeved on the outer wall of the guide rod (12), a guide block is arranged at the end part, far away from the dust scraping brush (13), of the guide rod (12), the guide block is partially arranged outside the second through hole, a second placing box (20) is arranged on the guide block, a hydraulic cylinder (21) is arranged in the second placing box (20), a sliding column (11) is fixedly arranged at the output end of the hydraulic cylinder (21), and the sliding column (11) is matched with the first sliding grooves (17).
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