CN119255083A - A camera self-cleaning system and self-cleaning method - Google Patents
A camera self-cleaning system and self-cleaning method Download PDFInfo
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- CN119255083A CN119255083A CN202411764304.5A CN202411764304A CN119255083A CN 119255083 A CN119255083 A CN 119255083A CN 202411764304 A CN202411764304 A CN 202411764304A CN 119255083 A CN119255083 A CN 119255083A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/50—Cleaning by methods involving the use of tools involving cleaning of the cleaning members
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/90—Dynamic range modification of images or parts thereof
- G06T5/94—Dynamic range modification of images or parts thereof based on local image properties, e.g. for local contrast enhancement
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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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
- H04N23/60—Control of cameras or camera modules
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
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- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Studio Devices (AREA)
Abstract
本发明公开了一种摄像头自清洁系统及其自清洁方法，涉及煤矿监控技术领域，通过污垢检测摄像头采集监控摄像组件表面的实时视频流数据，并将其发送到配套上位机，所述污垢检测摄像头分布于监控摄像组件外侧；图像识别与判断模块用于从实时视频流数据中获取当前时刻监控摄像组件表面的图像信息，并进行识别判断，判断监控摄像组件表面是否存在污垢；当图像识别与判断模块判断监控摄像组件表面存在污垢时，上位机通过清洁控制模块发送自动清洁信号至摄像头自清洁装置，进而控制清洁机构对所述监控摄像组件表面进行自动清洁。
The invention discloses a camera self-cleaning system and a self-cleaning method thereof, and relates to the technical field of coal mine monitoring. A dirt detection camera is used to collect real-time video stream data of the surface of a monitoring camera component and send it to a matching upper computer, wherein the dirt detection camera is distributed outside the monitoring camera component; an image recognition and judgment module is used to obtain image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, and perform recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component; when the image recognition and judgment module determines that there is dirt on the surface of the monitoring camera component, the upper computer sends an automatic cleaning signal to the camera self-cleaning device through a cleaning control module, and then controls the cleaning mechanism to automatically clean the surface of the monitoring camera component.
Description
Technical Field
The invention relates to the technical field of coal mine monitoring, in particular to a camera self-cleaning system and a self-cleaning method thereof.
Background
A large number of monitoring cameras are installed underground in the coal mine industry due to the requirement of safe production and used for monitoring underground production environments in real time so as to ensure orderly production. But in the underground part of the scene, smoke dust, coal ash or water vapor exists in the air in a short term and in a large quantity, and the smoke dust or the coal ash can be attached to or accumulated on the surface of the lens of the monitoring camera to cause blurring or darkness of pictures, so that the judgment of ground personnel on the underground real environment is affected. The conventional monitoring camera has no dirt recognition and automatic cleaning function, and can not realize the automatic recognition and automatic cleaning of the dirt of the lens. Because the colliery trade is also comparatively various for special operation scene surveillance camera head mounted position, to the cleaning work of the higher surveillance camera head of mounting height belonging to the high altitude construction category, have clear and definite, strict safety standard operation rule to high altitude construction in the colliery trade, whole flow is comparatively loaded down with trivial details also can take a large amount of manpowers and inefficiency when adopting the manual cleaning mode to clean surveillance camera head.
Disclosure of Invention
Aiming at the technical problem that the prior art is too single, the technical scheme of the invention is obviously different from the prior art, and the embodiment of the invention provides a camera self-cleaning system and a self-cleaning method thereof, so as to solve the technical problem that dust cannot be treated on the surface of the prior camera when the prior camera is used.
The embodiment of the invention adopts the following technical scheme:
in a first aspect, the present invention provides a camera self-cleaning system comprising:
The image acquisition and transmission module acquires real-time video stream data on the surface of the monitoring camera assembly through the dirt detection cameras and sends the real-time video stream data to the matched upper computer, and the dirt detection cameras are distributed on the outer side of the monitoring camera assembly;
the image recognition and judgment module is arranged in the upper computer and is used for acquiring image information of the surface of the monitoring camera assembly at the current moment from real-time video stream data, recognizing and judging, and judging whether dirt exists on the surface of the monitoring camera assembly or not;
And the cleaning control module is used for sending an automatic cleaning signal to the camera self-cleaning device by the upper computer through the cleaning control module when the image recognition and judgment module judges that dirt exists on the surface of the monitoring camera assembly, so as to control the cleaning mechanism to automatically clean the surface of the monitoring camera assembly.
In an implementation manner of the first aspect, the image identifying and judging module includes:
the image acquisition unit is used for acquiring an image frame at the current moment from the real-time video stream data;
The image preprocessing unit is used for denoising, graying and enhancing the captured real-time image;
An image registration unit registering the preprocessed real-time image with a preset reference image;
the pixel level comparison and difference measurement unit is used for comparing the registered real-time image with the reference image in pixel level, calculating the difference value between each corresponding pixel point and counting the difference degree value of the whole image;
And the dirt degree judging unit is used for setting a threshold value, judging the dirt degree of the image according to the calculated difference value, judging that dirt exists on the surface of the monitoring camera component if the difference value exceeds the threshold value, and judging that the surface of the monitoring camera component is clean if the difference value exceeds the threshold value.
In an implementation manner of the first aspect, the cleaning control module includes:
a drive mechanism for powering and controlling the movement of the cleaning member;
The cleaning mechanism is used for carrying out automatic cleaning treatment on the surface of the monitoring camera shooting assembly under the drive of the driving mechanism, and comprises an arc-shaped shell which is rotationally arranged on the outer surface of the monitoring camera shooting assembly, a cleaning component is arranged in the arc-shaped shell and used for automatically cleaning the surface of the monitoring camera shooting assembly.
In an implementation manner of the first aspect, two ends of the arc-shaped casing are provided with insertion grooves, dirt detection cameras are distributed on the outer side of the monitoring camera assembly, and the monitoring camera assembly is provided with avoidance deflection grooves;
and/or the arc-shaped shell is attached to the surface of the monitoring camera shooting assembly, the inside of the arc-shaped shell is hollow, and a dust outlet groove is formed in the end part of the arc-shaped shell;
And/or the insertion groove is formed by combining two adjacent circular holes, and the inner surface of the insertion groove is in arc-shaped arrangement.
In an implementation manner of the first aspect, the driving mechanism includes a driving motor, a connecting shaft is arranged at an output end of an end portion of the driving motor, a connecting groove is formed in the connecting shaft, an insertion block is arranged in the connecting groove, and a reset spring is arranged between the insertion block and the connecting shaft;
The outer shape of the insert block and the connecting shaft is the same as the inner shape of the insert groove, a transmission rack is arranged on the outer side of an output shaft of the driving motor, a conical transmission shaft is arranged on the inner side of the transmission rack, a ratchet transmission shaft is arranged on the conical transmission shaft, the conical transmission shaft penetrates through the arc-shaped shell, a first rotating shaft is connected to the end of the conical transmission shaft, and a matching shaft is arranged at the tail end of the connecting shaft.
In an implementation manner of the first aspect, the cleaning mechanism includes two conical transmission shafts located at two ends of the arc-shaped casing, a second transmission belt is arranged between the two conical transmission shafts, a plurality of elastic connection seats are arranged on the second transmission belt, cleaning components are arranged on each elastic connection seat, and a beating rod is arranged on the outer side of each transmission belt.
In an implementation manner of the first aspect, the tapping rod is connected with the matching shaft through a third transmission belt, and the ratchet transmission shaft is connected with the matching shaft through a second transmission belt;
And/or the second driving belt and the third driving belt are arranged in a staggered way;
And/or the beating rod is in a screw shape, a plurality of open grooves are formed in screw blades on the beating rod, and the position of the beating rod corresponds to the position of the cleaning part.
In a second aspect, the invention provides a camera self-cleaning method, which adopts the camera self-cleaning system and comprises the following steps:
the image acquisition and transmission, namely acquiring real-time video stream data through a dirt detection camera and sending the real-time video stream data to a matched upper computer;
image identification and judgment, namely acquiring image information of the surface of the monitoring camera assembly at the current moment from real-time video stream data, and carrying out identification and judgment to judge whether dirt exists on the surface of the monitoring camera assembly;
And if the surface of the monitoring camera assembly is judged to have dirt, the upper computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, so as to control the cleaning mechanism to automatically clean the surface of the monitoring camera assembly.
In an implementation manner of the second aspect, the cleaning triggering and executing step includes:
s1, capturing a real-time image, namely acquiring an image frame at the current moment from real-time video stream data;
S2, image preprocessing, namely denoising, graying and enhancing the captured real-time image;
s3, registering the preprocessed real-time image with a preset reference image;
S4, comparing pixel level with difference measurement, namely comparing the registered real-time image with a reference image in pixel level, calculating a difference value between each corresponding pixel point, and counting a difference degree value of the whole image;
And S5, judging the dirt degree, namely setting a threshold value, judging the dirt degree of the image according to the calculated difference value, judging that dirt exists on the surface of the monitoring camera component if the difference value exceeds the threshold value, and otherwise, judging that the surface of the monitoring camera component is clean.
In an implementation manner of the second aspect, in the image preprocessing step, the denoising processing adopts one or more methods of median filtering, mean filtering or gaussian filtering;
And/or, in the image registration step, adopting an image registration algorithm based on feature point matching or mutual information;
And/or, in the image registration step, adopting an image registration algorithm based on feature point matching or mutual information;
And/or, in the pixel level comparison and difference measurement step, the difference measurement method adopts the sum of absolute difference values or the mean square error of calculated pixel values.
In an implementation manner of the second aspect, the method further includes the following steps:
When the arc-shaped shell is reset, the driving motor continues to rotate, the insertion block is pushed out from the insertion groove, the connecting shaft rotates, the third driving belt drives the beating rod to rotate, the first driving belt drives the second driving belt to continue to rotate through the ratchet transmission shaft, the beating rod is opposite to the movement track of the cleaning part, when the beating rod contacts with the cleaning part, the elastic connecting seat at the bottom of the cleaning part deforms and resets to generate a shaking effect, and the automatic cleaning of the cleaning part is realized;
And/or in the cleaning triggering and executing step, when the arc-shaped shell deflects to a certain angle, the driving motor reversely rotates to drive the arc-shaped shell to reset.
Compared with the prior art, the invention has the beneficial effects that:
Firstly, the dirt detection camera is matched with the image recognition and judgment module through an advanced image acquisition and processing technology, so that the dirt condition of the surface of the camera lens can be accurately captured. The multi-step image analysis flow is adopted, from image acquisition, preprocessing and registration to pixel level comparison and difference measurement, the dirt degree is judged according to the dynamically set threshold value, erroneous judgment is effectively avoided, the cleaning program is ensured to be triggered only when the lens dirt reaches the degree affecting the imaging quality, energy and resources are saved, and the continuous and efficient work of the camera is maintained. For example, in a complex underground coal mine environment, dirt such as coal ash, smoke dust and the like is accurately identified, so that a monitoring picture is always clear and reliable, and accurate visual support is provided for safe production.
And secondly, the cleaning control module drives the cleaning mechanism to realize automatic cleaning. The driving mechanism drives the cleaning component, and the arc-shaped shell with unique design cooperates with the internal transmission structure to enable the cleaning component to be in a multi-dimensional motion track. The arc-shaped shell drives the cleaning component to circularly move, meanwhile, the self-driving belt drives the cleaning component to linearly reciprocate, the staggered track fully covers the lens, dead angles are not cleaned, stubborn dirt is efficiently removed, cleaning efficiency is remarkably improved, cleaning time is shortened, manual cleaning cost and risk are reduced, and long-term stable operation of the camera is guaranteed.
Thirdly, through the cooperation of actuating mechanism and clean part in the in-process of using and use for when the arc shell drove clean part motion, clean part whole now presents two kinds of motion trail staggered operation, makes when cleaning, the appearance at clean dead angle of reduction that can be very big, and the cleanness of multi-angle, it is better to get rid of the dust effect.
Fourth, after cleaning part clearance is accomplished and is reset, the cooperation mechanism of beating pole and cleaning part special design, through auger form structure and elastic connection seat, effectively clear away cleaning part brush hair and remain the dirt, prevent that the dirt accumulation from influencing next cleaning effect and part life. The arc-shaped shell is hollow and the dust outlet groove is designed, the discharged dust is collected, the inside of the system is maintained clean, secondary pollution and component abrasion are avoided, the whole service life of the system is prolonged, and the operation cost and the replacement frequency are reduced.
In summary, the camera self-cleaning system and the method have various obvious technical effects. By means of the multi-module cooperation and unique cleaning component track, the cleaning efficiency is improved, dead angles are reduced, the monitoring picture is ensured to be clear, and reliable visual support is provided for safe production. The system has strong stability, close cooperation of parts, good self-cleaning function, prolonged service life and reduced maintenance cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a schematic view of the position structure of the arc-shaped shell of the present invention;
FIG. 3 is a schematic view of a first cross-sectional configuration of the arcuate housing of the present invention;
FIG. 4 is an enlarged schematic view of the structure of FIG. 3A according to the present invention;
FIG. 5 is a schematic view of a second cross-sectional configuration of the arcuate housing of the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 5B according to the present invention;
fig. 7 is a schematic diagram of a dirt determining flow structure according to the present invention.
Reference numerals:
1. The device comprises an arc-shaped shell, 101, a dust outlet groove, 11, an inserting groove, 2, a driving mechanism, 21, a driving motor, 22, a connecting shaft, 23, a reset spring, 24, a transmission rack, 25, a connecting groove, 26, an inserting block, 27, a first rotating shaft, 28, a conical transmission shaft, 29, a ratchet transmission shaft, 210, a first transmission belt, 3, a cleaning mechanism, 31, a flapping rod, 311, an open groove, 32, a cleaning part, 33, an elastic connecting seat, 34, a second transmission belt, 4, a monitoring camera assembly and 41, and avoiding a deflection groove.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 7, in a first aspect, an embodiment of the present invention provides a camera self-cleaning system, including:
(1) The image acquisition and transmission module acquires real-time video stream data on the surface of the monitoring camera assembly through the dirt detection cameras and sends the real-time video stream data to the matched upper computer, and the dirt detection cameras are distributed on the outer side of the monitoring camera assembly;
(2) The image recognition and judgment module is configured to obtain image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, perform recognition and judgment, and judge whether dirt exists on the surface of the monitoring camera component, specifically please refer to the flow described in fig. 7, and the module includes:
(21) The image acquisition unit is used for acquiring an image frame at the current moment from the real-time video stream data;
(22) The image preprocessing unit is used for denoising, graying and enhancing the captured real-time image;
(23) An image registration unit registering the preprocessed real-time image with a preset reference image;
(24) The pixel level comparison and difference measurement unit is used for comparing the registered real-time image with the reference image in pixel level, calculating the difference value between each corresponding pixel point and counting the difference degree value of the whole image;
(25) The dirt degree judging unit is used for setting a threshold value, judging the dirt degree of the image according to the calculated difference value, judging that dirt exists on the surface of the camera if the difference value exceeds the threshold value, and judging that the camera is clean if the difference value exceeds the threshold value.
(3) And when the image recognition and judgment module judges that dirt exists on the surface of the monitoring camera assembly, the upper computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, so as to control the cleaning mechanism 3 to automatically clean the surface of the monitoring camera assembly.
Referring to fig. 2 to 6, the cleaning control module in this embodiment includes:
the driving mechanism is used for providing power for the cleaning mechanism 3 and controlling the cleaning mechanism to move and comprises a driving motor 21, a connecting shaft 22 is arranged at the output end of the end part of the driving motor 21, a connecting groove 25 is formed in the connecting shaft 22, an inserting block 26 is arranged in the connecting groove 25, and a reset spring 23 is arranged between the inserting block 26 and the connecting shaft 22;
The outer shape of the structure of the insertion block 26 and the connecting shaft 22 is the same as the inner shape of the insertion groove 11, a transmission rack 24 is arranged on the outer side of an output shaft of the driving motor 21, a conical transmission shaft 28 is arranged on the inner side of the transmission rack 24, a ratchet transmission shaft 29 is arranged on the conical transmission shaft 28, the conical transmission shaft 28 penetrates through the arc-shaped shell 1, a first rotating shaft 27 is connected to the end part of the conical transmission shaft 28, and a matching shaft is arranged at the tail end of the connecting shaft 22.
Specifically, the contact surface between the insertion block 26 and the insertion groove 11 is a cambered surface.
At this time, the contact surface is an arc surface, so that the insertion block 26 and the insertion groove 11 can be separated or connected.
The cleaning mechanism 3 is used for automatically cleaning the surface of the monitoring camera component under the drive of the driving mechanism, and comprises an arc-shaped shell 1 which is rotationally arranged on the outer surface of the monitoring camera component, a cleaning component 32 is arranged in the arc-shaped shell 1, and the cleaning component 32 is used for automatically cleaning the surface of the monitoring camera component.
The arc-shaped shell 1 is attached to the surface of the monitoring camera assembly, the inside of the arc-shaped shell 1 is hollow, the end part of the arc-shaped shell 1 is provided with a dust outlet groove 101, during operation, the dust outlet groove 101 is convenient for cleaning the cleaning component 32, and accumulated dust can fall off.
Specifically, the insertion groove 11 is formed by combining two adjacent circular holes, and the inner surface of the insertion groove 11 is arc-shaped. During operation, a limiting hole is formed through the adjacent round holes at the moment, so that limiting treatment is facilitated.
Specifically, in this embodiment, the cleaning mechanism 3 includes two tapered transmission shafts 28 located at two ends of the arc-shaped casing 1, a second transmission belt 34 is disposed between the two tapered transmission shafts 28, a plurality of elastic connection seats 33 are disposed on the second transmission belt 34, a cleaning component 32 is disposed on each elastic connection seat 33, and a beating rod 31 is disposed on the outer side of the transmission belt. The flapping rod 31 is connected with the matching shaft through a third transmission belt, and the ratchet transmission shaft 29 is connected with the matching shaft through a second transmission belt 34.
Specifically, the second belt 34 and the third belt are disposed in a staggered manner.
Specifically, the beating rod 31 is in a shape of a screw, a plurality of open slots 311 are formed in screw blades on the beating rod 31, and the position of the beating rod 31 corresponds to the position of the cleaning part 32.
When the self-cleaning device is used, the upper computer sends an automatic cleaning signal to the self-cleaning device of the camera through the cleaning control module when the image recognition and judgment module judges that the dirt exists on the surface of the camera, and then the cleaning mechanism 3 is controlled to automatically clean the surface of the monitoring camera assembly.
Specifically, after receiving the cleaning signal, the cleaning control module sends a signal to the control module of the driving motor 21 to control the driving motor 21 to start working, the driving motor 21 drives the cleaning mechanism to automatically clean through the transmission connection mechanism, the driving motor 21 rotates to drive the connecting shaft 22 to rotate, and the supporting insertion block 26 is arranged on the connecting shaft 22, so that a limiting effect can be achieved under the matching effect of the insertion block 26 and the insertion groove 11, and the rotation of the electric driving motor 21 drives the arc-shaped shell 1 to rotate at the moment;
When the arc-shaped shell 1 rotates, the conical transmission shaft 28 penetrating through the arc-shaped shell is driven to rotate at the moment, one end of the conical transmission shaft 28 is connected with the transmission rack 24, the transmission rack 24 is arranged on the shell of the driving motor 21, and the conical transmission shaft 28 is meshed with and displaced from the transmission rack 24, so that the conical transmission shaft 28 rotates at the moment;
When the conical transmission shaft 28 rotates, the first rotating shaft 27 connected with the other end of the conical transmission shaft 28 rotates, the first connecting shaft 22 rotates to drive the second transmission belt 34 arranged on the first connecting shaft to move, the second transmission belt 34 moves to drive the cleaning component 32 to synchronously move, and at the moment, when the arc-shaped shell 1 moves to drive the cleaning component 32 to move to clean the surface of the camera, the cleaning component 32 also moves, and meanwhile, the moving direction of the cleaning component 32 is different from the moving direction of the arc-shaped shell 1, so that the cleaning component 32 can clean the camera from multiple directions, and the cleaning dead angle is reduced;
when the arc-shaped shell 1 deflects to a certain angle, the driving motor 21 reversely rotates to drive the arc-shaped shell 1 to reset, when the arc-shaped shell 1 resets, the driving motor 21 still rotates, but because the arc-shaped shell 1 is abutted against the edge of the monitoring camera component 4, a certain abutting force is generated between the insertion groove 11 and the insertion block 26, when the deflection force is overlarge, a backward thrust is generated on the insertion block 26 because the contact surface of the end part of the insertion block 26 and the contact surface of the opening of the insertion groove 11 are cambered surfaces, and because the arc-shaped shell 1 cannot rotate, but the driving motor 21 still drives the connecting shaft 22 to rotate, and when the torsion is larger than the force of the reset spring 23, the insertion block 26 is pushed out from the insertion groove 11, so that the connecting shaft 22 can rotate;
When the connecting shaft 22 rotates, the matched shaft connected with the end part of the connecting shaft 22 rotates, the matched shaft drives the flapping rod 31 to rotate through the third transmission belt, and meanwhile, the matched shaft rotates through the ratchet transmission shaft 29 through the first transmission belt 210 (the principle of the ratchet transmission shaft 29 is the same as that of a ratchet pawl, so that the rotation can be limited in one direction, but the rotation in the other direction cannot be influenced), and the rotation of the ratchet transmission drives the conical transmission shaft 28 to rotate, so that the second transmission belt 34 continues to rotate;
On the relative horizontal plane, the motion track of the flapping rod 31 is opposite to the motion track of the cleaning part 32, when the cleaning part 32 is in contact with the auger blade on the flapping rod 31, the cleaning part 32 is scratched by the flapping rod 31 due to mutual collision because of opposite motion, and meanwhile, the elastic connecting seat 33 at the bottom of the cleaning part 32 is deformed, but after encountering the groove on the auger of the flapping rod 31, the elastic connecting seat 33 is reset, so that a shaking effect (even if the groove is not encountered, the flapping rod 31 and the transmission belt have a gap, and the cleaning effect is reset) is achieved, and the cleaning of the camera and the cleaning of the cleaning part 32 are completed.
In a second aspect, an embodiment of the present invention provides a method for self-cleaning a camera, where the self-cleaning system for a camera includes the following steps:
(1) The image acquisition and transmission, namely acquiring real-time video stream data through a dirt detection camera and sending the real-time video stream data to matched upper computer software;
(2) Image identification and judgment, namely acquiring image information of the surface of the monitoring camera component 4 at the current moment from real-time video stream data, and carrying out identification and judgment to judge whether dirt exists on the surface of the monitoring camera component 4;
(3) And (3) cleaning triggering and executing, namely if the surface of the monitoring camera assembly 4 is judged to have dirt, the upper computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, and further controls the cleaning mechanism 3 to automatically clean the surface of the monitoring camera assembly 4.
Specifically, the cleaning triggering and executing steps in this embodiment include:
s1, capturing a real-time image, namely acquiring an image frame at the current moment from real-time video stream data;
s2, image preprocessing, namely denoising, graying and enhancing the captured real-time image, wherein the denoising adopts one or more methods of median filtering, mean filtering or Gaussian filtering;
s3, registering the preprocessed real-time image with a preset reference image, and adopting an image registration algorithm based on feature point matching or mutual information;
S4, comparing pixel levels with a difference measure, namely comparing the registered real-time image with a reference image in pixel levels, calculating a difference value between each corresponding pixel point, and counting a difference degree value of the whole image, wherein the difference measure method adopts a sum of absolute difference values of calculated pixel values or a mean square error;
and S5, judging the dirt degree, namely setting a threshold value, judging the dirt degree of the image according to the calculated difference value, judging that dirt exists on the surface of the camera if the difference value exceeds the threshold value, and otherwise, judging that the camera is clean.
(4) When the arc-shaped shell is reset, the driving motor continues to rotate, the insertion block is pushed out from the insertion groove, the connecting shaft rotates, the third driving belt drives the flapping rod to rotate, meanwhile, the first driving belt drives the second driving belt to continue to rotate through the ratchet transmission shaft, the flapping rod and the cleaning part 32 move along opposite tracks, when the flapping rod and the cleaning part 32 contact each other, the flapping rod scratches the cleaning part 32, the elastic connecting seat at the bottom of the cleaning part 32 deforms and resets to generate a shaking effect, and the automatic cleaning of the cleaning part 32 is realized;
In the cleaning triggering and executing step, when the arc-shaped shell deflects to a certain angle, the driving motor reversely rotates to drive the arc-shaped shell to reset.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
Claims (10)
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