WO2021077826A1 - 一种图像采集装置 - Google Patents

一种图像采集装置 Download PDF

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Publication number
WO2021077826A1
WO2021077826A1 PCT/CN2020/103636 CN2020103636W WO2021077826A1 WO 2021077826 A1 WO2021077826 A1 WO 2021077826A1 CN 2020103636 W CN2020103636 W CN 2020103636W WO 2021077826 A1 WO2021077826 A1 WO 2021077826A1
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WO
WIPO (PCT)
Prior art keywords
image acquisition
image
component
acquisition component
controller
Prior art date
Application number
PCT/CN2020/103636
Other languages
English (en)
French (fr)
Inventor
王辉
谢耿勋
王重山
Original Assignee
北京海益同展信息科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京海益同展信息科技有限公司 filed Critical 北京海益同展信息科技有限公司
Priority to EP20880252.0A priority Critical patent/EP4037310B1/en
Priority to US17/770,910 priority patent/US11979651B2/en
Publication of WO2021077826A1 publication Critical patent/WO2021077826A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/11—Controlling the light source in response to determined parameters by determining the brightness or colour temperature of ambient light

Definitions

  • This application relates to the field of electronics and information technology, and in particular to an image acquisition device.
  • the computer rooms are usually equipped with multiple cabinets, minicomputers and servers.
  • the computer rooms are used to provide automated information for employees or customers.
  • Technical services are an important part of the modern information technology industry.
  • the computer room will use image capture devices to monitor the physical environment and equipment conditions in the computer room.
  • the image capture devices collect images through image capture components to understand the surrounding environment information; however, many computer room cabinets are equipped with For cabinet doors with a mesh structure, in order to achieve smooth image capture by the image capture device, the door needs to be opened in advance, which reduces the adaptability of the image capture device to the inspection environment.
  • the embodiment of the application expects to provide an image acquisition device to solve the problem that many computer room cabinets in the related art are equipped with mesh structure cabinet doors.
  • the door In order to achieve smooth image acquisition by the image acquisition device, the door needs to be opened in advance, which reduces the patrol of the image acquisition device. Check the adaptability of the environment.
  • An image acquisition device comprising:
  • the lifting part is arranged on the moving part
  • the image acquisition component is movably connected to the lifting component, and the image acquisition component can move in a first direction parallel to the axis of the lifting component, and/or can move in a second direction perpendicular to the first direction mobile.
  • the image acquisition component includes:
  • a housing the housing having a first opening
  • An image acquisition component the image acquisition component is arranged in the housing, and the lens of the image acquisition component is exposed through the first opening;
  • the moving component is used to control the work of the image acquisition component.
  • the image acquisition component includes an industrial camera, a thermal infrared camera, and a surveillance camera;
  • the industrial camera is used to photograph a target object to obtain characteristic information of the target object
  • the thermal infrared camera is used to photograph the target object to obtain heat distribution information of the target object
  • the monitoring camera is used to Collect video information in real time.
  • the image acquisition component further includes:
  • a bracket which is fixedly connected to the housing
  • the light bar is arranged on the bracket, and the light bar is electrically connected with the controller in the moving part, and the controller is used to control the on and off of the light bar.
  • the stent includes:
  • a first bracket, the first bracket is fixedly connected to the housing;
  • a second bracket, the second bracket is fixedly connected to the housing;
  • the light bar includes:
  • a first light bar, the first light bar is arranged on the first bracket;
  • a second light bar, the second light bar is arranged on the second bracket;
  • the first light bar and the second light bar are respectively arranged on both sides of the image acquisition component.
  • the housing has a second opening
  • the image acquisition component further includes:
  • a connecting block the connecting block partially passes through the second opening, the first end of the connecting block is inside the housing, the second end of the connecting block is outside the housing, and the connecting block The second end is movably connected with the lifting component;
  • a driving mechanism the driving mechanism is connected with the first end of the connecting block, and the driving mechanism is used to control the connecting block to move in the second direction.
  • the driving mechanism includes:
  • a drive assembly the drive assembly is connected to the first end of the rotating handle, and the drive assembly is used to drive the rotating handle to rotate;
  • the second end of the rotating handle is connected to the first end of the connecting rod
  • the connecting rod, the second end of the connecting rod is connected to the first end of the connecting block;
  • the rotating handle drives the connecting rod to move when rotating, and the connecting rod movement drives the connecting block to move in the second direction.
  • the driving assembly includes:
  • a steering gear control board is electrically connected to the controller of the moving part, the steering gear control board is configured to receive a first instruction sent by the controller, and control the steering gear based on the first instruction jobs;
  • the steering gear drives the rotating handle to rotate when the steering gear is working.
  • the driving mechanism further includes:
  • a guide shaft, the guide shaft is fixedly arranged relative to the housing, and the guide shaft is parallel to the second direction;
  • the connecting block has a guide hole matching the guide shaft, the guide shaft is movably connected to the connecting block through the guide hole, and the guide shaft and the guide hole cooperate to make the connection The block moves in the second direction.
  • the moving part includes:
  • a controller the controller is configured to send a second instruction to the lifting component, and the controller is configured to send a first instruction to the image acquisition component;
  • the lifting component is configured to move the image acquisition component in the first direction based on the second instruction
  • the image acquisition component is configured to move the image acquisition component in the second direction based on the first instruction.
  • the controller is configured to receive the first image of the target object sent by the image acquisition component, determine based on the first image that the target object has a mesh door, and send the The first instruction to the image acquisition component;
  • An image acquisition component configured to take a second image of the target object after moving in the second direction based on the first instruction, and send the second image to the controller;
  • the controller is configured to determine the characteristic information of the target object at the current height of the image acquisition component based on the first image and the second image.
  • the controller is configured to acquire a set of images taken by the image acquisition component at each of a plurality of different heights, and obtain a set of images based on the set of images taken at each height. Characteristic information of the target object;
  • multiple sets of images are obtained based on the multiple different heights, and the multiple sets of images include the first image and the second image.
  • the controller is configured to receive a third image for the target object sent by the image acquisition component, and determine the current environmental parameter based on the third image, if the current environmental parameter is less than the target environmental parameter , Sending a third instruction to the image acquisition component;
  • the image acquisition component is configured to cause the light bar in the image acquisition component to emit light based on the third instruction.
  • the moving part further includes:
  • a light sensor the light sensor is used to detect the brightness of the ambient light, and send the brightness of the ambient light to the controller;
  • the controller is configured to send a third instruction to the image acquisition component if it is determined that the ambient light brightness is less than the target ambient light brightness;
  • the image acquisition component is configured to cause the light bar in the image acquisition component to emit light based on the third instruction.
  • At least two images of the target object can be collected at different positions, so that the overall structure of the target object can be obtained by analyzing the at least two images collected It avoids the need to open the door in advance in the related technology, and improves the adaptability of the image acquisition device to the inspection environment; it can obtain high-precision on-site images in the computer room, obtain the heat distribution information of the equipment in the computer room, and monitor the computer room The operating status of the internal equipment; clear equipment images can still be obtained in a dark environment, so as to better adapt to low light and dark environments.
  • the image acquisition device includes a moving part, a lifting part, and an image collecting part.
  • the moving part can move on the bearing surface; the lifting part is arranged on the moving part; the image collecting part and the lifting part can be movably connected, and the image collecting
  • the component can move in a first direction parallel to the axis of the lifting component, and/or can move in a second direction perpendicular to the first direction; furthermore, through the movement of the image capturing component relative to the lifting component in different positions, the image capturing component
  • the captured image still has a mesh gate, but at least two images for the target object can be captured at different positions, so that the overall structure of the target object can be obtained by analyzing the at least two images collected, which avoids the need for gates in related technologies.
  • the process of opening in advance improves the adaptability of the image acquisition device to the inspection environment.
  • FIG. 1 is a schematic structural diagram of an image acquisition device provided by an embodiment of the application.
  • FIG. 2 is a schematic structural diagram of an image acquisition component provided by an embodiment of the application.
  • FIG. 3 is a schematic structural diagram of an image acquisition component provided by an embodiment of the application with a housing removed;
  • FIG. 4 is a schematic structural diagram of another image acquisition component provided by an embodiment of the application with the housing removed;
  • FIG. 5 is a schematic structural diagram of another image acquisition component provided by an embodiment of the application with a housing removed.
  • FIG. 1 is a schematic structural diagram of an image acquisition device provided by an embodiment of the application.
  • the image acquisition device 1 includes a moving part 11, a lifting part 12, and an image. Collection part 13.
  • the moving component 11 can move on the bearing surface.
  • the image acquisition device 1 may be a robot, and the robot may be a patrol robot, a camera robot, a mobile robot, or the like.
  • the moving component 11 may include a moving component 111, and the moving component 111 may be a wheel structure, and the image capturing device 1 can be moved on the bearing surface through the rolling of the wheel structure on the bearing surface.
  • the bearing surface can be the ground or other surfaces, and the bearing surface can be a horizontal plane or an inclined surface.
  • the moving part 11 may also include a controller (not shown in the figure).
  • the controller may be the core board of the image capture device 1.
  • the controller may be used to control the movement of the entire image capture device 1, control the relative position of each part and/ Or the image capture component 13 captures an image.
  • the controller may receive a movement instruction sent by an external device, and control the moving component 11 to move accordingly based on the movement instruction.
  • the controller can call a mobile program stored in the controller, and move accordingly based on the mobile program. For example, when the image capture device 1 is a patrol robot, and the application scenario is to capture images of multiple devices in the computer room, the moving part 11 can automatically pass through each device in turn, and take pictures of each device.
  • the lifting component 12 is provided on the moving component 11.
  • the lifting part 12 is fixedly connected to the moving part 11, and the lifting part 12 is arranged on the opposite side of the moving part 111 of the moving part 11.
  • the moving part 111 is arranged on the lower side of the moving part 11, and the lifting part 12 can be on the upper side of the moving part 11.
  • the lifting part 12 can be arranged perpendicular to the moving part 11, or the lifting part 12 can be arranged perpendicular to the moving direction of the moving part 11.
  • the lifting part 12 can be linear or bent, and the bent shape is, for example, an arc shape or a parabolic shape. The embodiment does not limit this, as long as the lifting component 12 can lift the image capturing component 13 relative to the lifting component 12.
  • the image capturing component 13 is movably connected to the lifting component 12, and the image capturing component 13 can move in a first direction parallel to the axis of the lifting component 12, and/or can move in a second direction perpendicular to the first direction.
  • the image capturing component 13 moves in a first direction parallel to the axis of the lifting component 12, which may be that the image capturing component 13 moves up or down along the lifting component 12 .
  • the image acquisition component 13 moves in a second direction perpendicular to the first direction.
  • the image acquisition component 13 can move to the left or right.
  • the image acquisition component 13 By moving the image acquisition component 13 in the second direction, the image acquisition component 13 can be changed relative to the lifting component 12 For example, when the image capturing component 13 reaches the first position by moving in the second direction (for example, the reachable leftmost position), the distance between the image capturing component 13 and the lifting component 12 is the shortest, and the distance between the image capturing component 13 and the lifting component 12 is the shortest. When 13 reaches the second position by moving in the second direction (for example, the reachable rightmost position), the distance between the image capturing component 13 and the lifting component 12 is the longest. In some embodiments, in other embodiments, the movement of the image acquisition component 13 in the second direction may be the rotation of the image acquisition component 13 around the lifting component 12.
  • the image acquisition component 13 can move relative to the lifting component 12 in the first direction, and can also move relative to the lifting component 12 in the second direction, so that the target object can be moved in all directions.
  • the image capturing component 13 cannot move in the second direction while moving in the first direction, or the image capturing component 13 cannot move in the first direction while moving in the second direction.
  • the image acquisition component 13 while the image acquisition component 13 moves in the first direction, it can also move in the second direction.
  • the image capture device 1 may include a body (not shown in the figure) and a connecting block (the connecting block may be the following connecting block 135).
  • One end of the connecting block is connected to the body, and the other end is connected to the lifting component 12.
  • the block moves in the first direction to pull the main body to move in the first direction, and the connecting block stretches the main body to move the main body in the second direction, so that the image capture device 1 moves in the second direction.
  • the controller may send a first instruction to the image acquisition component 13, and the image acquisition component 13 controls the extension or retraction of the connecting block based on the first instruction.
  • the image acquisition component 13 may photograph the target object and obtain the first image based on the first image.
  • An instruction moves in the second direction (shown as moving to the left or right in FIG. 1), and after the movement, the target object is photographed to obtain a second image.
  • the image acquisition component 13 can transmit the first image and the second image to the controller, and the controller can obtain a meshless image for the target object based on the first image and the second image.
  • the controller may send a first instruction to the lifting component 12, so that the lifting component 12 controls the image capturing component 13 to move in the second direction.
  • the controller may send a second instruction to the lifting component 12, so that the lifting component 12 can move the image capturing component 13 in the first direction based on the second instruction.
  • the controller can send a second instruction to the lifting component 12, and the lifting component 12 can move the image capturing component 13 up or down relative to the lifting component 12 based on the second instruction, for example , It is possible to move up by 1/2, 1/3, or 1/4, etc. multiplied by the length of the lifting member 12 based on the second instruction.
  • the image acquisition component 13 can respectively take two images at each of the multiple heights, so that the controller can obtain characteristic information for the target object based on the two images taken at each height.
  • the controller can send the obtained two images taken at each height to other electronic devices, so that other electronic devices can analyze the captured images, and through this dislocation of the shooting target object, it can obtain According to the characteristic information of the target object, the image acquisition device 1 is controlled accordingly.
  • the controller when the controller obtains the first image sent by the image acquisition component 13, it analyzes the first image, and when it determines that the first image has a mesh gate feature, it sends the first instruction to the image acquisition Part 13. When it is determined that there is no mesh gate feature in the first image, the first instruction is not sent to the image acquisition component 13 but the second instruction is sent to the lifting component 12. In another embodiment, the controller sends the first instruction to the image acquisition component 13 regardless of whether the first image has a mesh gate feature.
  • the image capture device 1 may determine that when the image capture device 1 moves to a predetermined position, it sends the first instruction to the image capture component 13.
  • the predetermined position is used to characterize the presence of a mesh door in front of the target object at the current position.
  • the predetermined position can be obtained by positioning by its own positioning module or sent by other devices.
  • the target object mentioned in the embodiment of the present application may be any device that needs to be analyzed, for example, a server, a cabinet, a minicomputer, or other electronic devices, etc., which is not limited here.
  • the image acquisition device includes: a moving part, a lifting part, and an image collecting part.
  • the moving part can move on the bearing surface; the lifting part is arranged on the moving part; the image collecting part and the lifting part It can be movably connected, and the image acquisition component can move in a first direction parallel to the axis of the lifting component, and/or can move in a second direction perpendicular to the first direction.
  • the image acquisition component can move in a first direction parallel to the axis of the lifting component, and/or can move in a second direction perpendicular to the first direction.
  • an embodiment of the present application provides an image acquisition device.
  • the image acquisition device 1 includes a moving part 11, a lifting part 12, and an image collecting part 13, wherein the moving part 11, lifting
  • the connection relationship between the component 12 and the image acquisition component 13 may be the same as in the embodiment corresponding to FIG. 1.
  • the image acquisition component 13 includes: a housing 131 and an image acquisition component 132.
  • the housing 131 has a first opening; the image capture assembly 132 is disposed in the housing 131, and the lens of the image capture assembly 132 is exposed through the first opening; wherein, the moving part 11 is used to control the operation of the image capture assembly 132.
  • the image acquisition component 132 includes an industrial camera 1321, a thermal infrared camera 1322, and a surveillance camera 1323.
  • the industrial camera 1321 is used to photograph the target object to obtain characteristic information of the target object
  • the thermal infrared camera 1322 is used to photograph the target object to obtain the thermal distribution information of the target object
  • the monitoring camera 1323 is used to collect video information in real time.
  • the image acquisition component 132 can control the industrial camera 1321 to capture images of the target object, or control the industrial camera 1321 and the thermal infrared camera 1322 to capture images of the target object respectively.
  • the controller can control the monitoring camera 1323 to work all the time, so that the monitoring camera 1323 can always collect environmental images around the image acquisition component 13 so that relevant workers can monitor and control the image acquisition device 1 based on the environmental images.
  • the thermal infrared camera 1322 can also work all the time to capture images in the computer room, so as to obtain the temperature distribution in the computer room.
  • the collection accuracy of the industrial camera 1321 is greater than the collection accuracy of the thermal infrared camera 1322 or the monitoring camera 1323.
  • the first opening may include a first sub-opening, a second sub-opening, and a third sub-opening.
  • the first, second, and third sub-openings are all distributed in a circular shape, and the industrial camera 1321 is exposed through the first sub-opening,
  • the thermal infrared camera 1322 is exposed through the second sub-opening, and the monitoring camera 1323 is exposed through the third sub-opening.
  • the size of the first opening may be larger than the size of the second opening or the size of the third opening. Wherein, the line connecting any two of the center of the first opening, the center of the second opening, and the center of the third opening may present a triangle.
  • the industrial camera 1321 By setting the industrial camera 1321, the industrial camera 1321 has high acquisition accuracy, so that it can collect high-precision images for the target object; by setting the thermal infrared camera 1322, it can collect the heat distribution information for the target object and its surroundings, based on the heat distribution The information determines the temperature information of the target object and its surroundings; by setting the monitoring camera 1323, the staff can intuitively understand the information in the computer room through the monitoring video.
  • the image acquisition component 13 further includes: a bracket 133 and a light bar 134.
  • the bracket 133 is fixedly connected to the housing 131; the light bar 134 is arranged on the bracket 133, and the light bar 134 is electrically connected to the controller in the moving part 11, and the controller is used to control the light bar 134 to turn on and off.
  • the image capture device 1 may not include the bracket 133, and the light bar 134 may be directly disposed on the surface of the housing 131.
  • the bracket 133 includes a first bracket and a second bracket
  • the light bar 134 includes a first light bar and a second light bar.
  • the first bracket is fixedly connected to the housing 131; the second bracket is fixedly connected to the housing 131; the first light bar is arranged on the first bracket; the second light bar is arranged on the second bracket;
  • the two light bars are respectively arranged on both sides of the image acquisition component 132.
  • the first bracket and the second bracket may respectively correspond to the two brackets 133 in FIG. 2, and the first light bar and the second light bar may respectively correspond to the two light bars 134 in FIG. 2.
  • the number of brackets 133 and light bars 134 may be other numbers, for example, one, three, or four.
  • the brightness of the light bar 134 can be changed.
  • the controller can analyze the captured images to obtain the current ambient light brightness at the moment, and control the light bar 134 to emit a brightness that matches the ambient light brightness based on the ambient light brightness. It should be understood that the lower the ambient light brightness, the brighter the light emitted by the light bar 134.
  • the image acquisition device 1 may be provided with an ambient light sensor, and the controller can obtain the brightness of the ambient light sent by the ambient light sensor, so as to control the light bar 134 to emit light matching the brightness of the ambient light.
  • the light bar 134 emits light when the industrial camera 1321 takes a photo. At this time, the light bar 134 functions as a flash, so that the light bar 134 emits light to supplement the shooting environment.
  • the first instruction may carry information for causing the light bar 134 to emit light.
  • the light bar 134 can always be in an on state, so that the surveillance camera 1323 can capture high-quality images.
  • the housing 131 has a second opening, and the image capturing component 13 further includes a connecting block 135 and a driving mechanism (including 136, 137, 138, and 139).
  • the connecting block 135 partially passes through the second opening, the first end of the connecting block 135 is inside the housing 131, the second end of the connecting block 135 is outside the housing 131, and the second end of the connecting block 135 is movably connected to the lifting component 12
  • the driving mechanism is connected to the first end of the connecting block 135, and the driving mechanism is used to control the connecting block 135 to move in the second direction.
  • a connecting plate 1311 may be fixed inside the housing 131, and the driving mechanism may be fixed on the connecting plate 1311.
  • the driving mechanism includes: a driving assembly 136, a rotating handle 137, and a connecting rod 138.
  • the driving assembly 136 is connected to the first end of the rotating handle 137, and the driving assembly 136 is used to drive the rotating handle 137 to rotate; the second end of the rotating handle 137 is connected to the first end of the connecting rod 138; the second end of the connecting rod 138 is connected to the connecting block The first end of 135; wherein the handle 137 drives the connecting rod 138 to move when it rotates, and the movement of the connecting rod 138 drives the connecting block 135 to move in the second direction.
  • the rotating handle 137, the connecting rod 138 and the connecting block 135 may form a crank-slider mechanism, and the rotating handle 137 causes the connecting block 135 to move in the second direction.
  • the driving assembly 136 includes: a steering gear control board 1361 and a steering gear 1362.
  • the steering gear control board 1361 is electrically connected to the controller of the moving part 11.
  • the steering gear control board 1361 is used to receive the first instruction sent by the controller, and control the steering gear 1362 to work based on the first instruction; the steering gear 1362 drives the handle when it is working 137 rotations.
  • the steering gear control board 1361 can be fixed on the housing 131, the steering gear 1362 can be fixed on the connecting plate 1311, and the steering gear 1362 and the handle 137 are respectively arranged on opposite sides of the connecting plate 1311.
  • the driving mechanism further includes a guide shaft 139.
  • the guide shaft 139 is fixedly arranged relative to the housing 131, and the guide shaft 139 is parallel to the second direction; wherein the connecting block 135 has a guide hole matching the guide shaft 139, and the guide shaft 139 is movably connected to the connecting block 135 through the guide hole, and the guide The shaft 139 cooperates with the guide hole to move the connecting block 135 in the second direction.
  • the number of the guide shaft 139 is two, the first end of the guide shaft 139 can be fixedly connected to the connecting plate 1311, and the second end of the guide shaft 139 can pass through the connecting block.
  • the guide hole of 135 and the connecting block 135 can be movably connected.
  • the guide shafts 139 may be provided at both ends of one side of the connecting plate 1311 respectively.
  • the cross section of the guide shaft 139 may be circular. In other embodiments, the number of the guide shaft 139 may be one, three, four, etc., and the cross section of the guide shaft 139 may be rectangular, elliptical, or other shapes.
  • the moving component 11 may include: a controller.
  • the controller is used to send a second instruction to the lifting component 12, and the controller is used to send a first instruction to the image acquisition component 13; correspondingly, the lifting component 12 is used to move the image acquisition component 13 in the first direction based on the second instruction; image acquisition The component 13 is used for moving the image capturing component 13 in the second direction based on the first instruction.
  • the controller can send the first instruction to the image acquisition component 13 and the second instruction to the lifting component 12 at the same time, so that the image acquisition component 13 will move in the first direction and the second direction at the same time.
  • the first instruction and the second instruction sent by the controller may not be at the same time.
  • the controller is configured to receive the first image for the target object sent by the image acquisition component 13, determine based on the first image that there is a mesh door before the target object, and send the first instruction to the image acquisition component 13;
  • the acquisition component 13 is used to take a second image of the target object after moving in the second direction based on the first instruction, and send the second image to the controller;
  • the controller is used to determine the image acquisition component 13 based on the first image and the second image The characteristic information of the target object at the current height.
  • the controller is used to obtain a set of images taken by the image acquisition component 13 at each of a plurality of different heights, and obtain characteristic information for the target object based on the set of images taken at each height;
  • multiple sets of images are obtained based on multiple different heights, and the multiple sets of images include a first image and a second image.
  • the controller is configured to receive a third image for the target object sent by the image acquisition component 13, determine the current environmental parameter based on the third image, and if the current environmental parameter is less than the target environmental parameter, send a third instruction To the image acquisition component 13; the image acquisition component 13 is used to make the light bar 134 in the image acquisition component 13 emit light based on the third instruction.
  • the moving component 11 further includes a light sensor, which is used to detect the brightness of the ambient light and send the brightness of the ambient light to the controller; accordingly, the controller is used to determine that the brightness of the ambient light is less than
  • a third instruction is sent to the image acquisition component 13; the image acquisition component 13 is used to make the light bar 134 in the image acquisition component 13 emit light based on the third instruction.
  • the image acquisition component 13 can move from top to bottom or from bottom to top relative to the lifting component 12, and during the movement, the first device For shooting, when the image capture device 1 moves to the second device and shoots the second device, the image capture component 13 can also move from top to bottom or from bottom to top relative to the lifting component 12, and in the process of moving In, take a picture of the second device.
  • the image acquisition component includes an image acquisition component
  • the image acquisition component includes an industrial camera, a thermal infrared camera, and a monitoring camera, so as to obtain high-precision live images in the computer room, and obtain the computer room.
  • the image acquisition device can still obtain clear equipment images in a dark environment, so as to better adapt to the low light and dark environment.
  • this dislocation shooting method can make the controller even when there is a mesh door in front of the device.
  • the feature information of the device can still be obtained, so that the device can not open the door detection.
  • the above-mentioned controller can be a specific integrated circuit (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a digital signal processing device (Digital Signal Processing Device, DSPD), and a programmable At least one of logic device (Programmable Logic Device, PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, and microprocessor . It is understandable that the electronic device that realizes the above-mentioned processor function may also be other, which is not specifically limited in the embodiment of the present application.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented.
  • the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms. of.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • a plurality of means two or more than two, unless otherwise specifically defined.
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be understood according to specific circumstances.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or merely indicating that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the image acquisition device includes a moving part, a lifting part, and an image collecting part.
  • the moving part can move on the bearing surface; the lifting part is arranged on the moving part; the image collecting part and the lifting part can be movably connected, and the image collecting
  • the component can move in a first direction parallel to the axis of the lifting component, and/or can move in a second direction perpendicular to the first direction; furthermore, through the movement of the image capturing component relative to the lifting component in different positions, the image capturing component
  • the captured image still has a mesh gate, but at least two images for the target object can be captured at different positions, so that the overall structure of the target object can be obtained by analyzing the at least two images collected, which avoids the need for gates in related technologies.
  • the process of opening in advance improves the adaptability of the image acquisition device to the inspection environment.

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Abstract

本申请公开了一种图像采集装置，该图像采集装置包括：移动部件、升降部件以及图像采集部件，移动部件可在承载面上移动；升降部件设置在所述移动部件上；图像采集部件与所述升降部件可活动连接，所述图像采集部件可沿平行于所述升降部件的轴线的第一方向移动，和/或可沿垂直于所述第一方向的第二方向移动。

Description

一种图像采集装置
相关申请的交叉引用
本申请基于申请号为201911008504.7、申请日为2019年10月22日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以全文引入的方式引入本申请。
技术领域
本申请涉及电子与信息技术领域，尤其是涉及一种图像采集装置。
背景技术
随着信息技术产业的不断发展，企业、政府的电信、电力部门大多设置有用于存放服务器的机房，机房通常放置有多个机柜、小型机以及服务器等，机房用于为员工或客户提供自动化信息技术服务，是现代信息技术行业的重要组成部分。
为了保证业务正常运作，机房会采用图像采集装置对机房内的物理环境状况、设备状况进行监测，图像采集装置会通过图像采集器部件来采集图像以了解周围环境信息；然而，很多机房机柜都配有网孔结构的柜门，为实现图像采集装置顺利采集图像，需要将门提前打开，降低了图像采集装置对巡检环境的适应性。
发明内容
本申请实施例期望提供一种图像采集装置，解决相关技术中很多机房机柜都配有网孔结构的柜门，为实现图像采集装置顺利采集图像，需要将门提前打开，降低了图像采集装置对巡检环境的适应性的问题。
本申请的技术方案是这样实现的：
一种图像采集装置，所述图像采集装置包括：
移动部件，可在承载面上移动；
升降部件，设置在所述移动部件上；
图像采集部件，与所述升降部件可活动连接，所述图像采集部件可沿平行于所述升降部件的轴线的第一方向移动，和/或可沿垂直于所述第一方向的第二方向移动。
在一些实施方式中，所述图像采集部件包括：
壳体，所述壳体具有第一开口；
图像采集组件，所述图像采集组件设置在所述壳体内，所述图像采集组件的镜头通过所述第一开口外露；
其中，所述移动部件用于控制所述图像采集组件工作。
在一些实施方式中，所述图像采集组件包括工业相机、热红外相机以及监控相机；
其中，所述工业相机用于拍摄目标对象以得到所述目标对象的特征信息，所述热红外相机用于拍摄所述目标对象以得到所述目标对象的热分布信息，所述监控相机用于实时采集视频信息。
在一些实施方式中，所述图像采集部件还包括：
支架，与所述壳体固定连接；
灯条，设置在所述支架上，所述灯条与所述移动部件中的控制器电连接，所述控制器用于控制所述灯条的亮灭。
在一些实施方式中，所述支架包括：
第一支架，所述第一支架与所述壳体固定连接；
第二支架，所述第二支架与所述壳体固定连接；
相应地，所述灯条包括：
第一灯条，所述第一灯条设置在所述第一支架上；
第二灯条，所述第二灯条设置在所述第二支架上；
其中，所述第一灯条和所述第二灯条分别设置在所述图像采集组件的两侧。
在一些实施方式中，所述壳体具有第二开口，所述图像采集部件还包括：
连接块，所述连接块部分穿过所述第二开口，所述连接块的第一端在所述壳体内部，所述连接块的第二端在所述壳体外部，所述连接块的第二端与所述升降部件可活动连接；
驱动机构，所述驱动机构与所述连接块的第一端连接，所述驱动机构用于控制所述连接块沿所述第二方向移动。
在一些实施方式中，所述驱动机构包括：
驱动组件，所述驱动组件连接转柄的第一端，所述驱动组件用于驱动所述转柄旋转；
所述转柄，所述转柄的第二端连接连杆的第一端；
所述连杆，所述连杆的第二端连接所述连接块的第一端；
其中，所述转柄在旋转时带动所述连杆运动，所述连杆运动带动所述连接块沿所述第二方向移动。
在一些实施方式中，所述驱动组件包括：
舵机控制板，所述舵机控制板与所述移动部件的控制器电连接，所述舵机控制板用于接收所述控制器发送的第一指令，基于所述第一指令控制舵机工作；
所述舵机，所述舵机在工作时驱动所述转柄旋转。
在一些实施方式中，所述驱动机构还包括：
导向轴，所述导向轴相对所述壳体固定设置，所述导向轴与所述第二方向平行；
其中，所述连接块具有与所述导向轴匹配的导向孔，所述导向轴通过所述导向孔与所述连接块可活动连接，且所述导向轴与所述导向孔配合使 所述连接块沿所述第二方向移动。
在一些实施方式中，所述移动部件包括：
控制器，所述控制器用于发送第二指令至所述升降部件，所述控制器用于发送第一指令至所述图像采集部件；
相应地，所述升降部件，用于基于所述第二指令使所述图像采集部件沿所述第一方向移动；
所述图像采集部件，用于基于所述第一指令使所述图像采集部件沿所述第二方向移动。
在一些实施方式中，所述控制器，用于接收所述图像采集部件发送的针对目标对象的第一图像，基于所述第一图像确定到所述目标对象前具有网孔门，发送所述第一指令至所述图像采集部件；
图像采集部件，用于基于所述第一指令沿所述第二方向移动后，拍摄针对所述目标对象的第二图像，发送所述第二图像至所述控制器；
所述控制器，用于基于所述第一图像和所述第二图像，确定所述图像采集部件在当前高度的所述目标对象的特征信息。
在一些实施方式中，所述控制器，用于获取所述图像采集部件在多个不同的高度的每一高度拍摄的一组图像，基于所述每一高度拍摄的一组图像得到针对所述目标对象的特征信息；
其中，基于所述多个不同的高度得到多组图像，所述多组图像包括所述第一图像和所述第二图像。
在一些实施方式中，所述控制器，用于接收所述图像采集部件发送的针对目标对象的第三图像，基于所述第三图像确定当前环境参数，如果所述当前环境参数小于目标环境参数，发送第三指令至所述图像采集部件；
所述图像采集部件，用于基于所述第三指令使所述图像采集部件中的灯条发光。
在一些实施方式中，所述移动部件还包括：
光传感器，所述光传感器用于检测环境光亮度，发送所述环境光亮度至所述控制器；
相应地，所述控制器，用于如果确定到所述环境光亮度小于目标环境光亮度，发送第三指令至所述图像采集部件；
所述图像采集部件，用于基于所述第三指令使所述图像采集部件中的灯条发光。
应用本申请的上述一个或至少两个实施例可以实现以下有益效果：能够在不同位置采集至少两张针对目标对象的图像，从而通过对采集的至少两张图像进行分析，得到目标对象的整体结构，避免了相关技术中需将门提前打开的过程，提高了图像采集装置对巡检环境的适应性；能够获取到高精度的机房内的现场图像，获取机房内设备的热分布信息，以及监测机房内设备的运行状态；在光线暗的环境中依旧能够获取到清晰的设备图像，从而更好地适应弱光、黑暗环境。
在本申请实施例中，图像采集装置包括移动部件、升降部件以及图像采集部件，移动部件可在承载面上移动；升降部件设置在移动部件上；图像采集部件与升降部件可活动连接，图像采集部件可沿平行于升降部件的轴线的第一方向移动，和/或可沿垂直于第一方向的第二方向移动；进而通过图像采集部件相对升降部件在不同位置的移动，使得虽然图像采集部件采集的图像依然具有网孔门，但是能够在不同位置采集至少两张针对目标对象的图像，从而通过对采集的至少两张图像进行分析，得到目标对象的整体结构，避免了相关技术中需将门提前打开的过程，提高了图像采集装置对巡检环境的适应性。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本申请的实施例，并于说明书一起用于说明本申请的技术方案。
图1为本申请实施例提供的一种图像采集装置的结构示意图；
图2为本申请实施例提供的一种图像采集部件的结构示意图；
图3为本申请实施例提供的一种图像采集部件去除壳体的结构示意图；
图4为本申请实施例提供的另一种图像采集部件去除壳体的结构示意图；
图5为本申请实施例提供的又一种图像采集部件去除壳体的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
应理解，说明书通篇中提到的“本申请实施例/方式”或“前述实施例/方式”或“一些实施例/方式”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“本申请实施例/方式中”或“在前述实施例/方式中”或“在一些实施例/方式中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中应。在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
本申请实施例提供一种图像采集装置，如图1所示，图1为本申请实施例提供的一种图像采集装置的结构示意图，该图像采集装置1包括移动部件11、升降部件12以及图像采集部件13。
在本申请实施例中，移动部件11可在承载面上移动。
图像采集装置1可以是机器人，机器人可以是巡检机器人、拍照机器人或者移动机器人等。
移动部件11可以包括移动组件111，移动组件111可以是轮子结构，通过轮子结构在承载面上的滚动来使图像采集装置1在承载面上移动。承载面可以是地面或其它表面，承载面可以是水平面或斜面。
移动部件11还可以包括控制器(图中未示出)，控制器可以为图像采集装置1的核心板，控制器可以用于控制整个图像采集装置1的移动、控制各部件的相对位置和/或图像采集部件13采集图像。在一种实施方式中，控制器可以接收外部设备对其发送的移动指令，并基于移动指令控制移动部件11进行相应地移动。在另一种实施方式中，控制器可以调用其内部存储的移动程序，并基于移动程序进行相应地移动。例如，在图像采集装置1为巡检机器人时，应用场景为对机房内的多个设备进行图像采集时，移动部件11可以自动地依次经过每一设备，并对每一设备进行拍摄。
在本申请实施例中，升降部件12设置在移动部件11上。
升降部件12与移动部件11固定连接，升降部件12设置在移动部件11的移动组件111的相对侧，例如，移动组件111在移动部件11的下侧设置，升降部件12可以在移动部件11的上侧设置。升降部件12可以垂直于移动部件11设置，或者升降部件12可以垂直于移动部件11的移动方向设置，升降部件12可以是直线状或弯折状，弯折状例如是弧状或抛物线状，本申请实施例对此不作限定，只要升降部件12能够使图像采集部件13相对升降部件12进行升降即可。
图像采集部件13与升降部件12可活动连接，图像采集部件13可沿平行于升降部件12的轴线的第一方向移动，和/或可沿垂直于第一方向的第二方向移动。
例如，请继续参阅图1，在升降部件12竖直时，图像采集部件13沿平行于升降部件12的轴线的第一方向移动，可以是图像采集部件13沿着升降部件12向上或向下移动。图像采集部件13沿垂直于第一方向的第二方向移动，可以是图像采集部件13向左或向右移动，通过图像采集部件13 沿第二方向移动，可改变图像采集部件13相对升降部件12之间的距离，例如，在图像采集部件13通过沿第二方向移动到达第一位置时(例如可到达的最左侧位置)，图像采集部件13相对升降部件12的距离最短，在图像采集部件13通过沿第二方向移动到达第二位置时(例如可到达的最右侧位置)，图像采集部件13相对升降部件12的距离最长。在一些实施方式中，在其它实施例中，图像采集部件13沿第二方向的移动，可以是图像采集部件13绕升降部件12的转动。
在本申请实施例中，图像采集部件13即可实现相对升降部件12在第一方向上的移动，还可实现相对升降部件12在第二方向上的移动，从而可以全方位的对目标对象进行拍摄。在一种实施方式中，图像采集部件13在第一方向移动的同时，不能实现在第二方向的移动，或者图像采集部件13在第二方向移动的同时，不能实现在第一方向的移动。在另一种实施方式中，图像采集部件13在第一方向移动的同时，也可实现在第二方向的移动。
在一种实施方式中，图像采集装置1可以包括本体(图未示出)和连接块(连接块可以是下述的连接块135)，连接块一端连接本体，另一端连接升降部件12，连接块通过在第一方向移动，来牵引本体在第一方向移动，连接块通过在本体伸缩，使本体在第二方向移动，从而使图像采集装置1在第二方向移动。
控制器可以发送第一指令至图像采集部件13，图像采集部件13基于第一指令控制连接块伸出或缩回，例如，图像采集部件13可以对目标对象进行拍摄得到第一图像后，基于第一指令沿第二方向移动(在图1中显示为向左或向右移动)，在移动后再对目标对象进行拍摄得到第二图像。图像采集部件13可以将第一图像和第二图像传输至控制器，控制器可以基于第一图像和第二图像，得到针对目标对象的无网孔的图像。在另一种实施方式中，控制器可以发送第一指令至升降部件12，使升降部件12控制图像采集部件13沿第二方向移动。
控制器可以发送第二指令至升降部件12，从而升降部件12可以基于第二指令使图像采集部件13沿第一方向移动。例如，图像采集部件13在拍摄完第二图像后，控制器可以发送第二指令至升降部件12，升降部件12可以基于第二指令使图像采集部件13相对升降部件12向上或向下移动，例如，可以基于第二指令向上移动1/2、1/3或1/4等乘以升降部件12长度的距离。
在本申请实施例中，图像采集部件13可以在多个高度的每一高度上分别拍摄两张图像，从而控制器可以基于每一高度上拍摄的两张图像，得到针对目标对象的特征信息。在其它实施例中，控制器可以将得到的每一高度上拍摄的两张图像发送至其它电子设备，使其它电子设备对拍摄得到的图像进行分析，并通过这种错位拍摄目标对象，能够得到针对目标对象的特征信息，并对图像采集装置1进行相应的控制。
在一种实施方式中，控制器在获取到图像采集部件13发送的第一图像时，对第一图像进行分析，并确定到第一图像具有网孔门特征时，发送第一指令至图像采集部件13。在确定到第一图像中没有网孔门特征时，不发送第一指令至图像采集部件13，而是发送第二指令至升降部件12。在另一种实施方式中，控制器无论确定到第一图像是否有网孔门特征，都发送第一指令至图像采集部件13。
在一种实施方式中，图像采集装置1可以确定到图像采集装置1在移动到预定位置时，发送第一指令至图像采集部件13。预定位置用于表征当前位置的目标对象前具有网孔门。预定位置可以是通过自身定位模块定位得到或者通过其它设备发送得到。
应注意，本申请实施例中提到的目标对象可以是任一需要对其进行分析的设备，例如，服务器、机柜、小型机或其它电子设备等，此处不作限制。
本申请实施例所提供的图像采集装置，该图像采集装置包括：移动部 件、升降部件以及图像采集部件，移动部件可在承载面上移动；升降部件设置在移动部件上；图像采集部件与升降部件可活动连接，图像采集部件可沿平行于升降部件的轴线的第一方向移动，和/或可沿垂直于第一方向的第二方向移动。如此，通过图像采集部件相对升降部件在不同位置的移动，使得虽然图像采集部件采集的图像依然具有网孔门，但是能够在不同位置采集至少两张针对目标对象的图像，从而通过对采集的至少两张图像进行分析，得到目标对象的整体结构，避免了相关技术中需将门提前打开的过程，提高了图像采集装置对巡检环境的适应性。
基于前述实施例，本申请实施例提供一种图像采集装置，如图2～5所示，该图像采集装置1包括移动部件11、升降部件12以及图像采集部件13，其中，移动部件11、升降部件12以及图像采集部件13的连接关系可以与图1对应的实施例中的相同。
请参阅图2，在本申请实施例中，图像采集部件13包括：壳体131和图像采集组件132。
壳体131具有第一开口；图像采集组件132设置在壳体131内，图像采集组件132的镜头通过第一开口外露；其中，移动部件11用于控制图像采集组件132工作。
在本申请实施例中，图像采集组件132包括工业相机1321、热红外相机1322以及监控相机1323。其中，工业相机1321用于拍摄目标对象以得到目标对象的特征信息，热红外相机1322用于拍摄目标对象以得到目标对象的热分布信息，监控相机1323用于实时采集视频信息。
图像采集组件132在接收到第一指令后，可以控制工业相机1321拍摄针对目标对象的图像，或者控制工业相机1321和热红外相机1322分别拍摄针对目标对象的图像。控制器可以控制监控相机1323一直工作，从而监控相机1323能够一直采集图像采集部件13周围的环境影像，从而相关工作人员能够基于环境影像对图像采集装置1进行监控和相关控制。在一种 实施例中，热红外相机1322也可以一直工作，拍摄机房内影像，从而得到机房内的温度分布。
工业相机1321的采集精度大于热红外相机1322或监控相机1323的采集精度。第一开口可以包括第一子开口、第二子开口以及第三子开口，第一子开口、第二子开口以及第三子开口均呈圆形分布，工业相机1321通过第一子开口外露，热红外相机1322通过第二子开口外露，监控相机1323通过第三子开口外露。第一开口的尺寸可以大于第二开口的尺寸或第三开口的尺寸。其中，第一开口的中心、第二开口的中心以及第三开口的中心的任两者的连线可呈现三角形。
通过设置工业相机1321，工业相机1321的采集精度高，从而能够采集针对目标对象的高精度图像；通过设置热红外相机1322，能够采集到针对目标对象及其周围的热分布信息，从而基于热分布信息确定目标对象及其周围的温度信息；通过设置监控相机1323，使得工作人员可以通过监控视频直观的了解到机房内的信息。
在本申请实施例中，图像采集部件13还包括：支架133和灯条134。
支架133与壳体131固定连接；灯条134设置在支架133上，灯条134与移动部件11中的控制器电连接，控制器用于控制灯条134的亮灭。
在其它实施例中，图像采集装置1可以不包括支架133，灯条134可以直接设置在壳体131的表面。
在本申请实施例中，支架133包括：第一支架和第二支架，灯条134包括：第一灯条和第二灯条。第一支架与壳体131固定连接；第二支架与壳体131固定连接；第一灯条设置在第一支架上；第二灯条设置在第二支架上；其中，第一灯条和第二灯条分别设置在图像采集组件132的两侧。第一支架和第二支架可以分别对应图2中所对应的两个支架133，第一灯条和第二灯条可分别对应图2中所对应的两个灯条134。
在其它实施例中，支架133和灯条134的数量可以是其它数量个，例 如，一个、三个或四个等。
在一些实施方式中，灯条134的亮度可以改变，例如，控制器可以对已经拍摄的图像进行分析得到此刻当前的环境光亮度，基于环境光亮度来控制灯条134发出与环境光亮度匹配的光，应理解，环境光亮度越低，灯条134发出的光越亮。再例如，图像采集装置1可以设置有环境光传感器，控制器能够获取到环境光传感器发送的环境光亮度，从而控制灯条134发出与环境光亮度匹配的光。
在一种实施方式中，灯条134在工业相机1321拍照时发光，此时，灯条134的作用相当于闪光灯，从而通过灯条134的发光来对拍摄环境来进行补光。在一些实施方式中，第一指令可以携带有使灯条134发光的信息。在另一种实施方式中，图像采集装置1在使用过程中，灯条134可以一直处于开启的状态，从而便于监控相机1323采集质量高的影像。
请继续参阅图2～图5，壳体131具有第二开口，图像采集部件13还包括：连接块135和驱动机构(包括136、137、138和139)。
连接块135部分穿过第二开口，连接块135的第一端在壳体131内部，连接块135的第二端在壳体131外部，连接块135的第二端与升降部件12可活动连接；驱动机构与连接块135的第一端连接，驱动机构用于控制连接块135沿第二方向移动。
壳体131内部可以固定有连接板1311，驱动机构可以固定在连接板1311上。
在本申请实施例中，驱动机构包括：驱动组件136、转柄137以及连杆138。
驱动组件136连接转柄137的第一端，驱动组件136用于驱动转柄137旋转；转柄137的第二端连接连杆138的第一端；连杆138的第二端连接到连接块135的第一端；其中，转柄137在旋转时带动连杆138运动，连杆138运动带动连接块135沿第二方向移动。
其中，转柄137、连杆138以及连接块135可以形成曲柄滑块机构，通过转柄137的转动，使连接块135沿第二方向移动。
在本申请实施例中，驱动组件136包括：舵机控制板1361和舵机1362。
舵机控制板1361与移动部件11的控制器电连接，舵机控制板1361用于接收控制器发送的第一指令，基于第一指令控制舵机1362工作；舵机1362在工作时驱动转柄137旋转。
舵机控制板1361可以固定在壳体131上，舵机1362可以固定在连接板1311上，舵机1362和转柄137分别设置在连接板1311的相对两侧。
驱动机构还包括：导向轴139。
导向轴139相对壳体131固定设置，导向轴139与第二方向平行；其中，连接块135具有与导向轴139匹配的导向孔，导向轴139通过导向孔与连接块135可活动连接，且导向轴139与导向孔配合使连接块135沿第二方向移动。
在图4和图5所对应的实施例中，导向轴139的数量为两个，导向轴139的第一端可以和固定连接在连接板1311上，导向轴139的第二端可以通过连接块135的导向孔和连接块135可活动地进行连接。导向轴139可以在连接板1311的一侧边的两端分别设置。导向轴139的截面可以是圆形。在其它实施例中，导向轴139的数量可以是一个、三个或者四个等，导向轴139的截面可以是矩形、椭圆形或其它形状。
请继续参阅图4和图5，在图像采集部件13的舵机控制板1361未接收到第一指令时，图像采集部件13的各部件的相对位置如图4所示，连接块135处于缩回状态，这时，控制器可以控制图像采集组件132拍摄第一图像；在图像采集部件13的舵机控制板1361接收到第一指令时，舵机控制板1361控制舵机1362转动，从而带动转柄137相对连接板1311旋转，其中，转柄137旋转可以一直为顺时针旋转或逆时针旋转，通过转柄137的旋转带动连杆138的运动从而带动连接块135处于伸出状态，此时，图像采集部 件13的各部件的相对位置如图5所示。
在本申请实施例中，移动部件11可以包括：控制器。
控制器用于发送第二指令至升降部件12，控制器用于发送第一指令至图像采集部件13；相应地，升降部件12用于基于第二指令使图像采集部件13沿第一方向移动；图像采集部件13用于基于第一指令使图像采集部件13沿第二方向移动。
控制器可以同时发送第一指令至图像采集部件13和第二指令至升降部件12，如此，图像采集部件13将同时向第一方向移动和第二方向移动。控制器发送的第一指令和第二指令可以不同时。
在本申请实施例中，控制器用于接收图像采集部件13发送的针对目标对象的第一图像，基于第一图像确定到目标对象前具有网孔门，发送第一指令至图像采集部件13；图像采集部件13用于基于第一指令沿第二方向移动后，拍摄针对目标对象的第二图像，发送第二图像至控制器；控制器用于基于第一图像和第二图像，确定图像采集部件13在当前高度的目标对象的特征信息。
在本申请实施例中，控制器用于获取图像采集部件13在多个不同的高度的每一高度拍摄的一组图像，基于每一高度拍摄的一组图像得到针对目标对象的特征信息；其中，基于多个不同的高度得到多组图像，多组图像包括第一图像和第二图像。
在本申请的一种实施例中，控制器用于接收图像采集部件13发送的针对目标对象的第三图像，基于第三图像确定当前环境参数，如果当前环境参数小于目标环境参数，发送第三指令至图像采集部件13；图像采集部件13用于基于第三指令使图像采集部件13中的灯条134发光。
在本申请的另一种实施例中，述移动部件11还包括光传感器，光传感器用于检测环境光亮度，发送环境光亮度至控制器；相应地，控制器用于如果确定到环境光亮度小于目标环境光亮度，发送第三指令至图像采集部 件13；图像采集部件13用于基于第三指令使图像采集部件13中的灯条134发光。
应理解，图像采集装置1在对第一个设备进行拍摄时，图像采集部件13可以相对升降部件12从上到下或从下到上移动，并在移动的过程中，对第一个设备进行拍摄，图像采集装置1在移动到第二个设备旁并对第二个设备进行拍摄时，图像采集部件13也可以相对升降部件12从上到下或从下到上移动，并在移动的过程中，对第二个设备进行拍摄。
需要说明的是，本实施例中与其它实施例中相同步骤和相同内容的说明，可以参照其它实施例中的描述，此处不再赘述。
本申请的实施例所提供的图像采集装置，通过图像采集部件包括图像采集组件，图像采集组件包括工业相机、热红外相机以及监控相机，从而能够获取到高精度的机房内的现场图像，获取机房内设备的热分布信息，以及监测机房内设备的运行状态。通过在图像采集部件上设置灯条，使得图像采集装置在光线暗的环境中依旧能够获取到清晰的设备图像，从而更好地适应弱光、黑暗环境。通过连接块在壳体内的不断地处于缩回或伸出状态，并在这两种状态下分别拍摄设备，从而通过这种错位拍摄的手段，能够使控制器即使在设备前有网孔门时，依旧能够得到设备的特征信息，从而能够实现设备的不开门检测。
需要说明的是，上述控制器可以为特定用途集成电路(Application Specific Integrated Circuit，ASIC)、数字信号处理器(Digital Signal Processor，DSP)、数字信号处理装置(Digital Signal Processing Device，DSPD)、可编程逻辑装置(Programmable Logic Device，PLD)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、中央处理器(Central Processing Unit，CPU)、控制器、微控制器、微处理器中的至少一种。可以理解地，实现上述处理器功能的电子器件还可以为其它，本申请实施例不作具体限定。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法， 可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和 斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
本申请所提供的几个装置实施例中所揭露的装置，在不冲突的情况下可以任意组合，得到新的装置实施例。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。
工业实用性
在本申请实施例中，图像采集装置包括移动部件、升降部件以及图像采集部件，移动部件可在承载面上移动；升降部件设置在移动部件上；图像采集部件与升降部件可活动连接，图像采集部件可沿平行于升降部件的轴线的第一方向移动，和/或可沿垂直于第一方向的第二方向移动；进而通过图像采集部件相对升降部件在不同位置的移动，使得虽然图像采集部件采集的图像依然具有网孔门，但是能够在不同位置采集至少两张针对目标对象的图像，从而通过对采集的至少两张图像进行分析，得到目标对象的整体结构，避免了相关技术中需将门提前打开的过程，提高了图像采集装置对巡检环境的适应性。

Claims (14)

  1. 一种图像采集装置，所述图像采集装置包括：
    移动部件，可在承载面上移动；
    升降部件，设置在所述移动部件上；
    图像采集部件，与所述升降部件可活动连接，所述图像采集部件可沿平行于所述升降部件的轴线的第一方向移动，和/或可沿垂直于所述第一方向的第二方向移动。
  2. 根据权利要求1所述的图像采集装置，其中，所述图像采集部件包括：
    壳体，所述壳体具有第一开口；
    图像采集组件，所述图像采集组件设置在所述壳体内，所述图像采集组件的镜头通过所述第一开口外露；
    其中，所述移动部件用于控制所述图像采集组件工作。
  3. 根据权利要求2所述的图像采集装置，其中，
    所述图像采集组件包括工业相机、热红外相机以及监控相机；
    其中，所述工业相机用于拍摄目标对象以得到所述目标对象的特征信息，所述热红外相机用于拍摄所述目标对象以得到所述目标对象的热分布信息，所述监控相机用于实时采集视频信息。
  4. 根据权利要求2所述的图像采集装置，其中，所述图像采集部件还包括：
    支架，与所述壳体固定连接；
    灯条，设置在所述支架上，所述灯条与所述移动部件中的控制器电连接，所述控制器用于控制所述灯条的亮灭。
  5. 根据权利要求4所述的图像采集装置，其中，所述支架包括：
    第一支架，所述第一支架与所述壳体固定连接；
    第二支架，所述第二支架与所述壳体固定连接；
    相应地，所述灯条包括：
    第一灯条，所述第一灯条设置在所述第一支架上；
    第二灯条，所述第二灯条设置在所述第二支架上；
    其中，所述第一灯条和所述第二灯条分别设置在所述图像采集组件的两侧。
  6. 根据权利要求2至5任一项所述的图像采集装置，其中，所述壳体具有第二开口，所述图像采集部件还包括：
    连接块，所述连接块部分穿过所述第二开口，所述连接块的第一端在所述壳体内部，所述连接块的第二端在所述壳体外部，所述连接块的第二端与所述升降部件可活动连接；
    驱动机构，所述驱动机构与所述连接块的第一端连接，所述驱动机构用于控制所述连接块沿所述第二方向移动。
  7. 根据权利要求6所述的图像采集装置，其中，所述驱动机构包括：
    驱动组件，所述驱动组件连接转柄的第一端，所述驱动组件用于驱动所述转柄旋转；
    所述转柄，所述转柄的第二端连接连杆的第一端；
    所述连杆，所述连杆的第二端连接所述连接块的第一端；
    其中，所述转柄在旋转时带动所述连杆运动，所述连杆运动带动所述连接块沿所述第二方向移动。
  8. 根据权利要求7所述的图像采集装置，其中，所述驱动组件包括：
    舵机控制板，所述舵机控制板与所述移动部件的控制器电连接，所述舵机控制板用于接收所述控制器发送的第一指令，基于所述第一指令控制舵机工作；
    所述舵机，所述舵机在工作时驱动所述转柄旋转。
  9. 根据权利要求7所述的图像采集装置，其中，所述驱动机构还包括：
    导向轴，所述导向轴相对所述壳体固定设置，所述导向轴与所述第二方向平行；
    其中，所述连接块具有与所述导向轴匹配的导向孔，所述导向轴通过所述导向孔与所述连接块可活动连接，且所述导向轴与所述导向孔配合使所述连接块沿所述第二方向移动。
  10. 根据权利要求1至5任一项所述的图像采集装置，其中，所述移动部件包括：
    控制器，所述控制器用于发送第二指令至所述升降部件，所述控制器用于发送第一指令至所述图像采集部件；
    相应地，所述升降部件，用于基于所述第二指令使所述图像采集部件沿所述第一方向移动；
    所述图像采集部件，用于基于所述第一指令使所述图像采集部件沿所述第二方向移动。
  11. 根据权利要求10所述的图像采集装置，其中，
    所述控制器，用于接收所述图像采集部件发送的针对目标对象的第一图像，基于所述第一图像确定到所述目标对象前具有网孔门，发送所述第一指令至所述图像采集部件；
    图像采集部件，用于基于所述第一指令沿所述第二方向移动后，拍摄针对所述目标对象的第二图像，发送所述第二图像至所述控制器；
    所述控制器，用于基于所述第一图像和所述第二图像，确定所述图像采集部件在当前高度的所述目标对象的特征信息。
  12. 根据权利要求11所述的图像采集装置，其中，
    所述控制器，用于获取所述图像采集部件在多个不同的高度的每一高度拍摄的一组图像，基于所述每一高度拍摄的一组图像得到针对所述目标对象的特征信息；
    其中，基于所述多个不同的高度得到多组图像，所述多组图像包括所 述第一图像和所述第二图像。
  13. 根据权利要求10所述的图像采集装置，其中，
    所述控制器，用于接收所述图像采集部件发送的针对目标对象的第三图像，基于所述第三图像确定当前环境参数，如果所述当前环境参数小于目标环境参数，发送第三指令至所述图像采集部件；
    所述图像采集部件，用于基于所述第三指令使所述图像采集部件中的灯条发光。
  14. 根据权利要求10所述的图像采集装置，其中，所述移动部件还包括：
    光传感器，所述光传感器用于检测环境光亮度，发送所述环境光亮度至所述控制器；
    相应地，所述控制器，用于如果确定到所述环境光亮度小于目标环境光亮度，发送第三指令至所述图像采集部件；
    所述图像采集部件，用于基于所述第三指令使所述图像采集部件中的灯条发光。
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