A method for recognizing a target light source based on a camera

Abstract

The application discloses a method for identifying a target light source based on a camera, which comprises the following steps: adjusting the angle of the camera to aim at the target light source; setting a light shielding device in front of the camera and adjusting the light entering angle and brightness of the light shielding device; collecting the light intensity value of the target light source by the camera with the light shielding device, and obtaining a light intensity filtering threshold; determining multiple frames of data based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold; pre-processing the multiple frames of data to obtain target light source data, and then identifying the target light source. The target light source identification method provided by the application only needs to add a proper light shielding device in front of the camera according to the selection of the camera, and the light shielding device needs to be adaptively adjusted, so that the influence of various lights on the camera can be shielded, the accuracy of target light source identification is improved, the applicability is stronger, and the practicability is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of light source identification, and in particular to a method for identifying a target light source based on a camera. BACKGROUND

[0002] At present, in the investigation of the domestic camera-based target light source identification scheme, it is found that the ordinary gray camera can only be used indoors with manual light compensation in the process of identifying the target light source, and has great limitations in the sunlight reconstruction or irregular light environment. In addition, based on the fact that sunlight contains all colors of light and the color, intensity and wavelength of the light source also change unpredictably, ordinary color cameras cannot solve this problem either. The existing solutions usually use high-frequency intelligent cameras or high-frequency industrial cameras with processors to solve the problem, but such solutions not only have low accuracy in identifying the target light source, but also have high cost, large size, large weight, complex peripheral equipment and high requirements for processors. SUMMARY

[0003] Therefore, the present application provides a method for identifying a target light source based on a camera, aiming to solve the technical problems of low accuracy in identifying the target light source based on the camera and environmental limitations.

[0004] To solve the above technical problems, the technical scheme of the present application provides a method for identifying a target light source based on a camera, comprising:

[0005] adjusting the angle of the camera to align with the target light source;

[0006] setting a light shielding device in front of the camera and adjusting the light incidence angle and brightness of the light shielding device;

[0007] collecting the light intensity value of the target light source by using the camera with the light shielding device, to obtain a light intensity filtering threshold;

[0008] determining multiple frames of data based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold;

[0009] preprocessing the multiple frames of data to obtain target light source data, and then identifying the target light source.

[0010] Optionally, before adjusting the angle of the camera to align with the target light source, the method further comprises:

[0011] establishing a data connection relationship between the camera and the light source identification system;

[0012] debugging the focal length of the camera and the normal transmission of data between the processor of the light source identification system and the camera.

[0013] Optionally, the light shielding device is arranged in front of the camera, and the camera type is determined, including:

[0014] If the camera is a linear CCD camera, a square upper baffle with light-absorbing coating and a square lower baffle with light-absorbing coating are selected as the light shielding device arranged in front of the camera.

[0015] If the camera is a gray-scale camera or a color camera, a cylindrical or conical light shielding baffle is selected as the light shielding device arranged in front of the camera.

[0016] Optionally, the mounting mode of the light shielding device arranged in front of the camera includes:

[0017] If the camera is a linear CCD camera, the lens is embedded between the square upper and lower baffles, the upper and lower baffles are placed in parallel, and there is a gap for the linear CCD camera to identify the target light source.

[0018] If the camera is a gray-scale camera or a color camera, one end of the light shielding baffle covers the camera light shielding plate axis and the lens axis.

[0019] Optionally, before the light intensity value of the target light source is collected by the camera with the light shielding device to obtain the light intensity filtering threshold, it further includes:

[0020] The camera with the light shielding device is debugged, specifically,

[0021] The camera with the light shielding device collects light data when there is no target light source.

[0022] It is judged whether there is direct light data in the data of the light data collection, if not, the debugging is completed;

[0023] If there is, the light shielding device debugging is performed again until there is no direct light data in the data of the light data collection.

[0024] Optionally, the light intensity value of the target light source is collected by the camera with the light shielding device to obtain the light intensity filtering threshold, including:

[0025] The light intensity value when the target light source is turned on and the light intensity value when the target light source is turned off are collected by the camera with the light shielding device.

[0026] The two collected light intensity values are median calculated to obtain the light intensity filtering threshold.

[0027] Optionally, based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold, a plurality of frames of data are determined, including:

[0028] determine, based on the fixed frequency of light emitted by the target light source and the light intensity filtering threshold, a plurality of frames of data greater than the light intensity filtering threshold of light emitted by the target light source in the acquisition frame rate.

[0029] Optionally, the pre-processing of the plurality of frames of data to obtain target light source data, and further identifying the target light source, comprises:

[0030] performing bitwise AND processing on the plurality of frames of data;

[0031] performing bitwise OR processing again on the plurality of frames of data that have undergone bitwise AND processing to obtain target light source data;

[0032] identifying the target light source based on the target light source data.

[0033] The application provides a method for identifying a target light source based on a camera, which comprises the following steps: adjusting the angle of the camera to be aligned with the target light source; setting a light shielding device in front of the camera and adjusting the light entering angle and brightness of the light shielding device; collecting the light intensity value of the target light source by using the camera provided with the light shielding device to obtain a light intensity filtering threshold; determining a plurality of frames of data based on the fixed frequency of light emitted by the target light source and the light intensity filtering threshold; pre-processing the plurality of frames of data to obtain target light source data, and further identifying the target light source. According to the method for identifying the target light source provided by the application, only a proper light shielding device needs to be additionally provided in front of the camera according to the selection of the camera, and the light shielding device needs to be adaptively adjusted, so that the influence of various lights on the camera can be shielded, the accuracy of identifying the target light source is improved, the applicability is stronger, and the method is more practical. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 is a step schematic diagram of a method for identifying a target light source based on a camera provided by an embodiment of the present application;

[0036] Figure 2 is a setting schematic diagram of a light shielding device provided by an embodiment of the present application

[0037] Figure 3 is a setting side view of another light shielding device provided by an embodiment of the present application;

[0038] Figure 4is a front view of another light shielding device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order for those skilled in the art to better understand the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0040] At present, in the application of using a camera to identify a target light source, neither an ordinary gray camera nor an ordinary color camera can identify the target light source under sunlight. The reason is that sunlight contains all colors of light, and the color, intensity and wavelength of the light source also have indefinite changes. Usually, only indoor sunlight shielding and manual light compensation can achieve the identification of the target light source. Therefore, in the application of using a camera to identify a target light source under sunlight, a high-frame-rate intelligent camera or a high-frame-rate industrial camera with a processor is often used. However, the above scheme not only has a low accuracy in identifying the target light source, but also has a high cost. In addition, the industrial camera has problems such as large size, large weight and complex peripheral equipment, especially the requirement for the processor is relatively high.

[0041] Therefore, the present embodiment proposes a method for identifying a target light source based on a camera to improve the accuracy of identifying the target light source based on the camera, and there is no problem of environmental limitation, and the requirement for the processor is very low, and a common processor can be used.

[0042] Reference Figure 1 is a step schematic diagram of a method for identifying a target light source based on a camera provided by an embodiment of the present application.

[0043] S11, adjust the angle of the camera to align with the target light source.

[0044] When adjusting the angle of the camera, the camera needs to be on the same horizontal line as the target light source and parallel to the ground, or can horizontally receive the light emitted by the target light source.

[0045] It should be noted that before adjusting the camera angle aiming at the target light source, the camera and the light source recognition system need to be connected, the camera focal length is debugged, and the processor of the light source recognition system and the camera transmit data normally. Specifically, first, the hardware is assembled, that is, the camera is connected with the processor of the light source recognition system. The light source recognition system can be a program, which shares a set of hardware with other application programs. The camera focal length is debugged to meet the use requirements, and the camera and the processing system are kept connected to ensure that the camera transmits data normally, so that the processor of the recognition system can process data under the setting of the preset program. When the debugging result shows that it is normal, the debugging is completed. In the debugging process, the camera data can be appropriately reduced, but the processing frequency should be greater than the fixed light emitting frequency of the target light source. The actual processing frequency varies according to the processor capacity.

[0046] In this embodiment, the camera can be a linear CCD camera, a matrix camera, a gray scale camera or a color camera, which is not limited here.

[0047] S12, the light shielding device is arranged in front of the camera, and the light shielding angle and the brightness of the light shielding device are adjusted.

[0048] The light shielding device is different according to the selection of the camera.

[0049] As shown in Figure 2 When the camera is selected as a linear CCD camera, the light shielding device can be selected as: a square upper baffle with light absorbing coating plus a square lower baffle with light absorbing coating, and the installation mode is to embed the lens between the square upper and lower baffles, and the upper and lower baffles are placed in parallel, and a gap is left between the upper and lower baffles for the linear CCD to identify the target light source.

[0050] The square baffle with light absorbing coating is usually selected as black coating or black covering, or it can be black material itself. The reason is that black material has light absorbing property and will not reflect light, so it can absorb the light directly or reflected to the light shielding baffle, and will not reflect to the camera lens, which can play a good light shielding effect. The width of the side close to the camera of the two light shielding baffles should be wider than the width of the camera to shield sunlight. The width of the side far from the camera can be the same as that of the side close to the camera, which is specifically controlled according to the angle of view of the camera. In addition, a certain gap is left between the upper and lower baffles, which is parallel to and on the same line with the light receiving line of the photosensitive element of the camera, so as to ensure that there is no any obstruction between the gap, so that the camera can horizontally receive external light through the gap. The gap is usually set to 1mm.

[0051] Further, when the camera is selected as a gray scale camera or a color camera, as shown in Figure 3The side view shown and Figure 4 The front view shown, according to the resolution and angle of view of the camera, the light shielding device is usually selected as a cylindrical or conical light shielding baffle, and the specific installation mode is that the light shielding baffle covers one end of the camera light shielding plate axis and the lens axis coincide.

[0052] Generally, all the direct light that is directed to the camera has a certain angle, and there is no case of parallel to the ground and directed to the camera, so the width of the upper baffle needs to be adjusted appropriately, and the specific adjustment is to make the light shielding baffle completely isolate the light directly to the camera.

[0053] In addition, the light reflected by the mirror also has a certain angle, and the reflected light will have a great influence on the camera, because there is very weak slow reflected light in the reflected light that is directed to the gray level camera, so the width of the lower baffle needs to be adjusted appropriately, and the specific adjustment is to make the light shielding baffle completely isolate the light reflected to the camera.

[0054] It should be noted that after the light shielding baffle is adjusted, the light shielding device needs to be debugged, the camera equipped with the light shielding device is placed in a situation without a target light source, and the camera is used to collect light data. If there is no light data when the light is directly shot, it is confirmed that the debugging is correct, if there is light data when the light is directly shot, it is re-debugged until the debugging result is correct.

[0055] S13, collecting the light intensity value of the target light source by using the camera equipped with the light shielding device to obtain the light intensity filtering threshold.

[0056] After the light shielding device is debugged, the light source information collected by the camera needs to be screened and processed. Specifically, the light intensity value when the target light source is turned on and the light intensity value when the target light source is turned off are collected by using the camera, and an intermediate value is calculated, which is used as the light intensity filtering threshold value collected by the camera; based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold value collected by the camera, a plurality of frame data greater than the light intensity filtering threshold value of the light emitted by the target light source in the collection frame rate is determined; the plurality of frame data is preprocessed to obtain target light source data, and then the target light source is identified.

[0057] The light intensity value when the target light source is turned on is collected by using the camera first, and is recorded, and then the light intensity value when the target light source is turned off is collected and recorded, and then the intermediate value of the two collected light intensity values is recorded as the collection frame rate, because there is very weak diffuse reflected light directed to the camera, which affects the accuracy and needs to be removed.

[0058] S14, determining a plurality of frame data based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold value.

[0059] The camera acquisition frame rate is the value obtained in step S13, and the fixed frequency of the light emitted by the target light source can be directly obtained. By comparing the acquisition frame rate with the fixed frequency, the multi-frame data is determined, and the determination condition is that the acquisition frame rate is greater than the fixed frequency of the target light source.

[0060] S15, the multi-frame data is preprocessed to obtain target light source data, and then the target light source is identified.

[0061] After the multi-frame data is determined, the multi-frame data needs to be preprocessed. First, the multi-frame data is simultaneously subjected to "bitwise AND" processing to remove the influence factors of constant light. Then, the multi-frame data subjected to "bitwise AND" processing is subjected to "bitwise OR" processing to remove the influence factors of diffuse reflection light. The data left after the two processes is the target light source data.

[0062] In this embodiment, the camera angle is adjusted to align with the target light source; the light shielding device is arranged at the front end of the camera, and the light incidence angle and brightness of the light shielding device are adjusted; the light intensity value of the target light source is collected by the camera with the light shielding device, and the light intensity filtering threshold is obtained; based on the fixed frequency of the light emitted by the target light source and the light intensity filtering threshold, the multi-frame data is determined; the multi-frame data is preprocessed to obtain target light source data, and then the target light source is identified. The target light source identification method provided by the application only needs to add a suitable light shielding device in front of the camera according to the selection of the camera, and the light shielding device is adaptively adjusted, which can shield the influence of various lights on the camera, improve the accuracy of target light source identification, has stronger applicability, and is more practical.

[0063] Further, the application also provides a specific application case.

[0064] When a camera is used to identify the position of a code disc in a complex environment, a high-configuration industrial camera is usually needed. When a common camera is used, it is difficult to accurately exclude interference and accurately identify the code disc.

[0065] Because the on-site environment is complex, there are lighting lamps, natural light from windows, and light emitted by other equipment.

[0066] Three fixed-frequency positioning light emitting devices are installed on the code disc. A light shielding baffle is added outside the camera, and the camera is moved to accurately find the three positioning devices in turn to position the code disc position and angle.

[0067] When this scheme is not used and only a single camera is used, the collected data will have a large number of interference spots, and it is impossible to identify whether the light spot is an interference spot or a positioning light emitting device.

[0068] When the case is used to increase the cylinder light shield at the camera lens, a large number of direct or specular reflection of the interference spot can be reduced, at this time the interference spot below the light intensity threshold is removed, the remaining is the light emitted by the positioning light emitting device and the similar light intensity interference light, finally according to the light emitting frequency of the light emitting device, the positioning light emitting device can be accurately identified in the multiple frame data collected by the camera.

[0069] It should be noted that in this paper, the term "including", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0070] The above is only the preferred embodiment of the present application, it should be pointed out that the above preferred embodiment should not be regarded as a limitation of the present application, the protection scope of the present application should be limited by the scope defined by the claims. For ordinary skilled in the art, without departing from the spirit and scope of the present application, a number of improvements and refinements can also be made, which should be regarded as the protection scope of the present application.

Claims

1. A method for identifying target light sources based on a camera, characterized in that, include: Adjust the camera angle to align with the target light source; The light-blocking device is placed in front of the camera, and the light-entry angle and brightness of the light-blocking device are adjusted. If the camera is a linear CCD camera, a square upper baffle with a light-absorbing coating and a square lower baffle with a light-absorbing coating are selected as light-shielding devices and set at the front of the camera. If the camera is a grayscale camera or a color camera, a cylindrical or conical light-shielding baffle is selected as light-shielding device and set at the front of the camera. The light intensity value of the target light source is collected using a camera equipped with the aforementioned light-shielding device to obtain a light intensity filtering threshold, including: The camera equipped with the light-shielding device is used to collect the light intensity value when the target light source is turned on and the light intensity value when the target light source is turned off; the median of the two collected light intensity values ​​is calculated to obtain the light intensity filtering threshold. And identify multiple frames of data with a frame rate greater than the light intensity filtering threshold emitted by the target light source; Based on the fixed frequency of the light emitted by the target light source, multiple frames of data are further determined, and the determination condition is that the acquisition frame rate is greater than the fixed frequency of the target light source. The multi-frame data is preprocessed to obtain target light source data, and then the target light source is identified.

2. The method for identifying target light sources based on a camera according to claim 1, characterized in that, Before adjusting the camera angle to align with the target light source, the following steps are also included: The camera establishes a data connection with the light source recognition system; The camera's focal length was adjusted, and the processor of the light source recognition system transmitted data normally to the camera.

3. The method for identifying target light sources based on a camera according to claim 1, characterized in that, The installation method of placing the light-shielding device at the front of the camera includes: If the camera is a linear CCD camera, the lens is embedded between the upper and lower square baffles, which are placed in parallel and have a gap for the linear CCD camera to identify the target light source. If the camera is a grayscale or color camera, the axis of the light shield covering the camera should be aligned with the axis of the camera lens.

4. The method for identifying target light sources based on a camera according to claim 1, characterized in that, Before acquiring the light intensity value of the target light source using a camera equipped with the light-shielding device and obtaining the light intensity filtering threshold, the method further includes: Adjusting the light-shielding device of a camera equipped with a light-shielding device, specifically: A camera equipped with a light shield collects light data when there is no target light source. Determine whether there is direct light data in the acquired optical data. If not, the debugging is complete. If so, the light-shielding device should be re-adjusted until there is no direct light data in the light data acquisition data.

5. The method for identifying target light sources based on a camera according to claim 1, characterized in that, The step of preprocessing the multi-frame data to obtain target light source data, and then identifying the target light source, includes: Perform bitwise AND processing on the multi-frame data; The multi-frame data that has undergone bitwise AND processing is then bitwise ORed again to obtain the target light source data; The target light source is identified based on the target light source data.

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