A method and apparatus for cleaning camera lenses in a mine by ultrasonic waves

Abstract

The present application relates to the technical field of intelligent control, in particular to a method and device for cleaning a camera lens in a mine through ultrasonic waves. In the device, the camera wrapped in a sealed protective cover is connected to a processing core, the sealed protective cover is provided with a transparent protective lens at a position corresponding to the camera direction, and the sealed protective cover is further provided with a photosensitive element and an ultrasonic generator. The method first extracts edge information through image shooting by the camera and obtains an illumination intensity value through the photosensitive element, and establishes edge information judgment criteria and illumination intensity judgment criteria. Then, the edge information and the illumination intensity in the image shot by the camera are monitored in real time, and the edge information judgment criteria and the illumination intensity judgment criteria are continuously updated in the process of real-time monitoring, and the changes in the edge information and the illumination intensity caused by the lens being blocked by coal ash impurities are excluded, so that the transparent protective lens can be cleaned more accurately through ultrasonic vibration.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a method and apparatus for cleaning a camera lens inside a frame using ultrasonic waves. Background Technology

[0002] Fixed cameras or webcams in underground coal mines often experience blurry lenses or unclear vision within a short period due to the extremely high concentration of coal dust. This affects the effectiveness of remote video monitoring or on-site video viewing, and manual maintenance is time-consuming and labor-intensive. Current solutions typically involve adding a wiper mechanism. While wipers can remove liquid impurities, they can wear down the lens during the cleaning process for dry impurities such as coal dust. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for cleaning the lens of a camera inside a mine using ultrasonic waves, comprising:

[0004] S1. Initialize data, including capturing images within the field of view of the camera lens, establishing a two-dimensional coordinate system based on the images, obtaining edge information in the images through preprocessing and filtering of the images, establishing a standard edge coordinate set based on the coordinate positions of the edge information in the two-dimensional coordinate system, and using the standard edge information coordinate set as the edge information judgment standard. It also includes establishing a standard light intensity value through the photosensitive element and using the standard light intensity value as the light intensity judgment standard, and then proceeding to the next step.

[0005] S2. Compare the coordinates of the edge information in the real-time captured image in the two-dimensional coordinate system with the edge information judgment standard. If the real-time captured image contains edge information that does not conform to the corresponding coordinates in the edge information judgment standard, and the light intensity value is lower than the light intensity judgment standard, proceed to the next step.

[0006] S3. An ultrasonic wave of a set intensity is emitted to the camera lens through an ultrasonic generator. After the ultrasonic wave is emitted, the coordinate changes of the edge information and the changes of the light intensity value in the real-time captured image are immediately detected. If the coordinates of the edge information that appeared in step S2 in the two-dimensional coordinate system do not change and the light intensity value does not change, proceed to the next step; otherwise, proceed to step S2.

[0007] S4. Using an ultrasonic generator, emit ultrasonic waves at the set maximum intensity to the camera lens to detect changes in the unchanged edge information and light intensity value detected in step S3. When the unchanged edge information detected in step S3 remains unchanged and the light intensity value remains unchanged, establish a temporary edge coordinate set based on the coordinates of the unchanged edge information in the two-dimensional coordinate system and number it. Cover the edge information and corresponding coordinates in the edge information judgment standard with the edge information in the corresponding numbered temporary edge coordinate set. Establish a temporary standard edge coordinate set based on the edge information judgment standard covered by the numbered temporary edge coordinate set. Use the unchanged light intensity value detected in step S3 as the light intensity judgment standard and proceed to the next step. Otherwise, proceed to step S2.

[0008] S5. Use the temporary standard edge coordinate set as the edge information judgment standard and execute step S2.

[0009] Preferably, in step S2, when all the edge information of the corresponding coordinates in the temporary edge coordinate set with the corresponding number in the real-time monitored image changes, the temporary edge coordinate set with the corresponding number is deleted from the temporary standard edge information coordinate set, and the changed temporary standard edge coordinate set is used as the edge information judgment standard, and step S2 is executed again.

[0010] Preferably, in step S4, when temporary edge information coordinate sets with different numbers overlap each other, the coordinate data of the edge information covered by the other temporary edge information coordinate set is deleted from the covered temporary edge information coordinate set with the corresponding number, and the remaining uncovered edge information and corresponding coordinates are used as the covered temporary edge information coordinate set with the corresponding number.

[0011] Preferably, in step S2, when no edge information that does not meet the edge information judgment criteria appears in the real-time captured image, but the light intensity value changes and remains at a certain value for a set time, the changed light intensity value is set as the light intensity judgment criterion.

[0012] Preferably, the intensity of ultrasonic waves emitted by the ultrasonic generator is controlled based on the light intensity judgment standard by setting the percentage decrease in light intensity as a threshold.

[0013] An apparatus for cleaning a camera lens in a mine using ultrasonic waves to perform the above method includes a processing core connected to a camera. A sealed protective cover is disposed around the camera. A transparent protective lens is disposed on the sealed protective cover at a position corresponding to the shooting direction of the camera. An ultrasonic generator and a photosensitive element are disposed inside the sealed protective cover. The ultrasonic waves emitted by the ultrasonic generator are directed toward the transparent protective lens.

[0014] Preferably, the ultrasonic generator is a piezoelectric transducer.

[0015] Compared with existing technologies, the present invention has the following advantages: the device and method involved in this invention can be used in underground mines and tunnels filled with coal ash impurities. This method combines edge information and light intensity values ​​to determine the coal ash impurities adhering to the lens, and then uses an ultrasonic generator to emit ultrasonic waves to the transparent protective lens, causing the lens to vibrate, thereby cleaning the coal ash impurities adhering to the lens without contact. Furthermore, it eliminates situations that may affect the determination of coal ash impurities on the lens.

[0016] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0018] Figure 2 This is a schematic diagram of the working process of the device of the present invention;

[0019] Figure 3 This is a functional structure diagram of the device of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-3 This invention provides a device for cleaning the lens of a mine camera using ultrasonic waves. The device includes a processing core connected to a camera, and a sealed protective cover surrounding the camera to prevent dust from entering and contaminating the camera's internal components. A transparent protective lens is positioned on the protective cover corresponding to the camera's shooting direction, allowing the protected camera to capture images of the external environment. An ultrasonic generator and a photosensitive element are housed within the protective cover, both protected by the cover. Specifically, the ultrasonic generator is a piezoelectric transducer, with the ultrasonic waves emitted towards the transparent protective lens to vibrate it and dislodge impurities such as coal ash.

[0022] The method by which the device of the present invention cleans the camera lens inside the frame using ultrasonic waves is as follows:

[0023] S1. Initialize data, including capturing images within the camera lens's field of view, establishing a two-dimensional coordinate system based on these images, obtaining edge information from the images through preprocessing and filtering, and establishing a standard edge coordinate set based on the coordinates of the edge information in the two-dimensional coordinate system. This standard edge coordinate set serves as the edge information judgment standard, which includes the coordinates and whether edge information exists within the corresponding coordinates. The initialization data also includes establishing standard light intensity values ​​through the photosensitive element and using these standard light intensity values ​​as the light intensity judgment standard. To ensure the accuracy of the edge information in the standard edge information coordinate set, initialization should be performed before production begins in the mine to prevent inaccurate edge information judgment due to the large amount of coal dust and impurities that may be dispersed during production. Edge information of equipment within the camera's field of view should be pre-recorded so that this edge information can be excluded during subsequent monitoring. The applicability of the camera is not limited to fixed cameras; rotatable cameras are also applicable. For rotatable cameras, initialization should include the field of view that can be captured from all rotation angles of the camera. Images captured from all angles are stitched together into a single image, and a two-dimensional coordinate system is established based on this image. The standard light intensity value should ideally be initialized before production begins to prevent dust from obstructing the light and causing inaccurate light intensity judgments. After establishing the edge information judgment standard and the light intensity value judgment standard, proceed to the next step to begin real-time monitoring.

[0024] S2. Compare the coordinates of the edge information in the real-time captured image in the two-dimensional coordinate system with the edge information judgment standard. Under conditions where there is no dust obstructing the lens, the edge information and corresponding coordinates in the real-time captured image should be the same as the edge information and corresponding coordinates in the edge information judgment standard. When edge information in the real-time captured image does not conform to the edge information judgment standard, and the light intensity value is lower than the standard light intensity value, proceed to the next step. The aforementioned edge information not conforming to the edge information judgment standard includes situations where coordinates marked as having edge information in the edge information judgment standard lack edge information, and coordinates that should not have edge information have edge information. This situation indicates that a new object has appeared between the camera and the existing equipment. To prevent the light intensity value from decreasing due to obstruction of mine lights, the method in this embodiment first judges the edge information in the image, and then judges the light intensity value. This is to eliminate misjudgments caused by the light intensity value decreasing due to obstruction of mine lights, and misjudgments that may occur when a new device far from the camera enters the camera's field of view, causing changes in edge information but no change in light intensity value.

[0025] S3. An ultrasonic wave of a set intensity is emitted to the camera lens via an ultrasonic generator. After the ultrasonic wave is emitted, the coordinate changes of edge information and the changes of light intensity value in the real-time captured image are immediately detected. If the coordinates of the newly appearing edge information in step S2 do not change in the two-dimensional coordinate system and the light intensity value does not change, it indicates that the object between the camera and the existing equipment may be stubborn dust or equipment that has just entered the camera's field of view, and the next step needs to be performed for further judgment. If the coordinates of the newly appearing edge information in step S2 change in the two-dimensional coordinate system and the light intensity value changes, it indicates that the vibration generated by the ultrasonic wave has caused the object between the camera and the existing equipment to shift, and it can be directly determined to be impurities such as coal ash that need to be cleaned. Then, return to step S2, and repeat the cycle of steps S2 and S3 until the impurities leave the camera's field of view and the impurities no longer obstruct the camera.

[0026] S4. An ultrasonic generator emits ultrasonic waves at the set maximum intensity towards the camera lens, detecting changes in the unchanged edge information from step S3 and changes in the light intensity value. If the unchanged edge information detected in step S3 remains unchanged and the light intensity value remains unchanged, it indicates that the object between the camera and the existing device is not a dry impurity stuck to the transparent protective lens, but a new device that has entered the camera's field of view. This device may be too close to the camera or large enough to block the light intensity. This situation significantly impacts the method for identifying dust impurities and needs to be eliminated. Therefore, a temporary edge coordinate set is established and numbered based on the coordinates of the unchanged edge information in the two-dimensional coordinate system. The edge information in the corresponding numbered temporary edge coordinate set is then overlaid on the corresponding coordinate positions in the edge information judgment standard. A temporary standard edge coordinate set is established based on the edge information judgment standard after being overlaid by the numbered temporary edge coordinate set. This temporarily overlays the excluded edge information onto the standard edge information coordinate set, thus establishing a temporary standard edge coordinate set. This temporary edge coordinate set includes the edge information of each coordinate in the original edge information judgment criteria. The covered coordinates are replaced with the edge information of each coordinate in the corresponding numbered temporary edge coordinate set. The purpose of numbering is because there may be multiple temporary edge coordinate sets during the execution of this method, and the temporary edge coordinate sets need to be removed in subsequent processes. Therefore, the temporary edge coordinate sets are numbered for subsequent operations.

[0027] The unchanged light intensity value monitored in step S3 is used as the light intensity judgment standard. In this embodiment, the intensity of the ultrasonic wave is determined by the proportion of the decrease in light intensity value. By setting different proportions of the decrease in light intensity value as thresholds, the vibration intensity of the ultrasonic wave is divided into multiple levels, so that fewer coal dust impurities only require lower intensity vibration, thereby saving energy. Therefore, when the light intensity is reduced due to the light being blocked by an object that is not a lens impurity, the changed light intensity judgment standard should be automatically adjusted to adapt to different working environments. After establishing a temporary standard edge coordinate set and adjusting the light intensity judgment standard, proceed to the next step. When the unchanged edge information monitored in step S3 still changes and the light intensity value also changes, it indicates that the object between the camera and the existing equipment is a special coal dust impurity stuck on the transparent protective lens. However, the vibration intensity caused by the ultrasonic wave in step S3 is insufficient to remove it. In this case, after removal, return directly to step S2 and continue real-time monitoring.

[0028] S5. Use a temporary standard edge coordinate set as the edge information judgment standard. When this step is executed for the first time, the temporary standard edge coordinate set replaces the original standard edge information coordinate set as the edge information judgment standard. In subsequent executions, more temporary edge coordinate sets with corresponding numbers will overlap the previously established temporary standard edge information coordinate set, allowing the temporary standard edge information coordinate set to continuously change. This, in turn, allows the edge information judgment standard to change accordingly, adapting to different working environments and preventing interference from devices or personnel constantly entering the camera's field of view for lens dust judgment. After the edge information judgment standard changes, execute step S2 to begin edge information monitoring based on the changed edge information judgment standard.

[0029] Devices or personnel temporarily entering the camera's field of view will leave the camera's field of view after completing their designated tasks. Therefore, the corresponding temporary edge coordinate set needs to be removed. Specifically, in step S2, when all edge information within the corresponding coordinates of the corresponding numbered temporary edge coordinate set in the real-time monitored image changes, the corresponding numbered temporary edge coordinate set is deleted from the temporary standard edge information coordinate set. The changed temporary standard edge coordinate set is then used as the edge information judgment standard, and step S2 is executed again. The aforementioned change in all edge information coordinates includes coordinates in the corresponding numbered temporary edge coordinate set that should contain edge information and coordinates that should not contain edge information.

[0030] As mentioned above, numbering the temporary edge coordinate sets is for finding the corresponding edge information during deletion. Since a new numbered temporary edge coordinate set is created each time the method reaches step S4, there is a possibility of partial overlap between temporary edge coordinate sets with different numbers. This causes some edge information within the coordinates of a corresponding numbered temporary edge coordinate set to be changed. Therefore, it is necessary to correct the edge information and corresponding coordinates within the partially covered temporary edge coordinate sets. Specifically, in step S4, when temporary edge coordinate sets with different numbers overlap, the edge information and corresponding coordinates within the coordinates covered by the other numbered temporary edge coordinate set are deleted from the covered temporary edge coordinate set. The edge information and corresponding coordinates of the remaining uncovered coordinates are used as the covered temporary edge coordinate set with the corresponding number. Therefore, whenever the edge information within all remaining coordinates of the covered temporary edge coordinate set with the corresponding number changes in step S2, the deletion operation on the covered temporary edge coordinate set with the corresponding number can be performed. When a new set of temporary edge coordinates completely covers an existing set of temporary edge coordinates, and all edge information within the corresponding numbered set of temporary edge coordinates changes, the set of temporary edge coordinates that was completely covered will be deleted.

[0031] If an object in the mine blocks the light but is not within the camera's field of view, the standard light intensity value needs to be readjusted to adapt to the changed environment. Specifically, in step S2, if the real-time captured image does not contain edge information that does not meet the edge information judgment criteria, but the light intensity value changes and remains at a certain value for a set period of time, the changed light intensity value is replaced with the standard light intensity value.

[0032] Based on the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in this invention can all be implemented in conjunction with existing electrical technology, information technology, software technology and general protocols, and are not within the scope of protection claimed by this invention. This application will not describe them in detail.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and not restrictive.

Claims

1. A method for cleaning a camera lens inside a mine using ultrasonic waves, characterized in that, Including the following steps: S1. Initialize data, including capturing images within the field of view of the camera lens, establishing a two-dimensional coordinate system based on the images, obtaining edge information in the images through preprocessing and filtering of the images, establishing a standard edge coordinate set based on the coordinate positions of the edge information in the two-dimensional coordinate system, and using the standard edge information coordinate set as the edge information judgment standard. It also includes establishing a standard light intensity value through the photosensitive element and using the standard light intensity value as the light intensity judgment standard, and then proceeding to the next step. S2. Compare the coordinates of the edge information in the real-time captured image of the camera in the two-dimensional coordinate system with the edge information judgment standard. If the real-time captured image contains edge information that does not conform to the corresponding coordinates in the edge information judgment standard, and the light intensity value is lower than the light intensity judgment standard, proceed to the next step. S3. An ultrasonic wave of a set intensity is emitted to the camera lens through an ultrasonic generator. After the ultrasonic wave is emitted, the coordinate changes of the edge information and the changes of the light intensity value in the real-time captured image are immediately detected. If the coordinates of the edge information that appeared in step S2 in the image do not change and the light intensity value does not change, proceed to the next step; otherwise, proceed to step S2. S4. An ultrasonic generator emits ultrasonic waves at the highest set intensity to the camera lens to detect changes in the unchanged edge information and light intensity value detected in step S3. When the unchanged edge information detected in step S3 remains unchanged and the light intensity value remains unchanged, a temporary edge coordinate set is established and numbered based on the coordinates of the unchanged edge information in the two-dimensional coordinate system. The edge information and corresponding coordinates in the corresponding numbered temporary edge coordinate set are then used to cover the corresponding edge information and corresponding coordinates in the edge information judgment standard. A temporary standard edge coordinate set is established based on the edge information judgment standard covered by the numbered temporary edge coordinate set. The unchanged light intensity value detected in step S3 is used as the light intensity judgment standard, and the next step is executed. Otherwise, step S2 is executed. S5. Use the temporary standard edge coordinate set as the edge information judgment standard and execute step S2.

2. The method for cleaning a mine camera lens using ultrasonic waves according to claim 1, characterized in that, In step S2, when all the edge information of the corresponding coordinates in the temporary edge coordinate set with the corresponding number in the real-time monitored image changes, the temporary edge coordinate set with the corresponding number is deleted from the temporary standard edge information coordinate set, and the changed temporary standard edge coordinate set is used as the edge information judgment standard, and step S2 is executed again.

3. The method for cleaning a camera lens inside a mine using ultrasonic waves according to claim 2, characterized in that, In step S4, when temporary edge information coordinate sets with different numbers overlap each other, the coordinate data of the edge information covered by the other temporary edge information coordinate set is deleted from the covered temporary edge information coordinate set with the corresponding number. The remaining uncovered edge information and corresponding coordinates are used as the covered temporary edge information coordinate set with the corresponding number.

4. The method for cleaning a mine camera lens using ultrasonic waves according to claim 1, characterized in that, In step S2, when no edge information that does not meet the edge information judgment criteria appears in the real-time captured image, but the light intensity value changes and remains at a certain value for a set time, the changed light intensity value is set as the light intensity judgment criterion.

5. The method for cleaning a mine camera lens using ultrasonic waves according to claim 1, characterized in that, By setting the percentage decrease in light intensity as a threshold, and based on the light intensity judgment standard, the intensity of the ultrasonic waves emitted by the ultrasonic generator is controlled.

6. An apparatus for ultrasonically cleaning a camera lens in a mine, performing the method according to any one of claims 1-5, characterized in that, The device includes a processing core connected to a camera. A sealed protective cover surrounds the camera, and a transparent protective lens is positioned on the sealed protective cover corresponding to the camera's shooting direction. An ultrasonic generator and a photosensitive element are located inside the sealed protective cover, with the ultrasonic generator emitting ultrasonic waves towards the transparent protective lens.

7. The apparatus for cleaning a camera lens inside a mine using ultrasonic waves according to claim 6, characterized in that, The ultrasonic generator is a piezoelectric transducer.

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