Maneuvering industrial vehicle monitoring comprehensive detection system

Abstract

The invention discloses a maneuvering industrial vehicle monitoring comprehensive detection system, and relates to the technical field of industrial vehicles, the maneuvering industrial vehicle monitoring comprehensive detection system comprises a monitoring test module, a fuzzy analysis module and a targeted design module, the monitoring test module is used for detecting an operation road picture of an industrial vehicle and setting an original focal length of a camera unit; the fuzzy analysis module is used for analyzing the fuzzy degree of an industrial vehicle camera image, and the targeted design module is used for changing the focal length of a lens of a camera unit and designing a high-speed camera unit at a key position. The monitoring test module comprises an industrial vehicle monitoring module, an original focal length input module, a camera shooting unit and an information receiving and transmitting module, the industrial vehicle monitoring module is electrically connected with the information receiving and transmitting module, and the industrial vehicle monitoring module is electrically connected with the camera shooting unit; the information transceiver module is electrically connected with the industrial vehicle monitoring module and the original focal length input module. The invention has the characteristic of proper arrangement.

Description

Technical Field

[0001] The invention relates to the technical field of industrial vehicles, in particular to a comprehensive monitoring and detection system for motorized industrial vehicles. Background Art

[0002] The industrial vehicle monitoring system is a system used to monitor and manage industrial vehicles. It helps enterprises achieve comprehensive control and management of vehicles by real-time tracking and recording the location, driving route, speed, working status and other information of industrial vehicles. For industrial vehicles transporting flammable chemicals in industrial parks, it is necessary to monitor the body of the vehicle in detail and deal with smoke and open flames as soon as they are generated.

[0003] This requires arranging cameras along the route of the vehicle so that the monitoring field of view covers the entire route. Because the road surface in some places is bumpy, and vehicles in some straight and wide roads travel at a faster speed, the vehicle will have blurred and jittery images in these places, thus interfering with the monitoring effect. The existing solution is to replace it with a high-speed camera or choose a larger focal length to reduce the field of view and improve the clarity of the picture. The cost of high-speed cameras is too high, and adjusting the focal length of the camera will equip more cameras due to the change in monitoring coverage, which will cause a significant increase in costs when used in batches. Therefore, it is necessary to design a properly arranged comprehensive monitoring and detection system for mobile industrial vehicles. Summary of the invention

[0004] The object of the present invention is to provide a comprehensive monitoring and detection system for mobile industrial vehicles to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a comprehensive detection system for monitoring mobile industrial vehicles, including a monitoring test module, a fuzzy analysis module, and a targeted design module. The monitoring test module is used to detect the running road picture of the industrial vehicle and set the original focal length of the camera unit. The fuzzy analysis module is used to analyze the blur degree of the industrial vehicle camera picture. The targeted design module is used to change the focal length of the lens of the camera unit and design a high-speed camera unit for a key position.

[0006] According to the above technical solution, the monitoring test module includes an industrial vehicle monitoring module, an original focal length recording module, a camera unit, and an information transceiver module. The industrial vehicle monitoring module is electrically connected to the information transceiver module, the industrial vehicle monitoring module is electrically connected to the camera unit, and the information transceiver module is electrically connected to the industrial vehicle monitoring module and the original focal length recording module. The industrial vehicle monitoring module is responsible for monitoring the screen conditions when the industrial vehicle is working, identifying the industrial vehicle and saving the screen data to determine the blur degree of the industrial vehicle screen. The original focal length recording module is used to record the original focal length of the camera unit, that is, the focal length of the camera unit without changing the lens structure. The camera unit is used to capture the image signal generated by the industrial vehicle when it is driving on the road. The information transceiver module is used to transmit the monitoring screen data between various modules. The fuzzy analysis module includes a fuzzy detection algorithm module and an extreme limit module. The fuzzy detection algorithm module is electrically connected to the information transceiver module, and the information transceiver module is electrically connected to the extreme limit module. The fuzzy detection algorithm module is used to evaluate the clarity or blur of the image by calculating the variance of the pixel value of the picture, and detect the blur of the monitoring picture when the industrial vehicle is driving. The extreme limit module is used to determine whether the blur of the monitoring picture of the industrial vehicle at the detection position exceeds the set standard; The targeted design module includes a lens focal length calculation module, a measurement improvement module, a position coordinate establishment module, and a high-speed camera unit setting module. The lens focal length calculation module is electrically connected to the information transceiver module and the original focal length recording module, the extreme limit module is electrically connected to the lens focal length calculation module and the information transceiver module, and the measurement improvement module is electrically connected to the position coordinate establishment module and the high-speed camera unit setting module; the lens focal length calculation module is used to calculate the appropriate focal length according to the blur degree of the industrial vehicle in the monitoring picture of the current position of the camera unit, the measurement improvement module is used to correct the lens focal length during the optimization test, the position coordinate establishment module is used to generate a coordinate system based on the road according to the lens focal length data to set the coordinates of each camera unit, and the high-speed camera unit setting module is used to set the high-speed camera unit at this position when the blur problem cannot be solved even if the lens focal length is increased to the maximum value.

[0007] According to the above technical solution, the working method of the detection system includes: S1. When industrial vehicles in the industrial park start to operate, camera units are arranged and placed at equal intervals along the routes of the industrial vehicles; S2. As the industrial vehicle continues to run, the camera unit is used to measure the body of the industrial vehicle in the monitoring screen at each position, and the blur degree of the industrial vehicle is calculated using a blur detection algorithm; S3, according to the measured blur degree data, the original focal length that the camera unit at each position should have is obtained, and the focal length of the lens of each camera unit is adjusted in a targeted manner according to the original focal length. If the original focal length is lower than a threshold, a high-speed camera unit is replaced; S4. When the camera unit is adjusted, continue to monitor the running industrial vehicle and measure the blur degree of the industrial vehicle body in the monitoring screen of the camera units at multiple positions when they are working; S5. Optimize the focal length of the lens at each position of the camera unit according to the measured blur level, adjust the position coordinates of other camera units on the road, and test the camera unit again after improvement until the blur level reaches the standard.

[0008] According to the above technical solution, in S2, the degree of blur of industrial vehicles is calculated as follows: first, industrial vehicles within a period of time are identified, and the outline of the industrial vehicles in the monitoring picture is extracted. The grayscale average value of all pixels in the image is used as a reference, and the grayscale value of each pixel is subtracted and the square sum is calculated. Then, the total number of pixels is used for standardization to represent the average degree of grayscale change in the image. The greater the average degree of grayscale change, the clearer the image, and the smaller the average degree of grayscale change, the blurrier the image. The average degree of grayscale change in the monitoring picture of this road is obtained. , and the average grayscale change of the image when the camera unit is monitoring normally Compare and get the ratio value, and then substitute it into the database to find the blur level of industrial vehicles when the camera unit is normally monitoring. , and the blur level of the industrial vehicle at this location is obtained ,for: .

[0009] According to the above technical solution, in S3, the blur degree of the industrial vehicle of the camera unit at this position is obtained. After that, calculate the field of view radius required to make the image clear , The greater the need The smaller, that is , is a constant. According to the actual experimental value, it is substituted into the functional relationship between focal length and field of view to calculate the theoretical focal length. , the functional relationship is: ,in is the size of the sensor.

[0010] According to the above technical solution, in S3, the default camera unit is set to the theoretical focal length That is, it works in the mode of maximum field of view radius, and the maximum focal length of the camera unit itself is , since the original focal length It is limited to a certain range and will only be used in and Between To simplify the calculation, we only need to calculate and Corresponding field of view radius , correspond , correspond , original focal length The calculation formula is: ; When the camera unit at a certain position is calculated to be at the original focal length Adjust to The blur level of industrial vehicles If it is still too large, a high-speed camera unit is designed at this position, and the position blur data of all designed high-speed camera units are eliminated, and the test and calculation are re-performed.

[0011] According to the above technical solution, in S5, the focal length of the camera unit lens at each position The specific optimization methods are: S5-1. When measuring the blur level for the first time, select the camera units corresponding to all monitoring images that exceed the blur level standard, increase the lens focal length of the camera unit at this position, and calculate the field of view radius of the camera unit. , adjust the positions of other camera units on both sides closer so that the monitoring coverage area can be continuous after the position coordinates of each camera unit are adjusted; S5-2. Since the positions of other camera units have been fine-tuned and the blur degree needs to be remeasured, the measured blur degree data will be collected each time the blur degree is measured. If it is found that the blur degree data detected at a certain position has decreased or has not changed, the focal length of the lens at this position will remain unchanged during redesign. If it is found that the blur degree data detected at this position has increased, the focal length of the lens of the camera unit at this position will be increased during redesign.

[0012] According to the above technical solution, in S5, the focal length of the lens is redesigned The calculation formula is: when hour, ; when hour, ; in is the number of measurements, The lens focal length was reset after the last improvement. The blur level measured during this improvement is is the blur level measured during the last improvement, The blur factor is the weight parameter used when resetting the lens focal length. The weight parameter for considering the blur level change trend when resetting the lens focal length calculation, The value of The increase is inversely proportional to the decrease.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention conducts a personalized test on the blur degree of the industrial vehicle monitoring screen before the industrial vehicle monitoring system is put into use. First, the blur degree of each monitoring screen during the driving process of the industrial vehicle is tested, and the focal length value of the camera unit is designed in a targeted manner according to the measured average blur degree. The camera unit is arranged based on the monitoring coverage range of the camera unit. When testing again, it is directly measured whether it is too blurry, and the result is optimized and improved. The differences in the industrial vehicle monitoring screen due to different road environments are fully considered. At the same time, the arrangement of high-speed camera units in some positions is also specially designed to avoid the problem of too small a field of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall module structure of the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] See also Figure 1 The present invention provides a technical solution: a comprehensive monitoring and detection system for mobile industrial vehicles, including a monitoring and testing module, a fuzzy analysis module, and a targeted design module. The monitoring and testing module is used to detect the running road picture of the industrial vehicle and set the original focal length of the camera unit. The fuzzy analysis module is used to analyze the degree of blur of the camera picture of the industrial vehicle. The targeted design module is used to change the focal length of the lens of the camera unit and design a high-speed camera unit for a key position. The monitoring test module includes an industrial vehicle monitoring module, an original focal length recording module, a camera unit, and an information transceiver module. The industrial vehicle monitoring module is electrically connected to the information transceiver module, the industrial vehicle monitoring module is electrically connected to the camera unit, and the information transceiver module is electrically connected to the industrial vehicle monitoring module and the original focal length recording module. The industrial vehicle monitoring module is responsible for monitoring the screen conditions when the industrial vehicle is working, identifying the industrial vehicle and saving the screen data to determine the blur degree of the industrial vehicle screen. The original focal length recording module is used to record the original focal length of the camera unit, that is, the focal length of the camera unit without changing the lens structure. The camera unit is used to shoot the image signal generated by the industrial vehicle when it is driving on the road. The information transceiver module is used to transmit the monitoring screen data between various modules. The fuzzy analysis module includes a fuzzy detection algorithm module and an extreme limit module. The fuzzy detection algorithm module is electrically connected to the information transceiver module, and the information transceiver module is electrically connected to the extreme limit module. The fuzzy detection algorithm module is used to evaluate the clarity or blur of the image by calculating the variance of the pixel value of the picture, and detect the blur of the monitoring picture when the industrial vehicle is driving. The extreme limit module is used to determine whether the blur of the monitoring picture of the industrial vehicle at the detection position exceeds the set standard; The targeted design module includes a lens focal length calculation module, a measurement improvement module, a position coordinate establishment module, and a high-speed camera unit setting module. The lens focal length calculation module is electrically connected to the information transceiver module and the original focal length recording module. The extreme limit module is electrically connected to the lens focal length calculation module and the information transceiver module. The measurement improvement module is electrically connected to the position coordinate establishment module and the high-speed camera unit setting module. The lens focal length calculation module is used to calculate the appropriate focal length according to the blur degree of the industrial vehicle in the monitoring screen of the current position of the camera unit. The measurement improvement module is used to correct the lens focal length during the optimization test. The position coordinate establishment module is used to generate a coordinate system based on the road according to the lens focal length data to set the coordinates of each camera unit. The high-speed camera unit setting module is used to set the high-speed camera unit at this position when the blur problem cannot be solved even when the lens focal length is increased to the maximum value. The working method of the detection system includes: S1. When industrial vehicles in the industrial park start to operate, camera units are arranged and placed at equal intervals along the routes of the industrial vehicles; S2. As the industrial vehicle continues to run, the camera unit is used to measure the body of the industrial vehicle in the monitoring screen at each position, and the blur degree of the industrial vehicle is calculated using a blur detection algorithm; S3, according to the measured blur degree data, the original focal length that the camera unit at each position should have is obtained, and the focal length of the lens of each camera unit is adjusted in a targeted manner according to the original focal length. If the original focal length is lower than a threshold, a high-speed camera unit is replaced; S4. When the camera unit is adjusted, continue to monitor the running industrial vehicle and measure the blur degree of the industrial vehicle body in the monitoring screen of the camera units at multiple positions when they are working; S5. Optimize the focal length of the lens at each position of the camera unit according to the measured blur level, adjust the position coordinates of other camera units on the road, and test the camera unit again after improvement until the blur level reaches the standard; In S2, the blur degree of industrial vehicles is calculated as follows: first, industrial vehicles within a period of time are identified, and the outline of the industrial vehicles in the monitoring picture is extracted. Based on the grayscale average value of all pixels in the image, the grayscale value of each pixel is subtracted and the square sum is calculated. Then, the total number of pixels is used for standardization to represent the average degree of grayscale change in the image. The greater the average degree of grayscale change, the clearer the image, and the smaller the average degree of grayscale change, the blurrier the image. The average degree of grayscale change in the monitoring picture of this road is obtained. , and the average grayscale change of the image when the camera unit is monitoring normally Compare and get the ratio value, and then substitute it into the database to find the blur level of industrial vehicles when the camera unit is normally monitoring. , and the blur level of the industrial vehicle at this location is obtained ,for: ; In S3, the blur degree of the industrial vehicle of the camera unit at this position is obtained. After that, calculate the field of view radius required to make the image clear , The greater the need The smaller, that is , is a constant. According to the actual experimental value, it is substituted into the functional relationship between focal length and field of view to calculate the theoretical focal length. , the functional relationship is: ,in is the size of the sensor; In S3, the default camera unit uses the theoretical focal length That is, it works in the mode of maximum field of view radius, and the maximum focal length of the camera unit itself is , since the original focal length It is limited to a certain range and will only be used in and Between To simplify the calculation, we only need to calculate and Corresponding field of view radius , correspond , correspond , original focal length The calculation formula is: ; When the camera unit at a certain position is calculated to be at the original focal length Adjust to The blur level of industrial vehicles If it is still too large, a high-speed camera unit is designed at this position, and the position blur data of all designed high-speed camera units are removed, and the test and calculation are repeated; In S5, the focal length of the camera unit lens at each position The specific optimization methods are: S5-1. When measuring the blur level for the first time, select the camera units corresponding to all monitoring images that exceed the blur level standard, increase the lens focal length of the camera unit at this position, and calculate the field of view radius of the camera unit. , adjust the positions of other camera units on both sides closer so that the monitoring coverage area can be continuous after the position coordinates of each camera unit are adjusted; S5-2, because the positions of other camera units have been fine-tuned and the blur degree needs to be re-measured, the measured blur degree data is collected each time the blur degree is measured. If it is found that the blur degree data detected at a certain position has decreased or has not changed, the focal length of the lens at this position remains unchanged during redesign. If it is found that the blur degree data detected at this position has increased, the focal length of the lens of the camera unit at this position is increased during redesign. In S5, the redesigned lens focal length The calculation formula is: when hour, ; when hour, ; in is the number of measurements, The lens focal length was reset after the last improvement. The blur level measured during this improvement is is the blur level measured during the last improvement, The blur factor is the weight parameter used when resetting the lens focal length. The weight parameter for considering the blur level change trend when resetting the lens focal length calculation, The value of The increase is inversely proportional to the decrease.

[0017] The value of The reason why the increase is inversely proportional to the decrease is that in the previous adjustments, the focal length of many camera units and the blur degree of the picture are not matched, so more emphasis is placed on the blur degree itself to the lens focal length. As the number of adjustments increases, the focal length of the lens It is increasingly matching the situation of industrial vehicles in the road environment. A sudden increase in blur is more likely to be an accident. If the blur weight itself is too large, the lens focal length may be affected by some rare accidents. Excessive adjustment: It is obviously unreasonable to adjust the camera unit for unexpected situations, so it is necessary to reduce The weight of The weight of reduce.

[0018] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0019] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A comprehensive monitoring and detection system for mobile industrial vehicles, characterized in that: The invention comprises a monitoring test module, a fuzzy analysis module and a targeted design module. The monitoring test module is used to detect the running road picture of the industrial vehicle and set the original focal length of the camera unit. The fuzzy analysis module is used to analyze the degree of blur of the camera picture of the industrial vehicle. The targeted design module is used to change the focal length of the lens of the camera unit and design a high-speed camera unit for a key position.

2. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 1, characterized in that: The monitoring test module includes an industrial vehicle monitoring module, an original focal length recording module, a camera unit, and an information transceiver module. The industrial vehicle monitoring module is electrically connected to the information transceiver module, the industrial vehicle monitoring module is electrically connected to the camera unit, and the information transceiver module is electrically connected to the industrial vehicle monitoring module and the original focal length recording module. The industrial vehicle monitoring module is responsible for monitoring the screen conditions when the industrial vehicle is working, identifying the industrial vehicle and saving the screen data to determine the blur degree of the industrial vehicle screen. The original focal length recording module is used to record the original focal length of the camera unit, that is, the focal length of the camera unit without changing the lens structure. The camera unit is used to capture the image signal generated by the industrial vehicle when it is driving on the road. The information transceiver module is used to transmit the monitoring screen data between various modules. The fuzzy analysis module includes a fuzzy detection algorithm module and an extreme limit module. The fuzzy detection algorithm module is electrically connected to the information transceiver module, and the information transceiver module is electrically connected to the extreme limit module. The fuzzy detection algorithm module is used to evaluate the clarity or blur of the image by calculating the variance of the pixel value of the picture, and detect the blur of the monitoring picture when the industrial vehicle is driving. The extreme limit module is used to determine whether the blur of the monitoring picture of the industrial vehicle at the detection position exceeds the set standard; The targeted design module includes a lens focal length calculation module, a measurement improvement module, a position coordinate establishment module, and a high-speed camera unit setting module. The lens focal length calculation module is electrically connected to the information transceiver module and the original focal length recording module, the extreme limit module is electrically connected to the lens focal length calculation module and the information transceiver module, and the measurement improvement module is electrically connected to the position coordinate establishment module and the high-speed camera unit setting module; the lens focal length calculation module is used to calculate the appropriate focal length according to the blur degree of the industrial vehicle in the monitoring picture of the current position of the camera unit, the measurement improvement module is used to correct the lens focal length during the optimization test, the position coordinate establishment module is used to generate a coordinate system based on the road according to the lens focal length data to set the coordinates of each camera unit, and the high-speed camera unit setting module is used to set the high-speed camera unit at this position when the blur problem cannot be solved even if the lens focal length is increased to the maximum value.

3. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 2, characterized in that: The working method of the detection system includes: S1. When industrial vehicles in the industrial park start to operate, camera units are arranged and placed at equal intervals along the routes of the industrial vehicles; S2. As the industrial vehicle continues to run, the camera unit is used to measure the body of the industrial vehicle in the monitoring screen at each position, and the blur degree of the industrial vehicle is calculated using a blur detection algorithm; S3, according to the measured blur degree data, the original focal length that the camera unit at each position should have is obtained, and the focal length of the lens of each camera unit is adjusted in a targeted manner according to the original focal length. If the original focal length is lower than a threshold, a high-speed camera unit is replaced; S4. When the camera unit is adjusted, continue to monitor the running industrial vehicle and measure the blur degree of the industrial vehicle body in the monitoring screen of the camera units at multiple positions when they are working; S5. Optimize the focal length of the lens at each position of the camera unit according to the measured blur level, adjust the position coordinates of other camera units on the road, and test the camera unit again after improvement until the blur level reaches the standard.

4. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 3, characterized in that: In the above S2, the blur degree of industrial vehicles is calculated as follows: first, the industrial vehicles within a period of time are identified, and the outline of the industrial vehicles in the monitoring picture is extracted. Based on the grayscale average value of all pixels in the image, the grayscale value of each pixel is subtracted and the square sum is calculated. Then, the grayscale value is normalized with the total number of pixels to represent the average degree of grayscale change in the image. The larger the average degree of grayscale change, the clearer the image, and the smaller the average degree of grayscale change, the blurrier the image. The average degree of grayscale change in the monitoring picture of this road is obtained. , and the average grayscale change of the image when the camera unit is monitoring normally Compare and get the ratio value, and then substitute it into the database to find the blur level of industrial vehicles when the camera unit is normally monitoring. , and the blur level of the industrial vehicle at this location is obtained ,for: .

5. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 4, characterized in that: In S3, the blur degree of the industrial vehicle of the camera unit at this position is obtained. After that, calculate the field of view radius required to make the image clear , The greater the need The smaller, that is , is a constant. According to the actual experimental value, it is substituted into the functional relationship between focal length and field of view to calculate the theoretical focal length. , the functional relationship is: ,in is the size of the sensor.

6. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 5, characterized in that: In S3, the default camera unit uses the theoretical focal length That is, it works in the mode of maximum field of view radius, and the maximum focal length of the camera unit itself is , since the original focal length It is limited to a certain range and will only be used in and Between To simplify the calculation, we only need to calculate and Corresponding field of view radius , correspond , correspond , original focal length The calculation formula is: ; When the camera unit at a certain position is calculated to be at the original focal length Adjust to The blur level of industrial vehicles If it is still too large, a high-speed camera unit is designed at this position, and the position blur data of all designed high-speed camera units are eliminated, and the test and calculation are re-performed.

7. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 6, characterized in that: In S5, the focal length of the camera lens at each position The specific optimization methods are: S5-1. When measuring the blur level for the first time, select the camera units corresponding to all monitoring images that exceed the blur level standard, increase the lens focal length of the camera unit at this position, and calculate the field of view radius of the camera unit. , adjust the positions of other camera units on both sides so that the monitoring coverage area can be continuous after the position coordinates of each camera unit are adjusted; S5-2. Since the positions of other camera units have been fine-tuned and the blur degree needs to be remeasured, the measured blur degree data will be collected each time the blur degree is measured. If it is found that the blur degree data detected at a certain position has decreased or has not changed, the focal length of the lens at this position will remain unchanged during redesign. If it is found that the blur degree data detected at this position has increased, the focal length of the lens of the camera unit at this position will be increased during redesign.

8. A comprehensive monitoring and detection system for powered industrial vehicles according to claim 7, characterized in that: The S5 redesigned the lens focal length The calculation formula is: when hour, ; when hour, ; in is the number of measurements, The lens focal length was reset after the last improvement. The blur level measured during this improvement is is the blur level measured during the last improvement, The blur factor is the weight parameter used when resetting the lens focal length. The weight parameter for considering the blur level change trend when resetting the lens focal length calculation, The value of The increase is inversely proportional to the decrease.

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