A camera self-cleaning system and self-cleaning method

Abstract

The invention discloses a camera self-cleaning system and a self-cleaning method thereof, and relates to the technical field of coal mine monitoring. A dirt detection camera is used to collect real-time video stream data of the surface of a monitoring camera component and send it to a matching upper computer, wherein the dirt detection camera is distributed outside the monitoring camera component; an image recognition and judgment module is used to obtain image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, and perform recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component; when the image recognition and judgment module determines that there is dirt on the surface of the monitoring camera component, the upper computer sends an automatic cleaning signal to the camera self-cleaning device through a cleaning control module, and then controls the cleaning mechanism to automatically clean the surface of the monitoring camera component.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine monitoring, and in particular to a camera self-cleaning system and a self-cleaning method thereof. Background Art

[0002] In the coal mining industry, due to the need for safe production, a large number of surveillance cameras are installed underground to monitor the underground production environment in real time to ensure the orderly progress of production. However, in some scenes underground, there will be a large amount of smoke, coal ash or water vapor in the air for a short period of time. These smoke or coal ash will adhere to and accumulate on the surface of the surveillance camera lens, causing the picture to be blurred or dim, thereby affecting the ground personnel's judgment of the real environment underground. Conventional surveillance cameras do not have dirt recognition and automatic cleaning functions, and cannot realize autonomous recognition and automatic cleaning of lens dirt. Because the coal mining industry is a special operation scene, the installation location of surveillance cameras is also relatively diverse. The cleaning work of surveillance cameras installed at a high height belongs to the category of high-altitude operations. The coal mining industry has clear and strict safety regulations and operating rules for high-altitude operations. When using manual cleaning to clean surveillance cameras, the entire process is relatively cumbersome and will also cost a lot of manpower and be inefficient. Summary of the invention

[0003] The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technologies. The embodiments of the present invention provide a camera self-cleaning system and a self-cleaning method thereof to solve the technical problem that the existing cameras have dust on the surface that cannot be handled when in use.

[0004] The embodiment of the present invention adopts the following technical solution:

[0005] In a first aspect, the present invention provides a camera self-cleaning system, comprising:

[0006] An image acquisition and transmission module collects real-time video stream data of the surface of the monitoring camera assembly through a dirt detection camera and sends it to a matching host computer. The dirt detection camera is distributed outside the monitoring camera assembly;

[0007] The image recognition and judgment module is set in the host computer and is used to obtain the image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, and perform recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component;

[0008] Cleaning control module, when the image recognition and judgment module determines that there is dirt on the surface of the monitoring camera component, the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, and then controls the cleaning mechanism to automatically clean the surface of the monitoring camera component.

[0009] In an achievable manner of the first aspect, the image recognition and judgment module includes:

[0010] An image acquisition unit, used to acquire an image frame at a current moment from real-time video stream data;

[0011] An image preprocessing unit performs denoising, grayscale conversion and enhancement processing on the captured real-time image;

[0012] An image registration unit registers the preprocessed real-time image with a preset reference image;

[0013] The pixel-level comparison and difference measurement unit compares the registered real-time image and the reference image at the pixel level, calculates the difference value between each corresponding pixel point, and counts the difference degree value of the entire image;

[0014] The dirt degree judgment unit sets a threshold value and judges the dirt degree of the image according to the calculated difference value. If the difference value exceeds the threshold value, it is determined that there is dirt on the surface of the monitoring camera component, otherwise it is determined to be clean.

[0015] In an achievable manner of the first aspect, the cleaning control module includes:

[0016] A drive mechanism for providing power to the cleaning components and controlling their movement;

[0017] The cleaning mechanism is used to automatically clean the surface of the monitoring camera component under the drive of the driving mechanism. It includes an arc-shaped shell that is rotatably arranged on the outer surface of the monitoring camera component. A cleaning component is arranged in the arc-shaped shell. The cleaning component is used to automatically clean the surface of the monitoring camera component.

[0018] In a manner that can be implemented in the first aspect, insertion slots are provided at both ends of the arc-shaped housing, dirt detection cameras are distributed outside the monitoring camera assembly, and avoidance deflection slots are provided on the monitoring camera assembly;

[0019] And / or, the arc-shaped housing fits the surface of the monitoring camera assembly, the interior of the arc-shaped housing is hollow, and a dust outlet groove is provided at the end of the arc-shaped housing;

[0020] And / or, the insertion groove is formed by combining two adjacent circular holes, and the inner surface of the insertion groove is arranged in an arc shape.

[0021] In an achievable manner of the first aspect, the driving mechanism comprises a driving motor, an output end of the driving motor is provided with a connecting shaft, a connecting groove is provided on the connecting shaft, an insert block is provided in the connecting groove, and a return spring is provided between the insert block and the connecting shaft;

[0022] The insertion block and the connecting shaft have the same outer shape as the inner shape of the insertion groove, a transmission rack is arranged on the outer side of the output shaft of the driving motor, a conical transmission shaft is arranged on the inner side of the transmission rack, a ratchet transmission shaft is arranged on the conical transmission shaft, the conical transmission shaft passes through the arc-shaped outer shell, the end of the conical transmission shaft is connected to the first rotating shaft, and the end of the connecting shaft is provided with a mating shaft.

[0023] In a method that can be implemented in the first aspect, the cleaning mechanism includes two conical transmission shafts located at both ends of the arc-shaped outer shell, a second transmission belt is arranged between the two conical transmission shafts, a plurality of elastic connecting seats are arranged on the second transmission belt, each elastic connecting seat is arranged with a cleaning component, and a beating rod is arranged on the outer side of the transmission belt.

[0024] In an achievable manner of the first aspect, the beating rod is connected to the matching shaft via a third transmission belt, and the ratchet transmission shaft is connected to the matching shaft via a second transmission belt;

[0025] And / or, the second transmission belt and the third transmission belt are staggered;

[0026] And / or, the beating rod is in the shape of an auger, a plurality of opening grooves are formed on the auger blades on the beating rod, and the position of the beating rod corresponds to the position of the cleaning component.

[0027] In a second aspect, the present invention provides a camera self-cleaning method, using the above-mentioned camera self-cleaning system, comprising the following steps:

[0028] Image acquisition and transmission: The dirt detection camera collects real-time video stream data and sends it to the supporting host computer;

[0029] Image recognition and judgment: Obtain the image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, and perform recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component;

[0030] Cleaning trigger and execution: If it is determined that there is dirt on the surface of the surveillance camera component, the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, and then controls the cleaning mechanism to automatically clean the surface of the surveillance camera component.

[0031] In an achievable manner of the second aspect, the cleaning triggering and executing steps include:

[0032] S1: Capture real-time image: obtain the image frame at the current moment from the real-time video stream data;

[0033] S2: Image preprocessing: denoising, grayscale and enhancement of the captured real-time image;

[0034] S3: Image registration: registering the preprocessed real-time image with a preset reference image;

[0035] S4: Pixel-level comparison and difference measurement: Compare the registered real-time image and the reference image at the pixel level, calculate the difference value between each corresponding pixel point, and count the difference degree value of the whole image;

[0036] S5: Determination of dirt degree: Set a threshold value and determine the dirt degree of the image based on the calculated difference value. If the difference value exceeds the threshold value, it is determined that there is dirt on the surface of the surveillance camera component, otherwise it is determined to be clean.

[0037] In an achievable manner of the second aspect, in the image preprocessing step, the denoising process adopts one or more methods of median filtering, mean filtering or Gaussian filtering;

[0038] And / or, in the image registration step, an image registration algorithm based on feature point matching or mutual information is adopted;

[0039] And / or, in the image registration step, an image registration algorithm based on feature point matching or mutual information is adopted;

[0040] And / or, in the pixel level comparison and difference measurement step, the difference measurement method adopts the sum of absolute values ​​of the difference of pixel values ​​or the mean square error.

[0041] In a manner that can be implemented in the second aspect, the following steps are also included:

[0042] Self-cleaning of cleaning parts: When the arc-shaped housing is reset, the driving motor continues to rotate, the insertion block is pushed out from the insertion slot, the connecting shaft rotates, the matching shaft rotates, and the third transmission belt drives the beating rod to rotate. At the same time, the second transmission belt continues to rotate through the first transmission belt and the ratchet transmission shaft. The beating rod and the cleaning part have opposite movement trajectories. When the two are in contact, the beating rod scratches the cleaning part, and the elastic connection seat at the bottom of the cleaning part is deformed and reset to produce a shaking effect, thereby realizing automatic cleaning of the cleaning part.

[0043] And / or, in the cleaning triggering and executing step, when the arc-shaped housing is deflected to a certain angle, the driving motor is reversed to drive the arc-shaped housing to reset.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] First, the present invention uses advanced image acquisition and processing technology, and the dirt detection camera cooperates with the image recognition and judgment module to accurately capture the dirt situation on the surface of the camera lens. A multi-step image analysis process is adopted, from image acquisition, preprocessing, registration to pixel-level comparison and difference measurement, and then the degree of dirt is judged according to the dynamically set threshold, which effectively avoids misjudgment and ensures that the cleaning program is triggered only when the lens dirt reaches the level that affects the imaging quality, saving energy and resources and maintaining the continuous and efficient operation of the camera. For example, in the complex environment of coal mines, it can accurately identify dirt such as coal ash and smoke, so that the monitoring picture is always clear and reliable, providing accurate visual support for safe production.

[0046] Secondly, the cleaning control module drives the cleaning mechanism to achieve automatic cleaning. The driving mechanism drives the cleaning components, and its uniquely designed arc-shaped shell cooperates with the internal transmission structure to make the cleaning components move in a multi-dimensional trajectory. The arc-shaped shell drives the cleaning components to move in a circular motion, while the transmission belt drives the cleaning components to move back and forth in a straight line. The staggered trajectory fully covers the lens, leaving no blind spots for cleaning, and efficiently removes stubborn dirt, significantly improving cleaning efficiency, shortening cleaning time, reducing the cost and risk of manual cleaning, and ensuring long-term stable operation of the camera.

[0047] Thirdly, during use, the driving mechanism and the cleaning components are used in coordination, so that when the arc-shaped shell drives the cleaning components to move, the cleaning components as a whole present two interlaced motion trajectories, which can greatly reduce the occurrence of cleaning dead corners during cleaning, and multi-angle cleaning can better remove dust.

[0048] Fourthly, when the cleaning parts are cleaned and reset, the specially designed coordination mechanism of the beating rod and the cleaning parts effectively removes the residual dirt on the bristles of the cleaning parts through the auger-like structure and the elastic connection seat, preventing the accumulation of dirt from affecting the next cleaning effect and the life of the parts. The hollow arc shell and the dust outlet slot design collect and discharge dust, keep the internal cleanliness of the system, avoid secondary pollution and component wear, extend the overall service life of the system, and reduce operating costs and replacement frequency.

[0049] In summary, the camera self-cleaning system and method have many significant technical effects. Accurate dirt recognition and efficient automatic cleaning mechanism, through multi-module collaboration and unique cleaning component trajectory, improve cleaning efficiency, reduce blind spots, ensure clear monitoring images, and provide reliable visual support for safe production. The system has strong stability, close cooperation of components, and good self-cleaning function, which prolongs service life and reduces maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0052] Figure 2 It is a schematic diagram of the position structure of the arc-shaped housing of the present invention;

[0053] Figure 3 It is a schematic diagram of a first cross-sectional structure of the arc-shaped housing of the present invention;

[0054] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0055] Figure 5 It is a schematic diagram of a second cross-sectional structure of the arc-shaped housing of the present invention;

[0056] Figure 6 For the present invention Figure 5 The enlarged structural diagram at B in the middle;

[0057] Figure 7 It is a structural schematic diagram of the dirt determination process of the present invention.

[0058] Reference numerals:

[0059] 1. Arc-shaped shell; 101. Dust outlet slot; 11. Insertion slot; 2. Driving mechanism; 21. Driving motor; 22. Connecting shaft; 23. Reset spring; 24. Transmission rack; 25. Connecting slot; 26. Insertion block; 27. First rotating shaft; 28. Conical transmission shaft; 29. ​​Ratchet transmission shaft; 210. First transmission belt; 3. Cleaning mechanism; 31. Beating rod; 311. Opening slot; 32. Cleaning component; 33. Elastic connecting seat; 34. Second transmission belt; 4. Monitoring camera assembly; 41. Avoidance deflection slot. DETAILED DESCRIPTION

[0060] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0061] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0062] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0063] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] Combine the following Figures 1 to 7 As shown, in a first aspect, an embodiment of the present invention provides a camera self-cleaning system, comprising:

[0066] (1) An image acquisition and transmission module, which collects real-time video stream data of the surface of the monitoring camera assembly through a dirt detection camera and sends it to a matching host computer. The dirt detection camera is distributed outside the monitoring camera assembly;

[0067] (2) Image recognition and judgment module, which is used to obtain the image information of the surface of the monitoring camera component at the current moment from the real-time video stream data, and to identify and judge whether there is dirt on the surface of the monitoring camera component. For details, please refer to the attached Figure 7 The process, this module includes:

[0068] (21) an image acquisition unit, used to acquire an image frame at a current moment from real-time video stream data;

[0069] (22) An image preprocessing unit for performing denoising, grayscale conversion and enhancement processing on the captured real-time image;

[0070] (23) an image registration unit, registering the preprocessed real-time image with a preset reference image;

[0071] (24) A pixel-level comparison and difference measurement unit, which compares the registered real-time image and the reference image at the pixel level, calculates the difference value between each corresponding pixel point, and counts the difference degree value of the entire image;

[0072] (25) A dirt degree judgment unit sets a threshold value and judges the dirt degree of the image based on the calculated difference value. If the difference value exceeds the threshold value, it is determined that there is dirt on the camera surface; otherwise, it is determined to be clean.

[0073] (3) Cleaning control module. When the image recognition and judgment module determines that there is dirt on the surface of the monitoring camera component, the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, thereby controlling the cleaning mechanism 3 to automatically clean the surface of the monitoring camera component.

[0074] Please refer to the attached Figure 2 -Attached Figure 6 As shown, the cleaning control module in this embodiment includes:

[0075] The driving mechanism is used to provide power to the cleaning mechanism 3 and control its movement, and includes a driving motor 21. The output end of the driving motor 21 is provided with a connecting shaft 22. The connecting shaft 22 is provided with a connecting groove 25. An insert block 26 is provided in the connecting groove 25. A return spring 23 is provided between the insert block 26 and the connecting shaft 22.

[0076] The outer shape of the insertion block 26 and the connecting shaft 22 is the same as the internal shape of the insertion groove 11. A transmission rack 24 is arranged on the outer side of the output shaft of the driving motor 21, and a conical transmission shaft 28 is arranged on the inner side of the transmission rack 24. A ratchet transmission shaft 29 is arranged on the conical transmission shaft 28. The conical transmission shaft 28 passes through the arc-shaped outer shell 1. The end of the conical transmission shaft 28 is connected to the first rotating shaft 27, and the end of the connecting shaft 22 is provided with a mating shaft.

[0077] Specifically, the contact surface between the insertion block 26 and the insertion groove 11 is an arc surface.

[0078] At this time, since the contact surface is an arc surface, the insertion block 26 and the insertion groove 11 can be detached or connected.

[0079] The cleaning mechanism 3 is used for automatically cleaning the surface of the monitoring camera assembly under the drive of the driving mechanism, and includes an arc-shaped shell 1 rotatably arranged on the outer surface of the monitoring camera assembly, and a cleaning component 32 is arranged in the arc-shaped shell 1. The cleaning component 32 is used for automatically cleaning the surface of the monitoring camera assembly.

[0080] Insertion grooves 11 are provided at both ends of the arc-shaped shell 1, dirt detection cameras are distributed on the outside of the monitoring camera assembly 4, and an avoidance deflection groove 41 is provided on the monitoring camera assembly 4; further, the arc-shaped shell 1 fits the surface of the monitoring camera assembly, and the interior of the arc-shaped shell 1 is hollow, and a dust outlet groove 101 is provided at the end of the arc-shaped shell 1. When working, the setting of the dust outlet groove 101 facilitates the cleaning of the cleaning component 32, and the accumulated dust can fall off.

[0081] Specifically, the insertion slot 11 is formed by combining two adjacent circular holes, and the inner surface of the insertion slot 11 is arc-shaped. During operation, a limiting hole is formed by the adjacent circular holes, which is convenient for limiting processing.

[0082] Specifically, in this embodiment, the cleaning mechanism 3 includes two tapered transmission shafts 28 located at both ends of the arc-shaped housing 1, a second transmission belt 34 is arranged between the two tapered transmission shafts 28, a plurality of elastic connection seats 33 are arranged on the second transmission belt 34, a cleaning component 32 is arranged on each elastic connection seat 33, and a beating rod 31 is arranged on the outer side of the transmission belt. The beating rod 31 is connected to the matching shaft through a third transmission belt, and the ratchet transmission shaft 29 is connected to the matching shaft through the second transmission belt 34.

[0083] Specifically, the second transmission belt 34 and the third transmission belt are staggered.

[0084] Specifically, the beating rod 31 is in an auger shape, and a plurality of opening slots 311 are provided on the auger blades of the beating rod 31 , and the position of the beating rod 31 corresponds to the position of the cleaning component 32 .

[0085] When in use, the dirt detection camera in the image acquisition and transmission module collects real-time video stream data of the surface of the monitoring camera and sends it to the matching host computer; the image recognition and judgment module obtains the image information of the surface of the monitoring camera at the current moment from the real-time video stream data, and performs recognition and judgment to determine whether there is dirt on the surface of the camera; when the image recognition and judgment module determines that there is dirt on the surface of the camera, the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, and then controls the cleaning mechanism 3 to automatically clean the surface of the monitoring camera component.

[0086] Specifically, after receiving the cleaning signal, the cleaning control module sends a signal to the drive motor 21 control module to control the drive motor 21 to start working. The drive motor 21 drives the cleaning mechanism to automatically clean via the transmission mechanism. The rotation of the drive motor 21 drives the connecting shaft 22 to rotate. Since the connecting shaft 22 is provided with a matching insertion block 26, the insertion block 26 and the insertion slot 11 cooperate to play a limiting effect, so that the rotation of the electric drive motor 21 drives the arc-shaped housing 1 to rotate.

[0087] When the arc-shaped housing 1 rotates, the conical transmission shaft 28 passing through it will also be driven to rotate. Since one end of the conical transmission shaft 28 is connected to the transmission rack 24, and the transmission rack 24 is arranged on the housing of the driving motor 21, the conical transmission shaft 28 will mesh with the transmission rack 24 and move, so the conical transmission shaft 28 will rotate at this time;

[0088] When the conical transmission shaft 28 rotates, the first rotating shaft 27 connected to the other end of the conical transmission shaft 28 will rotate, and the first connecting shaft 22 rotates to drive the second transmission belt 34 provided thereon to move, and the movement of the second transmission belt 34 drives the cleaning component 32 to move synchronously. At this time, when the arc-shaped housing 1 moves to drive the cleaning component 32 to move to clean the surface of the camera, the cleaning component 32 itself will also move. At the same time, the movement direction of the cleaning component 32 is different from the movement direction of the arc-shaped housing 1, so that the cleaning component 32 can clean the camera from multiple directions, reducing the cleaning blind spot;

[0089] When the arc-shaped housing 1 is deflected to a certain angle, the driving motor 21 reverses and drives the arc-shaped housing 1 to reset. When the arc-shaped housing 1 is reset, the driving motor 21 still rotates at this time. However, since the arc-shaped housing 1 has already hit the edge of the monitoring camera assembly 4 at this time, a certain resistance force will be generated between the insertion slot 11 and the insertion block 26. When the deflection force is too large, since the end contact surface of the insertion block 26 and the opening contact surface of the insertion slot 11 are arc surfaces, a backward thrust will be generated on the insertion block 26. Since the arc-shaped housing 1 cannot rotate, the driving motor 21 still drives the connecting shaft 22 to rotate. When the torsion force is greater than the force of the reset spring 23, the insertion block 26 will be pushed out of the insertion slot 11, so that the connecting shaft 22 can rotate.

[0090] When the connecting shaft 22 rotates, the matching shaft connected to the end of the connecting shaft 22 rotates, and the matching shaft drives the slapping rod 31 to rotate through the third transmission belt. At the same time, the matching shaft rotates through the first transmission belt 210 through the ratchet transmission shaft 29 (the principle of the ratchet transmission shaft 29 is the same as that of the ratchet pawl, which can limit the rotation in one direction, but will not affect the rotation in the other direction). The ratchet transmission rotation drives the tapered transmission shaft 28 to rotate, so that the second transmission belt 34 continues to rotate;

[0091] On a relatively horizontal plane, the movement trajectory of the beating rod 31 is opposite to the movement trajectory of the cleaning component 32. When the cleaning component 32 contacts the auger blade on the beating rod 31, they will conflict with each other due to the opposite movements, and the beating rod 31 will be used to scratch the cleaning component 32, and at the same time, the elastic connecting seat 33 at the bottom of the cleaning component 32 will be deformed. However, when encountering the groove on the auger of the beating rod 31, the elastic connecting seat 33 will reset, resulting in a shaking effect (even if it does not touch the groove, there is still a gap between the beating rod 31 and the transmission belt, so it will still reset), thereby completing an automatic cleaning effect of the cleaning component 32, and at this time, the cleaning of the camera and the cleaning component 32 is completed.

[0092] In a second aspect, an embodiment of the present invention provides a camera self-cleaning method, using the above-mentioned camera self-cleaning system, comprising the following steps:

[0093] (1) Image acquisition and transmission: The dirt detection camera collects real-time video stream data and sends it to the supporting host computer software;

[0094] (2) Image recognition and judgment: obtaining image information of the surface of the monitoring camera component 4 at the current moment from the real-time video stream data, and performing recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component 4;

[0095] (3) Cleaning trigger and execution: If it is determined that there is dirt on the surface of the monitoring camera component 4, the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, and then controls the cleaning mechanism 3 to automatically clean the surface of the monitoring camera component 4.

[0096] Specifically, the cleaning triggering and execution steps in this embodiment include:

[0097] S1: Capture real-time image: obtain the image frame at the current moment from the real-time video stream data;

[0098] S2: Image preprocessing: De-noising, graying and enhancing the captured real-time image. Furthermore, the de-noising process adopts one or more methods of median filtering, mean filtering or Gaussian filtering;

[0099] S3: Image registration: the preprocessed real-time image is registered with the preset reference image, using an image registration algorithm based on feature point matching or mutual information;

[0100] S4: Pixel-level comparison and difference measurement: Compare the registered real-time image and the reference image at the pixel level, calculate the difference value between each corresponding pixel point, and count the difference degree value of the whole image. The difference measurement method adopts the sum of the absolute value of the difference of the pixel value or the mean square error;

[0101] S5: Dirt degree judgment: set a threshold value, and judge the dirt degree of the image according to the calculated difference value. If the difference value exceeds the threshold value, it is judged that there is dirt on the camera surface, otherwise it is judged to be clean.

[0102] (4) Self-cleaning of the cleaning component 32: When the arc-shaped housing is reset, the driving motor continues to rotate, the insertion block is pushed out from the insertion slot, the connecting shaft rotates, the matching shaft rotates, and the third transmission belt drives the beating rod to rotate. At the same time, the second transmission belt continues to rotate through the first transmission belt and the ratchet transmission shaft. The beating rod and the cleaning component 32 have opposite movement trajectories. When the two contact, the beating rod scratches the cleaning component 32, and the elastic connection seat at the bottom of the cleaning component 32 is deformed and reset to produce a shaking effect, thereby realizing automatic cleaning of the cleaning component 32;

[0103] In the cleaning triggering and executing step, when the arc-shaped housing is deflected to a certain angle, the driving motor is reversed to drive the arc-shaped housing to reset.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A camera self-cleaning system, characterized in that: include: An image acquisition and transmission module, which acquires real-time video stream data on the surface of the monitoring camera assembly (4) through a dirt detection camera and transmits the data to a matching host computer, wherein the dirt detection camera is distributed outside the monitoring camera assembly (4); An image recognition and judgment module is arranged in the host computer and is used to obtain image information of the surface of the monitoring camera component (4) at the current moment from the real-time video stream data, and to perform recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component (4); A cleaning control module, when the image recognition and judgment module determines that there is dirt on the surface of the monitoring camera component (4), the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, thereby controlling the cleaning mechanism (3) to automatically clean the surface of the monitoring camera component (4); The cleaning control module comprises: A driving mechanism (2) for providing power to the cleaning mechanism (3) and controlling its movement; A cleaning mechanism (3) is used to automatically clean the surface of the monitoring camera assembly under the drive of the driving mechanism, and comprises an arc-shaped housing (1) rotatably arranged on the outer surface of the monitoring camera assembly, wherein a cleaning component (32) is arranged in the arc-shaped housing (1), and the cleaning component (32) is used to automatically clean the surface of the monitoring camera assembly (4); The cleaning mechanism (3) comprises two conical transmission shafts (28) located at two ends of the arc-shaped housing (1); a second transmission belt (34) is arranged between the two conical transmission shafts (28); a plurality of elastic connection seats (33) are arranged on the second transmission belt (34); a cleaning component (32) is arranged on each elastic connection seat (33); the arc-shaped housing (1) drives the cleaning component (32) to move in a circular motion, while the second transmission belt drives the cleaning component (32) to move in a linear reciprocating motion, so that the cleaning component (32) presents a multi-dimensional motion trajectory; a beating rod (31) is arranged on the outer side of the transmission belt; The beating rod (31) is connected to the matching shaft via a third transmission belt, and the matching shaft is connected to the ratchet transmission shaft (29) via a second transmission belt (34); The second transmission belt (34) and the third transmission belt are arranged in a staggered manner; The beating rod (31) is in the shape of an auger, a plurality of opening slots (311) are provided on the auger blades on the beating rod (31), and the position of the beating rod (31) corresponds to the position of the cleaning component (32); Insertion slots (11) are provided at both ends of the arc-shaped housing (1); dirt detection cameras are distributed outside the monitoring camera assembly (4); and avoidance deflection slots (41) are provided on the monitoring camera assembly (4); The arc-shaped housing (1) fits the surface of the monitoring camera assembly (4), and the interior of the arc-shaped housing (1) is hollow, and a dust outlet groove (101) is provided at the end of the arc-shaped housing (1); The insertion groove (11) is formed by combining two adjacent circular holes, and the inner surface of the insertion groove (11) is arranged in an arc shape.

2. The camera self-cleaning system according to claim 1, characterized in that: The image recognition and judgment module includes: An image acquisition unit, used to acquire an image frame at a current moment from real-time video stream data; An image preprocessing unit performs denoising, grayscale conversion and enhancement processing on the captured real-time image; An image registration unit registers the preprocessed real-time image with a preset reference image; The pixel-level comparison and difference measurement unit compares the registered real-time image and the reference image at the pixel level, calculates the difference value between each corresponding pixel point, and counts the difference degree value of the entire image; The dirt degree judgment unit sets a threshold value and judges the dirt degree of the image according to the calculated difference value. If the difference value exceeds the threshold value, it is determined that there is dirt on the camera surface, otherwise it is determined to be clean.

3. The camera self-cleaning system according to claim 1, characterized in that: The driving mechanism (2) comprises a driving motor (21), an output end of the driving motor (21) being provided with a connecting shaft (22), a connecting groove (25) being provided on the connecting shaft (22), an insert block (26) being provided in the connecting groove (25), and a return spring (23) being provided between the insert block (26) and the connecting shaft (22); The insert block (26) and the connecting shaft (22) have the same outer shape as the inner shape of the insert slot (11); a transmission rack (24) is arranged on the outer side of the output shaft of the drive motor (21); a conical transmission shaft (28) is arranged on the inner side of the transmission rack (24); a ratchet transmission shaft (29) is arranged on the conical transmission shaft (28); the conical transmission shaft (28) passes through the arc-shaped housing (1); the end of the conical transmission shaft (28) is connected to the first rotating shaft (27); and a matching shaft is arranged at the end of the connecting shaft (22).

4. A camera self-cleaning method, using the camera self-cleaning system according to any one of claims 1 to 3, characterized in that: The following steps are involved: (1) Image acquisition and transmission: The dirt detection camera collects real-time video stream data and sends it to the supporting host computer software; (2) Image recognition and judgment: obtaining image information of the surface of the monitoring camera component (4) at the current moment from the real-time video stream data, and performing recognition and judgment to determine whether there is dirt on the surface of the monitoring camera component (4); (3) Cleaning trigger and execution: If it is determined that there is dirt on the surface of the monitoring camera component (4), the host computer sends an automatic cleaning signal to the camera self-cleaning device through the cleaning control module, thereby controlling the cleaning mechanism (3) to automatically clean the surface of the monitoring camera component (4).

5. The camera self-cleaning method according to claim 4, characterized in that: The cleaning triggering and execution steps include: S1: Capture real-time image: obtain the image frame at the current moment from the real-time video stream data; S2: Image preprocessing: denoising, graying and enhancing the real-time image captured on the surface of the surveillance camera component; S3: Image registration: registering the preprocessed real-time image with a preset reference image; S4: Pixel-level comparison and difference measurement: Compare the registered real-time image and the reference image at the pixel level, calculate the difference value between each corresponding pixel point, and count the difference degree value of the whole image; S5: Dirt degree judgment: set a threshold value, and judge the dirt degree of the image according to the calculated difference value. If the difference value exceeds the threshold value, it is judged that there is dirt on the camera surface, otherwise it is judged to be clean.

6. The camera self-cleaning method according to claim 4 or 5, characterized in that: The following steps are also included: (4) Self-cleaning of the cleaning component (32): After the arc-shaped housing (1) is reset, the driving motor (21) continues to rotate, the insertion block (26) is pushed out from the insertion slot (11), the connecting shaft (22) rotates, the matching shaft rotates, and the beating rod (31) is driven to rotate through the third transmission belt. At the same time, the second transmission belt (34) continues to rotate through the first transmission belt (210) and the ratchet transmission shaft (29). The beating rod (31) and the cleaning component (32) have opposite movement trajectories. When the two are in contact, the beating rod (31) scratches the cleaning component (32), and the elastic connecting seat (33) at the bottom of the cleaning component (32) is deformed and reset to produce a shaking effect, thereby realizing automatic cleaning of the cleaning component (32); In the cleaning triggering and executing step, when the arc-shaped housing (1) is deflected to a certain angle, the driving motor (21) is reversed to drive the arc-shaped housing (1) to reset.

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