CN109525781A - A kind of image capturing method, device, equipment and the storage medium of wire-connection point - Google Patents
A kind of image capturing method, device, equipment and the storage medium of wire-connection point Download PDFInfo
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- CN109525781A CN109525781A CN201811585064.7A CN201811585064A CN109525781A CN 109525781 A CN109525781 A CN 109525781A CN 201811585064 A CN201811585064 A CN 201811585064A CN 109525781 A CN109525781 A CN 109525781A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/02—Details
- H04B3/46—Monitoring; Testing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
This application discloses a kind of image capturing methods of wire-connection point, the target image obtained is shot using target filming apparatus by obtaining, and next movement position of combining target track algorithm prediction target wire-connection point, then the shooting angle of target filming apparatus is adjusted according to next movement position, so that the movement position of target filming apparatus tracking photographic subjects wire-connection point, improve a possibility that target filming apparatus takes target wire-connection point and a possibility that target wire-connection point is presented on the middle position of target image, namely target filming apparatus is enabled continuously and effectively to obtain the image information of wire-connection point, and then fault detection more effectively can be carried out to wire-connection point.Disclosed herein as well is image capturing device, equipment and the computer readable storage mediums of a kind of wire-connection point, all have above-mentioned beneficial effect.
Description
Technical field
The present invention relates to field of electrical equipment, in particular to a kind of image capturing method, the device, equipment of wire-connection point
And computer readable storage medium.
Background technique
With the fast development of power grid scale, important component of the transmission line of electricity as electric system, to the biography of electric power
Defeated process has an important influence.High pressure, extra-high voltage transmission line of electricity in, wire-connection point such as grips the line of part, exposed part
Valve block etc. is easy to appear failure inside head, strain clamp, pad, the edge of a knife of disconnecting switch and arrester, to make to transmit electricity
The safety of route, stability cannot be guaranteed, it is therefore desirable to fault detection be carried out to wire-connection point, to analyze transmission line of electricity
Operation conditions.
Currently, the image information of wire-connection point is obtained generally by filming apparatus, then according to image information analysis
The temperature data of wire-connection point is obtained, to carry out fault detection to the transmission line of electricity where wire-connection point.But in reality
In operation, since transmission line of electricity is blown in the influence of environmental factor, such as wind, by the wire-connection point made on transmission line of electricity with wind rocking
Pendulum, the position so as to cause wire-connection point change, so that wire-connection point is not in the picture of filming apparatus shooting
In regional scope, that is to say, that, will in such a way that the picture that fixed filming apparatus shoots fixed area obtains image information
There may be can not shooting effective image, and then lead to not effectively carry out fault detection to wire-connection point.
Therefore, the image information for how continuously and effectively obtaining wire-connection point, more effectively to wire-connection
Point carries out fault detection, is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
In view of this, can persistently have the purpose of the present invention is to provide a kind of image capturing method of wire-connection point
Effect ground obtains the image information of wire-connection point, more effectively to carry out fault detection to wire-connection point；Of the invention is another
Purpose is to provide image capturing device, equipment and the computer readable storage medium of a kind of wire-connection point, and all having above-mentioned has
Beneficial effect.
In order to solve the above technical problems, the present invention provides a kind of image capturing method of wire-connection point, comprising:
It obtains and shoots the target image obtained using target filming apparatus；
According to the target image and next movement position of combining target track algorithm prediction target wire-connection point；
The shooting angle of the target filming apparatus is adjusted according to next movement position.
Preferably, after the target image for obtaining and being obtained using the shooting of target filming apparatus, further comprise:
Judge whether the target wire-connection point in the target image blocks；
If so, calculating being blocked for the target wire-connection point using the priori knowledge of the target wire-connection point
Partial feature；
It is corresponding, it is described that the next of target wire-connection point is predicted according to the target image and combining target track algorithm
A movement position specifically includes:
According to the feature of the target image and the part that is blocked and in conjunction with described in target tracking algorism prediction
Next movement position of target wire-connection point.
Preferably, the priori knowledge using the target wire-connection point calculates the quilt of the target wire-connection point
The feature of shield portions specifically includes:
Using the priori knowledge of the wire-connection point, feature prediction model is set；
Obtain the characteristic information of target wire-connection point described in the target image；
Using the feature prediction model, and calculate according to the characteristic information quilt of the target wire-connection point
The feature of shield portions.
Preferably, the target tracking algorism specifically includes:
Target tracking algorism based on Analysis of Contrast, the target tracking algorism based on characteristic matching and be based on motion detection
Target tracking algorism.
Preferably, described that the next of target wire-connection point is predicted according to the target image and combining target track algorithm
A movement position specifically:
The real space position of the target wire-connection point is calculated using Kalman filter algorithm；
The movement tendency of the target wire-connection point is calculated using particle filter algorithm；
The described next of the target wire-connection point is predicted according to the real space position and the movement tendency
Movement position.
Preferably, the target filming apparatus is specially visible light shooting device and/or infrared light filming apparatus.
Preferably, after the target image for obtaining and being obtained using the shooting of target filming apparatus, further comprise:
Store the target image taken.
In order to solve the above technical problems, the present invention also provides a kind of image capturing devices of wire-connection point, comprising:
Module is obtained, shoots the target image obtained using target filming apparatus for obtaining；
Prediction module, for according under the target image and combining target track algorithm prediction target wire-connection point
One movement position；
Module is adjusted, for adjusting the shooting angle of the target filming apparatus according to next movement position.
In order to solve the above technical problems, the present invention also provides a kind of image picking-up apparatus of wire-connection point, comprising:
Memory, for storing computer program；
Processor realizes the image capturing method of any of the above-described kind of wire-connection point when for executing the computer program
The step of.
In order to solve the above technical problems, the present invention also provides a kind of computer readable storage medium, it is described computer-readable
Computer program is stored on storage medium, the computer program realizes any of the above-described kind of wire-connection when being executed by processor
The step of image capturing method of point.
A kind of image capturing method of wire-connection point provided by the invention, compared to the prior art in can only be in fixed angles
Photographic subjects wire-connection point is spent, therefore in the movement of target wire-connection point, it cannot be guaranteed that in the target image of shooting always
There are the methods of target wire-connection point；This method shoots the target image obtained using target filming apparatus by obtaining, and
Combining target track algorithm predicts next movement position of target wire-connection point, is then adjusted according to next movement position
The shooting angle of target filming apparatus, so that the movement position of target filming apparatus tracking photographic subjects wire-connection point, is improved
A possibility that target filming apparatus takes target wire-connection point and target wire-connection point are presented on target image
A possibility that middle position, namely the image information for enabling target filming apparatus continuously and effectively to obtain wire-connection point,
And then fault detection more effectively can be carried out to wire-connection point.
In order to solve the above technical problems, the present invention also provides a kind of image capturing device of wire-connection point, equipment and
Computer readable storage medium all has above-mentioned beneficial effect.
Detailed description of the invention
It in order to illustrate the embodiments of the present invention more clearly or the technical solution of the prior art, below will be to embodiment or existing
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the attached drawing of offer.
Fig. 1 is a kind of flow chart of the image capturing method of wire-connection point provided in an embodiment of the present invention；
Fig. 2 is a kind of structure chart of the image capturing device of wire-connection point provided in an embodiment of the present invention
Fig. 3 is a kind of structure chart of the image picking-up apparatus of wire-connection point provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The core of the embodiment of the present invention is to provide a kind of image capturing method of wire-connection point, can continuously and effectively obtain
The image information of wire-connection point is taken, more effectively to carry out fault detection to wire-connection point；Another core of the invention is
Image capturing device, equipment and the computer readable storage medium of a kind of wire-connection point are provided, above-mentioned beneficial effect is all had.
It is right with reference to the accompanying drawings and detailed description in order to make those skilled in the art more fully understand the present invention program
The present invention is described in further detail.
Fig. 1 is a kind of flow chart of the image capturing method of wire-connection point provided in an embodiment of the present invention.It needs to illustrate
, transmission line of electricity is generally made of aerial condutor and shaft tower, and wire-connection point refers to that transmission line of electricity connects zero of part
Part such as grips part, the end of a thread of exposed part, strain clamp, pad, the edge of a knife of disconnecting switch and arrester inside valve block
Deng.Wherein, strain clamp is a kind of for fixing power transmission line, to bear the tension of power transmission line, and power transmission line is hung to strain insulator-string
Fitting in group or shaft tower.Since transmission line of electricity is usually to be set up in height in the air, the wire-connection point on transmission line of electricity is also position
Aerial in height.When wire-connection point is effected by environmental factors and is subjected to displacement, such as in strong wind weather, wire-connection
Point is blown by wind as transmission line of electricity rocks in the sky, and will lead to wire-connection point cannot remain that being presented on target shoots
The middle position of the target image of device shooting, or even cannot be presented within the scope of the picture area of target filming apparatus shooting,
This, which all will carry out fault detection to wire-connection point to later-stage utilization target image, makes troubles.Therefore, this method by adjusting
The shooting angle of target filming apparatus, by tracking the movement position of target wire-connection point, so as to track acquisition target
The image information of wire-connection point.That is, since this method is by being adapted to facilitate energy to target filming apparatus
Enough image informations that is more acurrate, completely shooting target wire-connection point, thus, a kind of image taking side of wire-connection point
Method includes:
S10: it obtains and shoots the target image obtained using target filming apparatus.
Specifically, target filming apparatus is referred to for photographic subjects wire-connection point to obtain the shooting dress of target image
Set, generally according to actual needs and set up environment determine target filming apparatus type and setting position.Due to this method
Purpose is predicted next movement position of target wire-connection point, has the requirement of stronger timeliness, therefore obtain and clap
Taking the photograph the target image that obtains should be as far as possible shooting time closest to current time for the image of newest shooting namely target image
Image；Further, it is also possible to be to obtain the image of consecutive frame as target image, to be analyzed according to multiple image, this implementation
Example does not limit this.
S20: according to target image and next movement position of combining target track algorithm prediction target wire-connection point.
In this step, after obtaining the target image obtained using the shooting of target filming apparatus, according to what is got
Target image, and combining target track algorithm is calculated, to predict next movement position of target wire-connection point.Specifically
Calculating target wire-connection point next movement position target tracking algorism it is varied, such as can be Bayes with
It track algorithm, accounting method, the target tracking algorism based on Analysis of Contrast, the target tracking algorism based on characteristic matching and is based on
The target tracking algorism etc. of motion detection, the present embodiment is to for predicting that next movement position of target wire-connection point is made
Specific algorithm is without limitation.
S30: the shooting angle of target filming apparatus is adjusted according to next movement position.
Specifically, according to next movement position, adjusting target shooting after obtaining next movement position of prediction
The shooting angle of device tracks the movement position of target wire-connection point, so that target wire-connection point is presented on target always
In the shooting picture of filming apparatus, alternatively, further, target image captured by target filming apparatus can be presented on
Middle position.
A kind of image capturing method of wire-connection point provided in this embodiment, compared to the prior art in can only be in fixation
Angle shot target wire-connection point, therefore in the movement of target wire-connection point, it cannot be guaranteed that beginning in the target image of shooting
There is the method for target wire-connection point eventually；This method shoots the target image obtained using target filming apparatus by obtaining,
And next movement position of combining target track algorithm prediction target wire-connection point, then according to next movement position tune
The shooting angle of whole target filming apparatus, so that the movement position of target filming apparatus tracking photographic subjects wire-connection point, mentions
A possibility that high target filming apparatus takes target wire-connection point and target wire-connection point are presented on target image
Middle position a possibility that, namely enable target filming apparatus continuously and effectively obtain wire-connection point image letter
Breath, and then fault detection more effectively can be carried out to wire-connection point.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
After obtaining the target image obtained using the shooting of target filming apparatus, further comprise:
Judge whether the target wire-connection point in target image blocks；
If so, calculating the spy of the part that is blocked of target wire-connection point using the priori knowledge of target wire-connection point
Sign；
It is corresponding, according to next motion bit of target image and combining target track algorithm prediction target wire-connection point
It sets and specifically includes:
Target wire-connection point is predicted according to the feature of target image and the part that is blocked and combining target track algorithm
Next movement position.
In general, blocking for target wire-connection point can be divided into three kinds of situations: mutually the blocking of wire-connection point, background hide
Gear blocks certainly.In specific implementation, the target tracking algorism that can use Hausdorff distance is solved in object tracking process
In occlusion issue, but the target tracking algorism of Hausdorff distance have certain limitation, connect in certain target conducting wires
Continuous point is blocked in scene and is not suitable for.It therefore in the present embodiment, is by first determining whether mesh as preferred embodiment
Whether the target wire-connection point in logo image blocks, and then calculates target conducting wire using the priori knowledge of wire-connection point
The feature of the part that is blocked of splicing point, in conjunction with next motion bit of target tracking algorism prediction target wire-connection point
It sets.
Specifically, judging that the mode whether the target wire-connection point in target image blocks includes: to getting
Target image carry out Target Segmentation, the background of target image is rejected；Then by target detection, target wire-connection is determined
The position of point and size；It is determined again by target identification with the presence or absence of shelter on target wire-connection point, to judge target
Whether wire-connection point blocks.
When determining that target wire-connection point blocks, then calculate that target is led using the priori knowledge of wire-connection point
The feature of the part that is blocked of line splicing point.In the present embodiment, target is calculated using the priori knowledge of target wire-connection point
The feature of the part that is blocked of wire-connection point specifically includes:
Using the priori knowledge of wire-connection point, feature prediction model is set；
Obtain the characteristic information of the target wire-connection point in target image；
Using feature prediction model, and the feature of the part that is blocked according to characteristic information reckoning target wire-connection point.
Specifically, priori knowledge refers to that the structure feature of each section of target wire-connection point, structure feature are specifically wrapped
Include geometrical characteristic, appearance profile, color and spatial feature point etc..The image zooming-out for advancing with a large amount of wire-connection point is each
Then structure feature is trained using each structure feature, obtain feature prediction model.Therefore get target image it
Afterwards, the characteristic information of target wire-connection point in target image is obtained, namely utilizes the target wire-connection point in target image
The part that is not blocked feature, and binding characteristic prediction model extrapolates the spy of the part that is blocked of target wire-connection point
Sign.
After extrapolating the feature for the part that is blocked of target wire-connection point, i.e., acquisition target wire-connection point is complete
Whole characteristic information, therefore target conducting wire is predicted according to the feature of target image and the part that is blocked and combining target track algorithm
Next movement position of splicing point.
In the present embodiment, situation when target wire-connection point is blocked is further contemplated, and can be in target conducting wire
Next movement position of target wire-connection point is extrapolated when splicing point is blocked, therefore can more reliably be obtained target and be led
Next movement position of line splicing point, namely more accurately obtain the image information of target wire-connection point.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
Target tracking algorism specifically includes:
Target tracking algorism based on Analysis of Contrast, the target tracking algorism based on characteristic matching and be based on motion detection
Target tracking algorism.
It should be noted that combining target track algorithm prediction target wire-connection point next movement position it
Before, it can be by carrying out pretreatment operation to target image, specific pretreatment operation includes image defogging, image debounce, figure
Image intensifying etc., by carrying out pretreatment operation to target image, so that the characteristic information in target image becomes apparent from, therefore can
Next movement position of target wire-connection point is more accurately calculated, namely makes prediction result relatively reliable, accurate.Figure
As pretreatment operation is content known in those skilled in the art, it is not repeated herein.
Target tracking algorism based on Analysis of Contrast mainly utilizes the contrast difference of target wire-connection point and background
Realize the detection and tracking of target wire-connection point.This kind of algorithm according to the difference of track reference point can be divided into Edge track and
Centroid tracking etc..In view of the background of target wire-connection point is mostly empty skies, and target signature is more obvious in image,
Therefore it can use the target tracking algorism based on Analysis of Contrast tentatively to judge in current target image with the presence or absence of mesh
Mark wire-connection point, and if it exists, then need to further calculate the direction of motion of target wire-connection point, namely calculate target conducting wire and connect
Next movement position of continuous point；If it does not exist, then target filming apparatus is directly adjusted, until enabling to target filming apparatus
Shooting picture in there are target wire-connection points.As it can be seen that the target tracking algorism based on Analysis of Contrast can be to target figure
Quickly judged as in the presence or absence of target wire-connection point, respective handling is then carried out according to judging result.
Target tracking algorism based on characteristic matching is mainly real by the characteristic matching between the target image of adjacent two frame
The positioning of existing target wire-connection point.Target tracking algorism based on characteristic matching needs to extract the default of target wire-connection point
Characteristic information, and the default characteristic information is found in each frame, the process of searching is exactly the process of characteristic matching.Default feature
Information includes geometry, sub-space feature, appearance profile, color and characteristic point etc., wherein the change of certain default characteristic informations
Changing has randomness, and this random variation can be described using the method for statistical mathematics, and general using colored and edge side
It is described to the mode of histogram.Since the shape of target wire-connection point is more single, it is easy to model and match, so that base
It is lower in complexity of target tracking algorism during realization of characteristic matching, it is easy to implement.
Target tracking algorism based on motion detection is by detection target image mainly according to target wire-connection point and back
Movement differential between scape realizes the detection and tracking of target wire-connection point.This kind of algorithm does not need the pattern match of interframe,
It does not need to transmit the kinematic parameter of target wire-connection point in interframe, it is only necessary to which prominent target wire-connection point and other backgrounds exist
The difference in time domain or airspace.Moving target detecting method mainly has inter frame image calculus of finite differences, background estimating method, energy accumulation
Method and the sports ground estimation technique etc..As it can be seen that the calculation of the target tracking algorism based on motion detection is relatively easy.
In specific implementation, corresponding target tracking algorism can be selected according to the complexity of target image.Work as target
The complexity of image is higher, when the prediction result accuracy deficiency that single target tracking algorism obtains, can also integrate more
Kind target tracking algorism is calculated, that is, utilizes the combination of two or more the target tracking algorism with complementary characteristic
Mass center class algorithm and associated class algorithm, are such as combined, after combination by the next movement position for predicting target wire-connection point
Algorithm can be suitable for target wire-connection point size, the scene that shape and surface characteristics change greatly, in order to be able to
More accurately calculate next movement position of target wire-connection point.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
According to target image and next movement position of combining target track algorithm prediction target wire-connection point specifically:
The real space position of target wire-connection point is calculated using Kalman filter algorithm；
The movement tendency of target wire-connection point is calculated using particle filter algorithm；
Next movement position of target wire-connection point is calculated according to real space position and movement tendency.
In this embodiment, it is preferred that predicting target wire-connection using Kalman filter algorithm and particle filter algorithm
Next movement position of point.Specifically, Kalman filter algorithm is to obey height according to the motion model of target wire-connection point
This distributed model, to predict the motion state of target wire-connection point, by being compared with observing and nursing, according to accidentally
Difference carrys out the motion state of more fresh target wire-connection point, to obtain the real space position of target wire-connection point.Particle filter
Wave algorithm utilizes the distribution of current tracking result resampling particle, is diffused according to the distribution of particle to particle, then pass through
The result of diffusion carrys out the state of object observing wire-connection point again, finally normalizes the state of more fresh target wire-connection point,
Namely obtain the movement tendency of target wire-connection point.Target wire-connection is calculated according to real space position and movement tendency
Next movement position of point.After the real space position and movement tendency for calculating target wire-connection point, just it can count
The real space that the next movement position namely target wire-connection point subsequent time for calculating target wire-connection point will be in
Position.This method can not only quickly track the movement position of target wire-connection point, and can solve target wire-connection point
Partial occlusion problem.
In addition, in other embodiments, method of the outline projection in conjunction with Optical-flow Feature also can be used, led using target
Projection situation of change on line splicing point surrounding objects calculates next movement position of target wire-connection point.It is understood that
Be, can also using many algorithms combination by the way of, to next movement position of target wire-connection point carry out calculate with mutually
It mutually verifies, so that the accuracy of next movement position of determining target wire-connection point is further increased, so as to more quasi-
The target image of target wire-connection point really is obtained by target filming apparatus.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
Target filming apparatus is specially visible light shooting device and/or infrared light filming apparatus.
It should be noted that in the present embodiment, can be and made using the visible images of visible light shooting device shooting
For target image, the infrared light image for being also possible to shoot using infrared light filming apparatus is as target image.It is corresponding, it is obtaining
After the next movement position for getting target wire-connection point, it can be to visible light shooting device and/or infrared light shooting
Device carries out angle adjustment, in order to which visible light shooting device and/or infrared light filming apparatus can track photographic subjects conducting wire
The target image of splicing point is also possible to the target image shot according to one of filming apparatus analysis and show that target conducting wire connects
Next movement position of continuous point, while the shooting angle of two kinds of filming apparatus is adjusted, the present embodiment does not limit this.Specifically
, it is seen that light filming apparatus can be camera, camera etc., infrared light filming apparatus, and infrared light filming apparatus specifically can be
Infrared detection device, infrared photography head etc., the present embodiment does not limit this.
In addition, in specific implementation, generally using can waterproof and dustproof, electromagnetism interference visible light shooting device and
Infrared light filming apparatus, so as to avoid influence of the weather environment to filming apparatus.In order to enable the image letter that shooting obtains
Breath is more clear, and validity feature is more obvious, reduces the fuzzy of image, ghost image to the greatest extent, can also be in target
Holder is set on filming apparatus or infrared light filming apparatus, is made by the stabilizations technology such as optical anti-vibration, gyroscope in shooting mesh
More balance and stability when marking wire-connection point, so that the target image that shooting obtains is more clear.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
After obtaining the target image obtained using the shooting of target filming apparatus, further comprise:
Store the target image taken.
In the present embodiment, it after obtaining the target image obtained using the shooting of target filming apparatus, will further clap
The target image taken the photograph is stored.Specifically, can be using storage equipment stored, such as using memory bar, hard disk,
TF (Trans-flash Card) card and SD (Secure Digital Memory Card) card etc. are stored；Consider storage figure
The memory space as needed for information is larger, therefore target image can also be stored to cloud disk, specifically can be according to actual needs
It is selected, the present embodiment does not limit this.
It should be noted that can also will be shot using infrared light when filming apparatus further includes infrared light filming apparatus
The infrared image that device shooting obtains is stored, and storage mode is identical as the storage mode of target image.By will acquire
Target image and infrared image stored, with can using the target image and infrared image of storage carry out comprehensive analysis,
Such as judge the situation of change of the contour structures of target wire-connection point or judge the temperature changing trend of target wire-connection point,
Usage experience can further be promoted.
A kind of embodiment of the image capturing method of wire-connection point provided by the invention is carried out above detailed
Description, the present invention also provides image capturing device, equipment and the computers of a kind of wire-connection point corresponding with this method can
Storage medium is read, due to the embodiment and the embodiment phase of method part of device, equipment and computer readable storage medium part
Mutually correlate, therefore the embodiment of device, equipment and computer readable storage medium part refers to the embodiment of method part
Description, wouldn't repeat here.
Fig. 2 is a kind of structure chart of the image capturing device of wire-connection point provided in an embodiment of the present invention, such as Fig. 2 institute
Show, a kind of image capturing device of wire-connection point includes:
Module 21 is obtained, shoots the target image obtained using target filming apparatus for obtaining；
Prediction module 22, for predicting the next of target wire-connection point according to target image and combining target track algorithm
A movement position；
Module 23 is adjusted, for adjusting the shooting angle of target filming apparatus according to next movement position.
The image capturing device of wire-connection point provided in an embodiment of the present invention, the image with above-mentioned wire-connection point are clapped
Take the photograph the beneficial effect of method.
Fig. 3 is a kind of structure chart of the image picking-up apparatus of wire-connection point provided in an embodiment of the present invention, such as Fig. 3 institute
Show, a kind of image picking-up apparatus of wire-connection point includes:
Memory 31, for storing computer program；
Processor 32 realizes the step of the image capturing method such as above-mentioned wire-connection point when for executing computer program
Suddenly.
The image picking-up apparatus of wire-connection point provided in an embodiment of the present invention, the image with above-mentioned wire-connection point are clapped
Take the photograph the beneficial effect of method.
In order to solve the above technical problems, the present invention also provides a kind of computer readable storage medium, computer-readable storage
It is stored with computer program on medium, the image taking such as above-mentioned wire-connection point is realized when computer program is executed by processor
The step of method.
Computer readable storage medium provided in an embodiment of the present invention, the image capturing method with above-mentioned wire-connection point
Beneficial effect.
It to the image capturing method of wire-connection point provided by the present invention, device, equipment and computer-readable deposits above
Storage media is described in detail.Specific embodiment used herein explains the principle of the present invention and embodiment
It states, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that for this skill
For the those of ordinary skill in art field, without departing from the principle of the present invention, several change can also be carried out to the present invention
Into and modification, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Claims (10)
1. a kind of image capturing method of wire-connection point characterized by comprising
It obtains and shoots the target image obtained using target filming apparatus；
According to the target image and next movement position of combining target track algorithm prediction target wire-connection point；
The shooting angle of the target filming apparatus is adjusted according to next movement position.
2. the method according to claim 1, wherein being obtained in described obtain using the shooting of target filming apparatus
After target image, further comprise:
Judge whether the target wire-connection point in the target image blocks；
If so, calculating the part that is blocked of the target wire-connection point using the priori knowledge of the target wire-connection point
Feature；
It is corresponding, next fortune according to the target image and combining target track algorithm prediction target wire-connection point
Dynamic position specifically includes:
The target is predicted according to the feature of the target image and the part that is blocked and in conjunction with the target tracking algorism
Next movement position of wire-connection point.
3. according to the method described in claim 2, it is characterized in that, the priori knowledge using the target wire-connection point
Calculate that the feature of the part that is blocked of the target wire-connection point specifically includes:
Using the priori knowledge of the wire-connection point, feature prediction model is set；
Obtain the characteristic information of target wire-connection point described in the target image；
Using the feature prediction model, and calculates according to the characteristic information and be blocked described in the target wire-connection point
Partial feature.
4. the method according to claim 1, wherein the target tracking algorism specifically includes:
Target tracking algorism based on Analysis of Contrast, the target tracking algorism based on characteristic matching and the mesh based on motion detection
Mark track algorithm.
5. according to the method described in claim 2, it is characterized in that, described calculate according to the target image and combining target tracking
Next movement position of method prediction target wire-connection point specifically:
The real space position of the target wire-connection point is calculated using Kalman filter algorithm；
The movement tendency of the target wire-connection point is calculated using particle filter algorithm；
Next movement of the target wire-connection point is predicted according to the real space position and the movement tendency
Position.
6. the method according to claim 1, wherein the target filming apparatus is specially visible light shooting device
And/or infrared light filming apparatus.
7. method according to any one of claims 1 to 6, which is characterized in that utilize target filming apparatus in described obtain
After shooting the target image obtained, further comprise:
Store the target image taken.
8. a kind of image capturing device of wire-connection point characterized by comprising
Module is obtained, shoots the target image obtained using target filming apparatus for obtaining；
Prediction module, for predicting the next of target wire-connection point according to the target image and combining target track algorithm
Movement position；
Module is adjusted, for adjusting the shooting angle of the target filming apparatus according to next movement position.
9. a kind of image picking-up apparatus of wire-connection point characterized by comprising
Memory, for storing computer program；
Processor realizes wire-connection point as described in any one of claim 1 to 7 when for executing the computer program
The step of image capturing method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program realize the figure of wire-connection point as described in any one of claim 1 to 7 when being executed by processor
As the step of image pickup method.
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