技术领域Technical Field
本申请涉及成像技术领域，特别是涉及一种图像获取方法、装置、计算机设备、存储介质和程序产品。The present application relates to the field of imaging technology, and in particular to an image acquisition method, apparatus, computer equipment, storage medium and program product.
背景技术Background Art
随着无人机技术的不断发展，无人机的应用越来越广泛，例如可以应用于电力巡检，桥梁巡检，输油气管道巡检等。With the continuous development of drone technology, drones are being used more and more widely. For example, they can be used for power inspection, bridge inspection, oil and gas pipeline inspection, etc.
目前，基于无人机平台并搭载紫外相机的巡检方式已经较为广泛了。但是紫外相机对光照条件非常敏感，因此，在无人机搭载紫外相机时容易导致图像质量不高，从而影响巡检效果。At present, the inspection method based on the UAV platform and equipped with UV cameras has become more and more popular. However, UV cameras are very sensitive to lighting conditions. Therefore, when the UAV is equipped with UV cameras, it is easy to cause low image quality, thus affecting the inspection effect.
发明内容Summary of the invention
基于此，有必要针对上述技术问题，提供一种图像获取方法、装置、计算机设备、存储介质和程序产品，能够得到高质量的图像。Based on this, it is necessary to provide an image acquisition method, device, computer equipment, storage medium and program product to obtain high-quality images in response to the above technical problems.
第一方面，本申请提供了一种图像获取方法，该方法包括：In a first aspect, the present application provides an image acquisition method, the method comprising:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
在其中一个实施例中，对初始巡检相机进行颜色校正，得到候选巡检相机，包括：In one embodiment, color correction is performed on an initial inspection camera to obtain a candidate inspection camera, including:
对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机；对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。The initial inspection camera is calibrated with an ultraviolet light source to obtain an initial inspection camera calibrated with an ultraviolet light source; and the initial inspection camera calibrated with an ultraviolet light source is calibrated with a white balance to obtain a candidate inspection camera.
在其中一个实施例中，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机，包括：In one embodiment, ultraviolet light source calibration is performed on an initial inspection camera to obtain an initial inspection camera calibrated with the ultraviolet light source, including:
选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A standard ultraviolet light source is selected; a first standard image corresponding to the standard ultraviolet light source is obtained based on an initial inspection camera; and the initial inspection camera is calibrated with an ultraviolet light source according to a spectral difference between an image spectrum of the first standard image and a standard spectrum, so as to obtain an initial inspection camera after the ultraviolet light source calibration.
在其中一个实施例中，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机，包括：In one embodiment, white balance calibration is performed on an initial inspection camera after ultraviolet light source calibration to obtain a candidate inspection camera, including:
选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A white balance reference object is selected; at least two second standard images corresponding to the white balance reference object are obtained based on the initial inspection camera calibrated with the ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with the ultraviolet light source under different lighting conditions; according to the reference object color of the white balance reference object in each second standard image, the initial inspection camera calibrated with the ultraviolet light source is calibrated with white balance to obtain a candidate inspection camera.
在其中一个实施例中，基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机，包括：In one embodiment, based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection camera, exposure parameters of the candidate inspection camera are adjusted to obtain the target inspection camera, including:
预测当前时刻待巡检区域的环境参数；基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。Predict the environmental parameters of the area to be inspected at the current moment; adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters to obtain the target inspection camera.
在其中一个实施例中，预测当前时刻待巡检区域的环境参数，包括：In one embodiment, predicting the environmental parameters of the area to be inspected at the current moment includes:
获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。Obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
第二方面，本申请还提供了一种图像获取装置，该装置包括：In a second aspect, the present application further provides an image acquisition device, the device comprising:
校正模块，用于对初始巡检相机进行颜色校正，得到候选巡检相机；A correction module, used to perform color correction on the initial inspection camera to obtain a candidate inspection camera;
调节模块，用于基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；An adjustment module is used to adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters of the inspection area to be inspected corresponding to the candidate inspection cameras to obtain the target inspection camera;
获取模块，用于根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The acquisition module is used to acquire images of the area to be inspected according to the target inspection camera to obtain the target image of the area to be inspected.
第三方面，本申请还提供了一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
第四方面，本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
第五方面，本申请还提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现以下步骤：In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
上述图像获取方法、装置、计算机设备、存储介质和程序产品，通过对初始巡检相机进行颜色校正，并得到矫正后的候选巡检相机，以消除拍摄图像的颜色偏差；进一步的，基于待巡检区域的环境参数，对候选巡检相机的曝光参数进行调节，并得到目标巡检相机，以适应待巡检区域的环境；进而，通过目标巡检相机对待巡检区域进行巡检，拍摄待巡检区域的图像，以得到待巡检区域的目标图像。上述方案，通过进行颜色校正和曝光参数调节，以使目标巡检相机与待巡检区域进行适配，可以在最大程度上将待巡检区域的真实情况进行完美复现，保证拍摄的目标图像更加准确。The above-mentioned image acquisition method, device, computer equipment, storage medium and program product perform color correction on the initial inspection camera and obtain a corrected candidate inspection camera to eliminate the color deviation of the captured image; further, based on the environmental parameters of the area to be inspected, the exposure parameters of the candidate inspection camera are adjusted to obtain a target inspection camera to adapt to the environment of the area to be inspected; then, the area to be inspected is inspected by the target inspection camera, and an image of the area to be inspected is captured to obtain a target image of the area to be inspected. The above-mentioned scheme, by performing color correction and exposure parameter adjustment to adapt the target inspection camera to the area to be inspected, can perfectly reproduce the actual situation of the area to be inspected to the greatest extent, and ensure that the captured target image is more accurate.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本申请实施例中提供的一种图像获取方法的应用环境图；FIG1 is a diagram of an application environment of an image acquisition method provided in an embodiment of the present application;
图2为本申请实施例中提供的一种图像获取方法的流程示意图；FIG2 is a schematic diagram of a flow chart of an image acquisition method provided in an embodiment of the present application;
图3为本申请实施例中提供的一种颜色校正的流程示意图；FIG3 is a schematic diagram of a color correction process provided in an embodiment of the present application;
图4为本申请实施例中提供的一种曝光参数调节的流程示意图；FIG4 is a schematic diagram of a flow chart of exposure parameter adjustment provided in an embodiment of the present application;
图5为本申请实施例中提供的另一种图像获取方法的流程示意图；FIG5 is a schematic diagram of a flow chart of another image acquisition method provided in an embodiment of the present application;
图6为本申请实施例中提供的一种图像获取装置的结构框图；FIG6 is a structural block diagram of an image acquisition device provided in an embodiment of the present application;
图7为本申请实施例中提供的另一种图像获取装置的结构框图；FIG7 is a structural block diagram of another image acquisition device provided in an embodiment of the present application;
图8为本申请实施例中提供的又一种图像获取装置的结构框图；FIG8 is a structural block diagram of another image acquisition device provided in an embodiment of the present application;
图9为本申请实施例中提供的一种计算机设备的内部结构图。FIG. 9 is an internal structure diagram of a computer device provided in an embodiment of the present application.
具体实施方式DETAILED DESCRIPTION
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
本申请实施例提供的图像获取方法，可以应用于如图1所示的应用环境中。其中，无人机端102（搭载目标巡检相机（调整后的初始巡检相机））通过网络与服务器端104进行通信。数据存储系统可以存储服务器端104需要处理的数据。数据存储系统可以集成在服务器端104上，也可以放在云上或其他网络服务器上。服务器端104可以通过发送控制指令，使无人机端102控制初始巡检相机完成颜色校正和曝光参数调节等操作，以使调整后的目标巡检相机与待巡检区域相匹配。其中，服务器端104可以用独立的服务器或者是多个服务器组成的服务器集群来实现。The image acquisition method provided in the embodiment of the present application can be applied in the application environment as shown in Figure 1. Among them, the drone end 102 (equipped with a target inspection camera (adjusted initial inspection camera)) communicates with the server end 104 through the network. The data storage system can store the data that the server end 104 needs to process. The data storage system can be integrated on the server end 104, or it can be placed on the cloud or other network servers. The server end 104 can send control instructions to enable the drone end 102 to control the initial inspection camera to complete operations such as color correction and exposure parameter adjustment, so that the adjusted target inspection camera matches the area to be inspected. Among them, the server end 104 can be implemented with an independent server or a server cluster consisting of multiple servers.
在一个示例性的实施例中，如图2所示，提供了一种图像获取方法，以该方法应用于图1中的服务器端104为例进行说明，可以包括以下步骤：In an exemplary embodiment, as shown in FIG. 2 , a method for acquiring an image is provided. The method is described by taking the application of the method to the server 104 in FIG. 1 as an example, and the method may include the following steps:
S201，对初始巡检相机进行颜色校正，得到候选巡检相机。S201, performing color correction on an initial inspection camera to obtain a candidate inspection camera.
其中，初始巡检相机可以是具备高动态范围（High Dynamic Range，HDR）和自动曝光控制特性的紫外相机；候选巡检相机可以是经过颜色校正，可以应对不同光照条件拍摄需求的紫外相机。Among them, the initial inspection camera can be an ultraviolet camera with high dynamic range (HDR) and automatic exposure control characteristics; the candidate inspection camera can be an ultraviolet camera that has been color-corrected and can cope with shooting requirements under different lighting conditions.
需要说明的是，初始巡检相机的传感器在不同的光照条件下可能会有不同的响应，从而导致拍摄的图像具有颜色偏差。因此，需要对初始巡检相机的传感器进行校正，以保证图像的准确性。It should be noted that the sensor of the initial inspection camera may have different responses under different lighting conditions, resulting in color deviation in the captured image. Therefore, the sensor of the initial inspection camera needs to be calibrated to ensure the accuracy of the image.
示例性的，通过预设的标准紫外光源对初始巡检相机进行标定，根据标定后的标定数据对初始巡检相机的增益控制参数进行调整；进一步的，可以通过标志物对初始巡检相机进行白平衡校准，得到候选巡检相机。其中，标志物可以根据需要进行选择，可以为符合白平衡标准的单一颜色，例如，标志物可以为白色卡片或其他白色标志物。For example, the initial inspection camera is calibrated by a preset standard ultraviolet light source, and the gain control parameters of the initial inspection camera are adjusted according to the calibration data; further, the initial inspection camera can be calibrated for white balance by a marker to obtain a candidate inspection camera. The marker can be selected as needed and can be a single color that meets the white balance standard, for example, the marker can be a white card or other white marker.
可选的，无人机可以作为平台，搭载候选巡检相机（参数调节前的目标巡检相机），可以对拍摄的路径进行控制，并对候选巡检相机拍摄的图像进行收集，并将收集到的图像传递给服务器端104，由服务器端对拍摄的图像进行处理和分析，并将发现问题的数据提取出来反馈给工作人员。Optionally, the drone can be used as a platform, equipped with a candidate inspection camera (the target inspection camera before parameter adjustment), which can control the shooting path and collect images taken by the candidate inspection camera, and transmit the collected images to the server side 104, which processes and analyzes the captured images, and extracts the data of the found problems and feeds them back to the staff.
S202，基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机。S202, adjusting exposure parameters of candidate inspection cameras based on environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras to obtain a target inspection camera.
其中，待巡检区域可以为目标巡检相机通过图像拍摄的形式进行巡检的任意区域；环境参数可以是指待巡检区域内与环境相关的参数，该环境参数可以包括但不限于太阳高度、太阳方位、光辐射强度、降雨量、大气透明度、温度、湿度、气压、风向、风速、天空亮度、天空颜色、巡检高度（候选巡检相机垂直于地面的高度）和巡检俯仰角等参数；目标巡检相机可以为待巡检区域环境中通过图像拍摄的形式进行巡检的相机。Among them, the area to be inspected can be any area that the target inspection camera inspects by image capture; environmental parameters can refer to parameters related to the environment in the area to be inspected, which may include but are not limited to solar altitude, solar azimuth, light radiation intensity, rainfall, atmospheric transparency, temperature, humidity, air pressure, wind direction, wind speed, sky brightness, sky color, inspection height (the height of the candidate inspection camera perpendicular to the ground) and inspection pitch angle and other parameters; the target inspection camera can be a camera that inspects by image capture in the environment of the area to be inspected.
需要说明的是，环境参数中的温度、湿度、气压和风向等数据均会影响无人机的正常运行，进而影响到候选巡检相机。例如，环境参数中的温度可以影响无人机的电池续航里程，在温度处于最佳数值时，无人机的电池续航里程可以达到最大；大气透明度和湿度可以影响无人机的视觉和部分硬件电路工作状态；风速和风向可影响无人机的航程等。It should be noted that the temperature, humidity, air pressure and wind direction in the environmental parameters will affect the normal operation of the drone, and thus affect the candidate inspection cameras. For example, the temperature in the environmental parameters can affect the battery life of the drone. When the temperature is at the optimal value, the battery life of the drone can reach the maximum; the atmospheric transparency and humidity can affect the vision of the drone and the working state of some hardware circuits; the wind speed and wind direction can affect the range of the drone, etc.
示例性的，服务器端104可以获取候选巡检相机的位置参数和待巡检区域的环境参数；进一步的，通过获取的位置参数和环境参数，可以确定无人机的状态；将位置参数、环境参数和无人机的状态进行结合，可以确定候选巡检相机当前最优的曝光参数，并对候选巡检相机的曝光参数进行相应的调节；此时，得到适应待巡检区域环境的目标巡检相机。Exemplarily, the server end 104 can obtain the location parameters of the candidate inspection camera and the environmental parameters of the area to be inspected; further, the state of the drone can be determined by the obtained location parameters and environmental parameters; by combining the location parameters, environmental parameters and the state of the drone, the current optimal exposure parameters of the candidate inspection camera can be determined, and the exposure parameters of the candidate inspection camera can be adjusted accordingly; at this time, a target inspection camera that adapts to the environment of the area to be inspected is obtained.
S203，根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。S203, acquiring an image of the area to be inspected by the target inspection camera to obtain a target image of the area to be inspected.
其中，目标图像可以为待巡检区域对应的巡检图像，可以为一组图像，也可以为一张图像。The target image may be an inspection image corresponding to the area to be inspected, may be a group of images, or may be a single image.
示例性的，服务器端104可以向目标巡检相机发送巡检指令；进而，目标巡检相机根据接收的巡检指令，对待巡检区域进行巡检，并拍摄图像，得到巡检区域的目标图像；进一步的，服务器端104可以获取目标图像，并对目标图像进行处理和分析，若在目标图像中发现异常情况，则可以向工作人员进行提醒。Exemplarily, the server end 104 can send an inspection instruction to the target inspection camera; then, the target inspection camera inspects the inspection area according to the received inspection instruction, and takes images to obtain a target image of the inspection area; further, the server end 104 can obtain the target image, and process and analyze the target image. If an abnormality is found in the target image, the staff can be reminded.
可选的，在对待巡检区域进行巡检的过程中，持续对目标图像和待巡检区域的光照条件进行监控；若待巡检区域的光照条件发生变化，则对目标巡检相机的曝光参数进行重新调整，以保证目标图像的高质量。Optionally, during the inspection of the area to be inspected, the target image and the lighting conditions of the area to be inspected are continuously monitored; if the lighting conditions of the area to be inspected change, the exposure parameters of the target inspection camera are readjusted to ensure the high quality of the target image.
上述图像获取方法，通过对初始巡检相机进行颜色校正，并得到矫正后的候选巡检相机，以消除拍摄图像的颜色偏差；进一步的，基于待巡检区域的环境参数，对候选巡检相机的曝光参数进行调节，并得到目标巡检相机，以适应待巡检区域的环境；进而，通过目标巡检相机对待巡检区域进行巡检，拍摄待巡检区域的图像，以得到待巡检区域的目标图像。上述方案，通过进行颜色校正和曝光参数调节，以使目标巡检相机与待巡检区域进行适配，可以在最大程度上将待巡检区域的真实情况进行完美复现，保证拍摄的目标图像更加准确。The above-mentioned image acquisition method performs color correction on the initial inspection camera and obtains the corrected candidate inspection camera to eliminate the color deviation of the captured image; further, based on the environmental parameters of the area to be inspected, the exposure parameters of the candidate inspection camera are adjusted to obtain the target inspection camera to adapt to the environment of the area to be inspected; then, the area to be inspected is inspected by the target inspection camera, and the image of the area to be inspected is captured to obtain the target image of the area to be inspected. The above-mentioned scheme, by performing color correction and exposure parameter adjustment to adapt the target inspection camera to the area to be inspected, can perfectly reproduce the actual situation of the area to be inspected to the greatest extent, and ensure that the captured target image is more accurate.
在上述的实施例的基础上，本申请实施例对上述实施例S201进行详细解释说明。具体的，本申请实施例中涉及对初始巡检相机进行颜色校正的过程，如图3所示，具体包括以下步骤：Based on the above embodiment, the embodiment of the present application explains the above embodiment S201 in detail. Specifically, the embodiment of the present application involves a process of color correction for an initial inspection camera, as shown in FIG3 , which specifically includes the following steps:
S301，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。S301, calibrate the initial inspection camera with an ultraviolet light source to obtain the initial inspection camera after the ultraviolet light source calibration.
一种可实现方式，选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A feasible method comprises the following steps: selecting a standard ultraviolet light source; obtaining a first standard image corresponding to the standard ultraviolet light source based on an initial inspection camera; and calibrating the initial inspection camera with an ultraviolet light source according to the spectral difference between the image spectrum of the first standard image and the standard spectrum, thereby obtaining an initial inspection camera with the ultraviolet light source calibrated.
示例性的，选取一个波长和光强均已知的标准紫外光源；其中，标准紫外光源可以为专门的紫外灯或光源，该准紫外光源的光谱特性已经被详细测量和记录。进一步的，对初始巡检相机进行设置，以保证曝光时间和光圈等设置合适，将初始巡检相机对准标准紫外光源，并拍摄图像，获得第一标准图像。进而，将第一标准图像和标准紫外光源对应的标准光谱进行光谱比较，并根据光谱比较的结果，可以确定初始巡检相机的传感器的响应等情况，以及对初始巡检相机中的传感器等进行调整，以完成对初始巡检相机的紫外光源标定，最终得到紫外光源标定后的初始巡检相机。Exemplarily, a standard ultraviolet light source with known wavelength and light intensity is selected; wherein the standard ultraviolet light source can be a special ultraviolet lamp or light source, and the spectral characteristics of the quasi-ultraviolet light source have been measured and recorded in detail. Further, the initial inspection camera is set to ensure that the exposure time and aperture are set appropriately, the initial inspection camera is aimed at the standard ultraviolet light source, and an image is taken to obtain a first standard image. Then, the first standard image and the standard spectrum corresponding to the standard ultraviolet light source are spectrally compared, and based on the result of the spectral comparison, the response of the sensor of the initial inspection camera and the like can be determined, and the sensor in the initial inspection camera and the like can be adjusted to complete the calibration of the ultraviolet light source of the initial inspection camera, and finally the initial inspection camera after the ultraviolet light source calibration is obtained.
另一种可实现方式，可以通过紫外光源标定模型完成对初始巡检相机的紫外光源标定。其中，紫外光源标定模型可以通过AI（Artificial Intelligence，人工智能）目标检测算法对初始巡检相机拍摄的视频流进行分析，并确定初始巡检相机所要进行调节的参数，最终实现对初始巡检相机进行紫外光源标定。Another possible implementation method is to use the ultraviolet light source calibration model to complete the ultraviolet light source calibration of the initial inspection camera. The ultraviolet light source calibration model can analyze the video stream shot by the initial inspection camera through the AI (Artificial Intelligence) target detection algorithm, and determine the parameters to be adjusted for the initial inspection camera, and finally realize the ultraviolet light source calibration of the initial inspection camera.
S302，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。S302, performing white balance calibration on the initial inspection camera after the ultraviolet light source is calibrated to obtain a candidate inspection camera.
一种可实现方式，选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A feasible method comprises the following steps: selecting a white balance reference object; obtaining at least two second standard images corresponding to the white balance reference object based on an initial inspection camera calibrated with an ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with an ultraviolet light source under different lighting conditions; and performing white balance calibration on the initial inspection camera calibrated with an ultraviolet light source according to the reference object color of the white balance reference object in each second standard image to obtain a candidate inspection camera.
示例性的，选取一个标准的白平衡参照物；其中，白平衡参照物可以为白色参考卡或者物体，保证白平衡参照物在紫外光下可以保持相对稳定的颜色。进一步的，在不同光照条件下，使用紫外光源标定后的初始巡检相机进行图像拍摄，得到第二标准图像；其中，第二标准图像中必须包括白平衡参照物；另外，至少在两种不同光照条件下进行图像拍摄，即至少获得两张第二标准图像。Exemplarily, a standard white balance reference is selected; wherein the white balance reference may be a white reference card or an object, to ensure that the white balance reference can maintain a relatively stable color under ultraviolet light. Further, under different lighting conditions, an initial inspection camera calibrated with an ultraviolet light source is used to capture images to obtain a second standard image; wherein the second standard image must include the white balance reference; in addition, images are captured under at least two different lighting conditions, i.e., at least two second standard images are obtained.
进而，对各第二标准图像进行分析，并根据分析的结果对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。可选的，对各第二标准图像中白平衡参照物的参考物颜色进行分析和比对，以确定初始巡检相机在不同光照条件下的白平衡偏移，并针对初始巡检相机的白平衡偏移进行初始巡检相机的参数设置，从而得到候选巡检相机。Then, each second standard image is analyzed, and the initial inspection camera calibrated with the ultraviolet light source is white-balanced according to the analysis result to obtain a candidate inspection camera. Optionally, the reference color of the white balance reference object in each second standard image is analyzed and compared to determine the white balance offset of the initial inspection camera under different lighting conditions, and the parameters of the initial inspection camera are set according to the white balance offset of the initial inspection camera to obtain a candidate inspection camera.
另一种可实现方式，可以通过白平衡校准模型完成对初始巡检相机的白平衡校准。其中，白平衡校准模型可以通过白平衡算法对初始巡检相机拍摄的视频流进行分析，并确定初始巡检相机在不同光照条件下的白平衡偏移情况，最终根据白平衡偏移情况对初始巡检相机进行参数设置，以使初始巡检相机拍摄的图像更加精准。Another possible implementation method is to complete the white balance calibration of the initial inspection camera through a white balance calibration model. The white balance calibration model can analyze the video stream captured by the initial inspection camera through a white balance algorithm, and determine the white balance offset of the initial inspection camera under different lighting conditions, and finally set the parameters of the initial inspection camera according to the white balance offset to make the image captured by the initial inspection camera more accurate.
在本申请实施例中，通过对初始巡检相机进行紫外光源标定和白平衡校准，为图像的精准性奠定了基础。In the embodiment of the present application, the ultraviolet light source calibration and white balance calibration of the initial inspection camera are performed to lay the foundation for the accuracy of the image.
在上述的实施例的基础上，本申请实施例对上述实施例S202进行详细解释说明。具体的，本申请实施例中涉及对候选巡检相机进行曝光参数调节的过程，如图4所示，具体包括以下步骤：Based on the above embodiment, the embodiment of the present application explains the above embodiment S202 in detail. Specifically, the embodiment of the present application involves a process of adjusting the exposure parameters of the candidate inspection camera, as shown in FIG4 , which specifically includes the following steps:
S401，预测当前时刻待巡检区域的环境参数。S401, predicting the environmental parameters of the area to be inspected at the current moment.
一种可实现方式，获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。One implementable method is to obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
示例性的，可以基于无人机端102安装的定位模块，确定无人机端102当前时刻所处的待巡检区域的区域位置坐标；进而，基于待巡检区域的区域位置坐标，可以从气象站或者其他气象数据源确定待巡检区域的实时气象数据；进一步的，可以将区域位置坐标和实时气象数据输入至天空预测模型，由天空预测模型对区域位置坐标和实时气象数据进行分析并对当前时刻待巡检区域的环境参数进行预测，例如，对环境参数中的天空亮度和天空颜色进行预测。Exemplarily, based on the positioning module installed on the drone end 102, the regional position coordinates of the area to be inspected where the drone end 102 is currently located can be determined; further, based on the regional position coordinates of the area to be inspected, the real-time meteorological data of the area to be inspected can be determined from a meteorological station or other meteorological data source; further, the regional position coordinates and the real-time meteorological data can be input into a sky prediction model, which analyzes the regional position coordinates and the real-time meteorological data and predicts the environmental parameters of the area to be inspected at the current moment, for example, predicting the sky brightness and sky color in the environmental parameters.
其中，天空预测模型可以由大量的历史气象数据、区域位置坐标数据和历史环境参数数据训练得到的；其中，历史气象数据和区域位置坐标数据可以构成训练样本，历史环境参数数据可以作为训练样本对应的训练标签。其中，天空预测模型可以根据补充后的历史数据进行定期的更新。The sky prediction model can be trained by a large amount of historical meteorological data, regional location coordinate data and historical environmental parameter data; the historical meteorological data and regional location coordinate data can constitute training samples, and the historical environmental parameter data can be used as training labels corresponding to the training samples. The sky prediction model can be regularly updated according to the supplemented historical data.
可选的，初始天空预测模型可以基于历史气象数据和区域位置坐标数据，确定太阳天顶角参数；进而，基于太阳天顶角参数，可以对历史环境参数中的天空亮度和天空颜色进行预测；其中，预测的过程可以表示为：Optionally, the initial sky prediction model can determine the solar zenith angle parameters based on historical meteorological data and regional location coordinate data ; Furthermore, based on the solar zenith angle parameter , the sky brightness and sky color in the historical environmental parameters can be predicted; the prediction process can be expressed as:
（1） (1)
（2） (2)
其中，I是天空亮度，T是天空颜色，A、B、C、F1、F2、F3和D是模型参数。Where I is the sky brightness, T is the sky color, and A, B, C,F1 ,F2 ,F3 , and D are model parameters.
进一步的，可以将预测的环境参数（I和T）与对应的历史环境参数进行比对，并根据比对的结果对初始天空预测模型中的模型参数进行调整，模型参数调整后重复上述的参数预测，以及将预测的环境参数与对应的历史环境参数比对的过程，直至比对的结果符合预设比对结果，此时，得到天空预测模型。其中，预设比对结果可以为方差小于预设方差，本申请实施例对预设对比结果不做具体限定。Furthermore, the predicted environmental parameters (I and T) can be compared with the corresponding historical environmental parameters, and the model parameters in the initial sky prediction model can be adjusted according to the comparison results. After the model parameters are adjusted, the above parameter prediction and the process of comparing the predicted environmental parameters with the corresponding historical environmental parameters are repeated until the comparison result meets the preset comparison result. At this time, the sky prediction model is obtained. The preset comparison result can be that the variance is less than the preset variance. The embodiment of the present application does not specifically limit the preset comparison result.
另一种可实现方式，可以获取待巡检区域的历史气象数据、历史区域位置坐标数据和历史环境参数数据；其中，一组历史气象数据和历史区域位置坐标数据，对应一个历史环境参数数据；进一步的，可以从历史气象数据和历史区域位置坐标数据中选取至少一个与当前时刻待巡检区域的实时气象数据和区域位置坐标数据相近的数据作为类数据，将该类数据对应的历史环境参数数据，直接作为当前时刻待巡检区域预测的环境参数。Another feasible method is to obtain historical meteorological data, historical regional location coordinate data and historical environmental parameter data of the area to be inspected; wherein, a set of historical meteorological data and historical regional location coordinate data corresponds to one historical environmental parameter data; further, at least one data similar to the real-time meteorological data and regional location coordinate data of the area to be inspected at the current moment can be selected from the historical meteorological data and historical regional location coordinate data as class data, and the historical environmental parameter data corresponding to the class data can be directly used as the predicted environmental parameters of the area to be inspected at the current moment.
S402，基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。S402, adjusting exposure parameters of candidate inspection cameras based on environmental parameters to obtain a target inspection camera.
示例性的，根据环境参数中的天空亮度和天空颜色，确定当前时刻待巡检区域的实际光照值；其中，实际光照值可以表征实际的光照条件；进一步的，将实际光照值与目标光照值进行比对，确定实际光照值与目标光照值之间差异；其中，目标光照值可以表征图像拍摄所需的最优光照条件；进而，根据差异，对候选巡检相机进行曝光参数调节，并得到目标巡检相机。Exemplarily, the actual illumination value of the area to be inspected at the current moment is determined based on the sky brightness and sky color in the environmental parameters; wherein the actual illumination value can represent the actual illumination conditions; further, the actual illumination value is compared with the target illumination value to determine the difference between the actual illumination value and the target illumination value; wherein the target illumination value can represent the optimal illumination conditions required for image capture; and then, based on the difference, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera.
例如，对曝光参数中的曝光时间进行调节，其调节的过程可以表示为：For example, the exposure time in the exposure parameters is adjusted, and the adjustment process can be expressed as:
（3） (3)
其中，Exposurenew是调节后的曝光时间，Exposurecurrent是调节前的曝光时间，Illuminancetarget是目标光照值，Illuminanceestimated是实际光照值。Among them, Exposurenew is the exposure time after adjustment, Exposurecurrent is the exposure time before adjustment, Illuminancetarget is the target illumination value, and Illuminanceestimated is the actual illumination value.
可选的，可以根据当前时刻待巡检区域预测的环境参数，确定目标巡检相机的滤镜和镜头，以更好地改善图像的质量。Optionally, the filter and lens of the target inspection camera may be determined according to the predicted environmental parameters of the area to be inspected at the current moment, so as to better improve the image quality.
进一步的，在目标巡检相机的巡检过程中，对目标巡检相机拍摄的目标图像进行实时的监控，以发现光照条件的变化，并对目标巡检相机的曝光参数进行实时调整。Furthermore, during the inspection process of the target inspection camera, the target image captured by the target inspection camera is monitored in real time to detect changes in lighting conditions and adjust the exposure parameters of the target inspection camera in real time.
例如，在目标巡检相机的巡检过程中，不断获取目标巡检相机的实时传感器数据，可以包括但不限于当前目标图像的亮度、光照强度和光谱数据等；进而，基于实时获取的气象数据和实时传感器数据，对天空预测模型中的相关参数进行定期更新，以准确反映当前的光照条件（实际光照值）；进一步的，使用更新后的天空预测模型，计算出当前光照条件下的目标曝光参数，例如，目标曝光时间Exposuretarget；进而，基于目标曝光时间Exposuretarget和当前曝光时间Exposurecurrent，确定曝光时间的调整量ΔExposure；可选的，调整量ΔExposure的计算过程可以表示为ΔExposure=k·（Exposuretarget-Exposurecurrent）；其中，k是一个可调节的增益参数，用于控制曝光调整的速度；根据调整量ΔExposure，对当前的曝光时间Exposurecurrent进行调整；可选的，调整过程可以表示为Exposurenew=Exposurecurrent+ΔExposure。For example, during the inspection process of the target inspection camera, the real-time sensor data of the target inspection camera is continuously obtained, which may include but is not limited to the brightness, light intensity and spectral data of the current target image; then, based on the real-time meteorological data and real-time sensor data, the relevant parameters in the sky prediction model are regularly updated to accurately reflect the current lighting conditions (actual lighting values); further, the updated sky prediction model is used to calculate the target exposure parameters under the current lighting conditions, for example, the target exposure time Exposuretarget ; then, based on the target exposure time Exposuretarget and the current exposure time Exposurecurrent , the exposure time adjustment amount ΔExposure is determined; optionally, the calculation process of the adjustment amount ΔExposure can be expressed as ΔExposure=k·(Exposuretarget -Exposurecurrent ); wherein k is an adjustable gain parameter used to control the speed of exposure adjustment; according to the adjustment amount ΔExposure, the current exposure time Exposurecurrent is adjusted; optionally, the adjustment process can be expressed as Exposurenew =Exposurecurrent +ΔExposure.
在本申请实施例中，通过对当前时刻待巡检区域的环境参数进行预测，并根据预测的环境参数对候选巡检相机进行曝光参数调节，为拍摄图像的精准性奠定了基础。In the embodiment of the present application, by predicting the environmental parameters of the area to be inspected at the current moment and adjusting the exposure parameters of the candidate inspection cameras according to the predicted environmental parameters, a foundation is laid for the accuracy of the captured images.
在上述实施例的基础上，本实施例提供了一种图像获取方法的可选实例。如图5所示，具体实现过程如下：Based on the above embodiment, this embodiment provides an optional example of an image acquisition method. As shown in FIG5 , the specific implementation process is as follows:
S501，选取标准紫外光源。S501, select a standard ultraviolet light source.
S502，基于初始巡检相机获取标准紫外光源对应的第一标准图像。S502: Acquire a first standard image corresponding to a standard ultraviolet light source based on an initial inspection camera.
S503，根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。S503, performing ultraviolet light source calibration on the initial inspection camera according to the spectrum difference between the image spectrum of the first standard image and the standard spectrum, to obtain the initial inspection camera after ultraviolet light source calibration.
S504，选取白平衡参照物。S504: Select a white balance reference object.
S505，基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像。S505 , acquiring at least two second standard images corresponding to a white balance reference object based on the initial inspection camera calibrated with the ultraviolet light source.
其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像。Among them, each second standard image is an image acquired by the initial inspection camera under different lighting conditions after being calibrated with an ultraviolet light source.
S506，根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。S506 , performing white balance calibration on the initial inspection camera calibrated with the ultraviolet light source according to the reference object color of the white balance reference object in each second standard image to obtain a candidate inspection camera.
S507，获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据。S507, obtaining the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected.
S508，根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。S508, predicting the environmental parameters of the area to be inspected at the current moment according to the area location coordinates and real-time meteorological data.
S509，基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。S509, adjusting exposure parameters of candidate inspection cameras based on environmental parameters to obtain a target inspection camera.
S510，根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。S510, acquiring an image of the area to be inspected by a target inspection camera to obtain a target image of the area to be inspected.
上述S501-S510的具体过程可以参考上述方法实施例的描述，其实现原理和技术效果类似，在此不再赘述。The specific process of the above S501-S510 can refer to the description of the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.
应该理解的是，虽然如上所述的各实施例所涉及的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，如上所述的各实施例所涉及的流程图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.
基于同样的发明构思，本申请实施例还提供了一种用于实现上述所涉及的图像获取方法的图像获取装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的一个或多个图像获取装置实施例中的具体限定可以参见上文中对于图像获取方法的限定，在此不再赘述。Based on the same inventive concept, the embodiment of the present application also provides an image acquisition device for implementing the above-mentioned image acquisition method. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above-mentioned method, so the specific limitations in one or more image acquisition device embodiments provided below can refer to the limitations on the image acquisition method above, and will not be repeated here.
在一个示例性的实施例中，如图6所示，提供了一种图像获取装置1，包括：校正模块10、调节模块20和获取模块30，其中：In an exemplary embodiment, as shown in FIG6 , an image acquisition device 1 is provided, comprising: a correction module 10, an adjustment module 20 and an acquisition module 30, wherein:
校正模块10，用于对初始巡检相机进行颜色校正，得到候选巡检相机。The correction module 10 is used to perform color correction on the initial inspection camera to obtain a candidate inspection camera.
调节模块20，用于基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机。The adjustment module 20 is used to adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras to obtain the target inspection camera.
获取模块30，用于根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The acquisition module 30 is used to acquire an image of the area to be inspected according to the target inspection camera to obtain a target image of the area to be inspected.
在一个实施例中，如图7所示，校正模块10具体还包括：In one embodiment, as shown in FIG7 , the correction module 10 specifically further includes:
标定单元11，用于对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。The calibration unit 11 is used to perform ultraviolet light source calibration on the initial inspection camera to obtain the initial inspection camera after the ultraviolet light source calibration.
校准单元12，用于对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。The calibration unit 12 is used to perform white balance calibration on the initial inspection camera after the ultraviolet light source is calibrated to obtain a candidate inspection camera.
在一个实施例中，标定单元11具体还用于：In one embodiment, the calibration unit 11 is further configured to:
选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A standard ultraviolet light source is selected; a first standard image corresponding to the standard ultraviolet light source is obtained based on an initial inspection camera; and the initial inspection camera is calibrated with an ultraviolet light source according to a spectral difference between an image spectrum of the first standard image and a standard spectrum, so as to obtain an initial inspection camera calibrated with an ultraviolet light source.
在一个实施例中，校准单元12具体用于：In one embodiment, the calibration unit 12 is specifically configured to:
选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A white balance reference object is selected; at least two second standard images corresponding to the white balance reference object are obtained based on the initial inspection camera calibrated with the ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with the ultraviolet light source under different lighting conditions; according to the reference object color of the white balance reference object in each second standard image, the initial inspection camera calibrated with the ultraviolet light source is calibrated with white balance to obtain a candidate inspection camera.
在一个实施例中，如图8所示，调节模块20具体还包括：In one embodiment, as shown in FIG8 , the adjustment module 20 specifically further includes:
预测单元21，用于预测当前时刻待巡检区域的环境参数。The prediction unit 21 is used to predict the environmental parameters of the area to be inspected at the current moment.
参数调节单元22，用于基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。The parameter adjustment unit 22 is used to adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters to obtain the target inspection camera.
在一个实施例中，预测单元21具体用于：In one embodiment, the prediction unit 21 is specifically used for:
获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。Obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
上述图像获取装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。Each module in the above-mentioned image acquisition device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.
在一个示例性的实施例中，提供了一种计算机设备，该计算机设备可以是服务器，其内部结构图可以如图9所示。该计算机设备包括处理器、存储器、输入/输出接口(Input/Output，简称I/O）和通信接口。其中，处理器、存储器和输入/输出接口通过系统总线连接，通信接口通过输入/输出接口连接到系统总线。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质和内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的数据库用于存储图像数据。该计算机设备的输入/输出接口用于处理器与外部设备之间交换信息。该计算机设备的通信接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种图像获取方法。In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG9. The computer device includes a processor, a memory, an input/output interface (Input/Output, referred to as I/O) and a communication interface. The processor, the memory and the input/output interface are connected via a system bus, and the communication interface is connected to the system bus via the input/output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store image data. The input/output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an image acquisition method is implemented.
本领域技术人员可以理解，图9中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art will understand that the structure shown in FIG. 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.
在一个示例性的实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
在一个实施例中，处理器执行计算机程序时还实现以下步骤：In one embodiment, when the processor executes the computer program, the processor further implements the following steps:
对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机；对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。The initial inspection camera is calibrated with an ultraviolet light source to obtain an initial inspection camera calibrated with an ultraviolet light source; and the initial inspection camera calibrated with an ultraviolet light source is calibrated with a white balance to obtain a candidate inspection camera.
在一个实施例中，处理器执行计算机程序时还实现以下步骤：In one embodiment, when the processor executes the computer program, the processor further implements the following steps:
选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A standard ultraviolet light source is selected; a first standard image corresponding to the standard ultraviolet light source is obtained based on an initial inspection camera; and the initial inspection camera is calibrated with an ultraviolet light source according to a spectral difference between an image spectrum of the first standard image and a standard spectrum, so as to obtain an initial inspection camera calibrated with an ultraviolet light source.
在一个实施例中，处理器执行计算机程序时还实现以下步骤：In one embodiment, when the processor executes the computer program, the processor further implements the following steps:
选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A white balance reference object is selected; at least two second standard images corresponding to the white balance reference object are obtained based on the initial inspection camera calibrated with the ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with the ultraviolet light source under different lighting conditions; according to the reference object color of the white balance reference object in each second standard image, the initial inspection camera calibrated with the ultraviolet light source is calibrated with white balance to obtain a candidate inspection camera.
在一个实施例中，处理器执行计算机程序时还实现以下步骤：In one embodiment, when the processor executes the computer program, the processor further implements the following steps:
预测当前时刻待巡检区域的环境参数；基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。Predict the environmental parameters of the area to be inspected at the current moment; adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters to obtain the target inspection camera.
在一个实施例中，处理器执行计算机程序时还实现以下步骤：In one embodiment, when the processor executes the computer program, the processor further implements the following steps:
获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。Obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机；对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。The initial inspection camera is calibrated with an ultraviolet light source to obtain an initial inspection camera calibrated with an ultraviolet light source; and the initial inspection camera calibrated with an ultraviolet light source is calibrated with a white balance to obtain a candidate inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A standard ultraviolet light source is selected; a first standard image corresponding to the standard ultraviolet light source is obtained based on an initial inspection camera; and the initial inspection camera is calibrated with an ultraviolet light source according to a spectral difference between an image spectrum of the first standard image and a standard spectrum, so as to obtain an initial inspection camera calibrated with an ultraviolet light source.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A white balance reference object is selected; at least two second standard images corresponding to the white balance reference object are obtained based on the initial inspection camera calibrated with the ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with the ultraviolet light source under different lighting conditions; according to the reference object color of the white balance reference object in each second standard image, the initial inspection camera calibrated with the ultraviolet light source is calibrated with white balance to obtain a candidate inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
预测当前时刻待巡检区域的环境参数；基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。Predict the environmental parameters of the area to be inspected at the current moment; adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters to obtain the target inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。Obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
在一个实施例中，提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现以下步骤：In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:
对初始巡检相机进行颜色校正，得到候选巡检相机；Perform color correction on the initial inspection camera to obtain a candidate inspection camera;
基于候选巡检相机对应的待巡检区域的环境参数，对候选巡检相机进行曝光参数调节，得到目标巡检相机；Based on the environmental parameters of the to-be-inspected area corresponding to the candidate inspection cameras, the exposure parameters of the candidate inspection cameras are adjusted to obtain the target inspection camera;
根据目标巡检相机对待巡检区域进行图像获取，得到待巡检区域的目标图像。The target inspection camera acquires images of the area to be inspected to obtain a target image of the area to be inspected.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机；对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。The initial inspection camera is calibrated with an ultraviolet light source to obtain an initial inspection camera calibrated with an ultraviolet light source; and the initial inspection camera calibrated with an ultraviolet light source is calibrated with a white balance to obtain a candidate inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
选取标准紫外光源；基于初始巡检相机获取标准紫外光源对应的第一标准图像；根据第一标准图像的图像光谱和标准光谱之间的光谱差异，对初始巡检相机进行紫外光源标定，得到紫外光源标定后的初始巡检相机。A standard ultraviolet light source is selected; a first standard image corresponding to the standard ultraviolet light source is obtained based on an initial inspection camera; and the initial inspection camera is calibrated with an ultraviolet light source according to a spectral difference between an image spectrum of the first standard image and a standard spectrum, so as to obtain an initial inspection camera calibrated with an ultraviolet light source.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
选取白平衡参照物；基于紫外光源标定后的初始巡检相机获取白平衡参照物对应的至少两张第二标准图像；其中，各第二标准图像为紫外光源标定后的初始巡检相机在不同光照条件下获取的图像；根据各第二标准图像中白平衡参照物的参照物颜色，对紫外光源标定后的初始巡检相机进行白平衡校准，得到候选巡检相机。A white balance reference object is selected; at least two second standard images corresponding to the white balance reference object are obtained based on the initial inspection camera calibrated with the ultraviolet light source; wherein each second standard image is an image obtained by the initial inspection camera calibrated with the ultraviolet light source under different lighting conditions; according to the reference object color of the white balance reference object in each second standard image, the initial inspection camera calibrated with the ultraviolet light source is calibrated with white balance to obtain a candidate inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
预测当前时刻待巡检区域的环境参数；基于环境参数对候选巡检相机进行曝光参数调节，得到目标巡检相机。Predict the environmental parameters of the area to be inspected at the current moment; adjust the exposure parameters of the candidate inspection cameras based on the environmental parameters to obtain the target inspection camera.
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:
获取待巡检区域的区域位置坐标和待巡检区域的实时气象数据；根据区域位置坐标和实时气象数据，预测当前时刻待巡检区域的环境参数。Obtain the regional location coordinates of the area to be inspected and the real-time meteorological data of the area to be inspected; and predict the environmental parameters of the area to be inspected at the current moment based on the regional location coordinates and the real-time meteorological data.
需要说明的是，本申请所涉及的信息（包括但不限于相机设备信息、巡检区域信息等）和数据（包括但不限于用于分析的数据、存储的数据、展示的数据等），均为经授权或者经过各方充分授权的信息和数据，且相关数据的收集、使用和处理需要符合相关规定。It should be noted that the information (including but not limited to camera equipment information, inspection area information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all authorized or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器（Read-OnlyMemory，ROM）、磁带、软盘、闪存、光存储器、高密度嵌入式非易失性存储器、阻变存储器（ReRAM）、磁变存储器（Magnetoresistive Random Access Memory，MRAM）、铁电存储器（Ferroelectric Random Access Memory，FRAM）、相变存储器（Phase Change Memory，PCM）、石墨烯存储器等。易失性存储器可包括随机存取存储器（Random Access Memory，RAM）或外部高速缓冲存储器等。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器（Static Random Access Memory，SRAM）或动态随机存取存储器（Dynamic RandomAccess Memory，DRAM）等。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.
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| CN202411026487.0ACN118555384B (en) | 2024-07-30 | 2024-07-30 | Image acquisition method, device, computer equipment, storage medium and program product |
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| CN111601047A (en)* | 2020-04-28 | 2020-08-28 | 汕头大学 | Oil leakage image acquisition method |
| CN114697628A (en)* | 2022-06-01 | 2022-07-01 | 龙旗电子(惠州)有限公司 | Image acquisition method, apparatus, device, and medium |
| CN116261049A (en)* | 2023-02-28 | 2023-06-13 | 北京瞰瞰智域科技有限公司 | Camera parameter calibration method and device, computer equipment and storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111601047A (en)* | 2020-04-28 | 2020-08-28 | 汕头大学 | Oil leakage image acquisition method |
| CN114697628A (en)* | 2022-06-01 | 2022-07-01 | 龙旗电子(惠州)有限公司 | Image acquisition method, apparatus, device, and medium |
| CN116261049A (en)* | 2023-02-28 | 2023-06-13 | 北京瞰瞰智域科技有限公司 | Camera parameter calibration method and device, computer equipment and storage medium |
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