CN109712159A - A kind of the retro reflectors image detecting method and system of environment resistant illumination interference - Google Patents
A kind of the retro reflectors image detecting method and system of environment resistant illumination interference Download PDFInfo
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Abstract
The invention proposes a kind of environment resistant illumination interference retro reflectors image detecting method and system, wherein method the following steps are included: step 1, by cooperation light source along angle N irradiate area to be tested；The modulated signal exported by modulation unit carries out amplitude modulation to the radiant power of cooperation light source, and the radiant power for cooperating light source changes over time；The radiant power of cooperation light source reaches peak power PpAt the time of be peak value moment tp, reach valley power PvAt the time of be valley moment tv；Step 2 passes through visual unit from angle N, in tpAnd tvMoment obtains the bright gray level image and dark gray image of area to be tested respectively；Modulation unit and visual unit communicate to connect；Step 3 is handled and is analyzed to bright gray level image and dark gray image with visual unit, detects the retro reflectors in area to be tested.This detection method and system can guarantee retro reflectors image detection accuracy in the case where there is ambient lighting interference.
Description
Technical field
The present invention relates to optical imagery detection field, specially a kind of retro reflectors image detection of environment resistant illumination interference
Method and system.
Background technique
When light is mapped on two kinds of medium interfaces, a part of light changes the direction of propagation and returns to original medium relaying
It resumes and broadcasts, this phenomenon is known as the reflection of light.In nature, there is diffusing reflections, mirror-reflection and reflex reflection three kinds of light
Reflex.Diffusing reflection occurs to be incident on reflection caused on rough surface in light, and rough surface dissipates incident ray
To all directions, only a small part light can be reflected back toward light source direction.Mirror-reflection is to be incident on one in light
Occur when on very smooth or glossiness surface, the angle and incident angle that light is reflected in body surface, degree phase
It is same but contrary.Reflex reflection is also referred to as reflective, retroeflection, retroreflecting or back reflection, is reflection light from close to incident light
A kind of reflection that the opposite direction of line returns, i.e. light are irradiated to a phenomenon that surface back reflection returns to light source direction.
Object with retroreflectivity is known as retro reflectors, also known as reflectorized material, for example, reflective membrane, reflective clothing,
Reflector marking etc. is widely used in the fields such as clothes, road traffic marking, vehicles reflecting marking.Due to retro reflectors and
Other objects (diffusing reflection and mirror-reflection object) have notable difference in reflection characteristic, if with adjacent with observer position
Light source (referred to as cooperating light source) irradiates the region containing retro reflectors, and observer can have found that the brightness of retro reflectors is apparently higher than week
Enclose the brightness of other objects.If obtaining the gray level image of scene with visual unit, shown in gray level image, retro reflectors
Gray value be much higher than other objects gray value, thus, it is easy to detect and identify retro reflectors.
But the retro reflectors based on optical imagery detect automatically, suffer from the influence of ambient lighting, such as sunlight
With other non-cooperation light sources.For example, other objects belong to diffuse reflector, when the illumination of environment light is sufficiently large, other objects are being seen
When surveying diffusing reflection brightness and the retro reflectors suitable to the cooperation retroreflected brightness of light source on direction, showed in gray level image
Out, the gray value of retro reflectors and other objects is close.For another example other objects belong to specular reflector, when other objects pair
The reflected light of environment light just can enter visual unit and environment light illumination it is sufficiently large when, shown in gray level image,
The gray value of its object is often higher than the gray value of retro reflectors.All it is difficult to ensure that detects is accurate in the case of both the above
Property.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of retro reflectors images of environment resistant illumination interference
Detection method and system can guarantee retro reflectors image detection accuracy in the case where there is ambient lighting interference.
The technical scheme of the present invention is realized as follows:
The invention proposes a kind of retro reflectors image detecting methods of environment resistant illumination interference, comprising the following steps:
Step 1 irradiates area to be tested along angle N by cooperation light source；The modulated signal pair exported by modulation unit
The radiant power of the cooperation light source carries out amplitude modulation, and the radiant power of the cooperation light source changes over time；The cooperation
The radiant power of light source reaches peak power PpAt the time of be peak value moment tp, reach valley power PvAt the time of be the valley moment
tv；
Step 2 passes through visual unit from the angle N, in tpAnd tvMoment obtains the bright grayscale image of area to be tested respectively
Picture and dark gray image；The modulation unit and the visual unit communicate to connect；
Step 3 is handled and is analyzed to the bright gray level image and the dark gray image with visual unit, is detected
Retro reflectors in area to be tested.
Preferably, further includes:
Step 4: adjusting the angle N, and execute step 1.
Preferably, it is comprised the steps of: in the step 3
Step 31 carries out Threshold segmentation to the bright gray level image and the dark gray image respectively, obtains bright binary map
Picture and dark bianry image；
Step 32 subtracts the dark bianry image with the bright bianry image, obtains difference image；
Step 33 calculates the pixel number N that the difference image intermediate value is included for the region of " 1 "w；
Step 34, compared pixels number NwWith predetermined threshold NtSize: if Nw<Nt, then judging result is nothing in region to be measured
Retro reflectors；If Nw≥Nt, then judging result is to have retro reflectors in region to be measured, and the difference image intermediate value is that the region of " 1 " is
For retro reflectors region.
Preferably, the modulated signal is square-wave signal or sine wave signal；
And/or；
The cooperation light source is monochromatic source, the halfwidth W of radiation spectrum curveHLess than 50nm.
Preferably, it is provided with bandpass filter in the visual unit, the transmittance curve halfwidth of the bandpass filter
Less than WH, and the central wavelength of its transmitance peak wavelength and cooperation light source matches.
The invention also provides a kind of retro reflectors image detecting systems of environment resistant illumination interference, and the system includes:
Cooperate light source: irradiating area to be tested along angle N；
Modulation unit: the modulated signal of output, the modulated signal carry out amplitude to the radiant power of the cooperation light source
Modulation, changes over time the radiant power of the cooperation light source；The radiant power of the cooperation light source reaches peak power Pp
At the time of be peak value moment tp, reach valley power PvAt the time of be valley moment tv；
Visual unit: from the angle N in tpAnd tvMoment obtains the bright gray level image and dark gray of area to be tested respectively
Image；The bright gray level image and the dark gray image are handled and analyzed, is detected converse in area to be tested
Beam；
The modulation unit and the visual unit communicate to connect.
Preferably, system further includes angle adjusting；
The angle adjusting is for adjusting the angle N.
Preferably, the processing of the visual unit includes:
Threshold segmentation is carried out to the bright gray level image and the dark gray image respectively, obtains bright bianry image and dark two
It is worth image；
The dark bianry image is subtracted with the bright bianry image, obtains difference image；
Calculate the pixel number N that the difference image intermediate value is included for the region of " 1 "w；
Compared pixels number NwWith predetermined threshold NtSize, obtain testing result: if Nw<Nt, then judging result is area to be measured
Without retro reflectors in domain；If Nw≥Nt, then judging result is to have retro reflectors in region to be measured, and the difference image intermediate value is " 1 "
Region is retro reflectors region.
Preferably, the modulated signal is square-wave signal or sine wave signal；
And/or；
The cooperation light source is monochromatic source, the halfwidth W of radiation spectrum curveHLess than 50nm.
Preferably, it is provided with bandpass filter in the visual unit, the transmittance curve halfwidth of the bandpass filter
Less than WH, and the central wavelength of its transmitance peak wavelength and cooperation light source matches
The retro reflectors image detecting method of environment resistant illumination interference proposed by the present invention, the tune exported by modulation unit
Signal processed carries out amplitude modulation to the radiant power of the cooperation light source, acquired respectively in its power peak and valley image into
Row processing guarantees the standard of detection to can effectively avoid influence of the ambient lighting interference to the retro reflectors detection based on image
True property.
Detailed description of the invention
Fig. 1 is the retro reflectors image detecting system schematic diagram for the environment resistant illumination interference that the embodiment of the present invention proposes；
Fig. 2 is the retro reflectors image detecting method flow chart for the environment resistant illumination interference that the embodiment of the present invention proposes；
Fig. 3 is sinewave modulation signal schematic diagram；
Fig. 4 is square-wave modulation signal schematic diagram；
Fig. 5 is bright bianry image, dark bianry image and difference image schematic diagram.
Wherein, 1, cooperation light source；2, visual unit；21, image capture module；22, image analysis module；3, modulation is single
Member；4, retro reflectors；5, background；6, area to be tested.
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, figure obtained by those of ordinary skill in the art without making creative efforts have it
His embodiment, shall fall within the protection scope of the present invention.
Specifically, as depicted in figs. 1 and 2, the retro reflectors image detecting method of environment resistant illumination interference, comprising:
Step 1 irradiates area to be tested 6 along angle N with cooperation light source 1；The modulated signal pairing exported with modulation unit 3
The radiant power for making light source 1 carries out amplitude modulation, and the radiant power of cooperation light source 1 changes over time；Cooperate the radiation function of light source 1
Rate reaches peak power PpAt the time of be peak value moment tp, reach valley power PvAt the time of be valley moment tv；
Step 2, with visual unit 2 from angle N in tpAnd tvMoment obtain respectively area to be tested 6 bright gray level image and
Dark gray image；Modulation unit 3 and visual unit 2 communicate to connect；
Step 3 is handled and is analyzed to bright gray level image and dark gray image with visual unit 2, is detected to be detected
Retro reflectors 4 in region 6.
Wherein, due to the retroreflecting effect of retro reflectors, the incident ray from cooperation light source 1 is anti-through retro reflectors 4
After penetrating, reflection light can return near cooperation light source 1 along the opposite direction close to incident ray, therefore, in order to greatest extent
Ground utilizes the retroreflecting effect of retro reflectors, and the position for cooperating light source 1 and visual unit 2 should be as close possible to, and cooperates light
Both source 1 and visual unit 2 should angle be laid in the same direction as far as possible, i.e., differential seat angle is as small as possible.
Visual unit 2 includes image capture module 21 and image analysis module 22, wherein image capture module 21 from first
Angle obtains the original image of area to be tested, and transmits it to image analysis module 22；Image analysis module 22 will be original
Image is converted into gray level image, for subsequent step processing.
Digital picture can be divided into color image, gray level image and bianry image.Each pixel of color image be usually by
Red (R), green (G), blue (B) three isolated components are come what is indicated, and each component is between 0 to 255.Gray level image is each pixel
Have an image of grayscale information, this kind of image is typically shown as the gray scale from most dark black to most bright white, black with it is white
Usually there are 256 (0 to 255) gray levels between color.Bianry image is typically shown as only black and white image, each pixel
Value only indicates that " 0 " represents black with 0 and 1 two value, " 1 " platinite.
In general, the digital picture that CMOS (or CCD) photosensitive element and signal processing circuit provide is color image, the colour
There are many kinds of the formats of image, and primary format has RGB, YUV etc..
The process flow of image analysis module 22 includes following processing step:
Color image is converted into gray level image:
In the present embodiment, what is utilized is grey value difference of the retro reflectors in the picture with other objects around, therefore,
Gray value of the detection algorithm according to each pixel, does not consider its colouring information, so coloring image into gray level image.
For the color image exported in an rgb format, the principle for being converted into gray level image be exactly this 3 channels R, G, B point
Amount calculates in gray level image according to a certain percentage, such as formula (1) is illustrated, the gray value Gray of each pixel:
Gray=R*0.299+G*0.587+B*0.114 (1)
And for the color image of yuv format output, the gray value Gray of each pixel is equal to the Y in yuv data stream
Value:
Gray=Y (2)
Adjust the average gray value L of imagem:
In practical applications, if the radiation intensity of ambient lighting is sufficiently large, it will lead to background 5 in area to be tested 6
Brightness is excessively high, and in gray level image, the gray value of background 5 reaches or approaches saturation state, at this point, increasing cooperation light source 1 again
Radiant power can not also make retro reflectors 4 and background 5 have apparent gray difference；Therefore, it is necessary to reduce image capture module 21
Light exposure, to inhibit the influence of ambient lighting.It is opposite, if the radiation intensity very little of ambient lighting or close to zero,
In gray level image, the gray value of background 5 is close to zero, at this point, if the light exposure of image capture module 21 is too small, it will lead
Cause the gray value of retro reflectors 4 too small, the gray difference of retro reflectors 4 and background 5 is also unobvious；Therefore, it is necessary to improve image
The light exposure of acquisition module 1, to guarantee that retro reflectors 4 have sufficiently high gray value in gray level image.
Retro reflectors 4 and the grey value difference of background 5 are bigger, are more conducive to subsequent image segmentation.The grey value difference
Mainly by the average gray value L of entire imagemIt is influenced: LmExcessively high, entire image is excessively bright, and the gray value of background 5 is very high, and
The gray value highest of retro reflectors 4 also can only be to 255, the grey value difference very little of the two；LmToo low, entire image is excessively dark, inverse
The gray value of reflector 4 is very low, and the gray value of background 5 is minimum also can only be to 0, the grey value difference of the two also very little.As it can be seen that
LmIt is excessively high or it is too low can all make retro reflectors 4 and the grey value difference of background 5 less than normal, be unfavorable for subsequent image segmentation.Cause
This, Ying Jiang LmFall in a suitable section [Lmin, Lmax] in, such as Lmin=40, Lmax=70.In step operation, first
Calculate Lm；Then with Lmin、LmaxIt is compared: if Lmin≤Lm≤Lmax, then it is directly entered in next step, if Lm<Lmin, then need
Improve LmIf Lm>Lmax, then need to reduce Lm。
L can be adjusted by adjusting the light exposure of image capture module 21m, method and steps:
Calculate the average gray value L of current frame imagem。
According to LmTo adjust the light exposure of image capture module 1: if Lmin≤Lm≤Lmax, then directly it is further processed
Step.
If LmIt is too low, then improve light exposure；If LmIt is excessively high, then reduce light exposure.After changing light exposure, what is calculated again works as
The average gray value L of prior image framem, until meeting Lmin≤Lm≤Lmax。
Specifically, the method for improving light exposure: increasing aperture or prolonging exposure time.The method for reducing light exposure: reduce
Aperture shortens the time for exposure；Adjustment specifically is exposed to image capture module 21.
The average gray value L of gray level image is adjusted by adjusting the light exposure of image capture module 21m, make LmFall in one
A suitable section can guarantee that detection effect is unaffected when ambient lighting changes in biggish dynamic range.
By greyscale image transitions at bianry image:
Greyscale image transitions are set into a segmentation threshold T, by grayscale image at bianry image by the method for Threshold segmentation
The gray value of each pixel of picture is compared with T, and pixel of the gray value greater than T is set as " 1 ", and gray value is less than or equal to the picture of T
It is plain then be set as " 0 ", obtain bianry image.In the bianry image, retro reflectors are shown as white area, and background is that surrounding is other
Object is shown as black region.
But in practical applications, when the radiant power of ambient lighting is sufficiently large, so that reflecting brightness of the background to it
Close or larger than retro reflectors reflecting brightness when, the light exposure for reducing image capture module is also difficult to inhibit the shadow of ambient lighting
It rings.Modulated signal can be used, amplitude modulation is carried out to the radiant power of cooperation light source 1, makes the radiant power of cooperation light source 1 at any time
Between change.
After modulated signal modulation, the radiant power waveform for cooperating light source 1 is identical as the waveform of modulated signal.Such as Fig. 3, when
When modulated signal is sine wave, the radiant power waveform of cooperation light source 1 is sine wave；Such as Fig. 4, when modulated signal is square wave,
The radiant power waveform for cooperating light source 1 is square wave.
The radiant power of cooperation light source 1 reaches peak power PpAt the time of be peak value moment tp, reach valley power PvWhen
Carving is valley moment tv；Cooperate light source 1 and visual unit 2 communicates to connect；In step 2, with visual unit in tpAnd tvMoment is obtained
The gray level image of area to be tested is taken to be referred to as bright gray level image and dark gray image.
When the radiant power of ambient lighting is sufficiently large, so that background 5 is close or larger than reflex reflection to its reflecting brightness
When the reflecting brightness of 4 pairs of body cooperation light sources 1, background 5 is in tpAnd tvMoment all can reflection environment illumination and its reflecting brightness it is high, and
The light of ambient lighting can be reflected back at the light source of ambient lighting by retro reflectors 4, so retro reflectors 4 are to the anti-of ambient lighting
Penetrating light will not enter in image capture module 21.Therefore, retro reflectors 4 are only in tpMoment has high brightness.With tpMoment pair
In the bright gray level image answered, 5 region of background and 4 region of retro reflectors are high gray value region, and with tvMoment is corresponding
In dark gray image, 5 region of background is high gray value region, and 4 region of retro reflectors is low ash angle value region.
Threshold segmentation is carried out to bright gray level image and dark gray image respectively, obtains bright bianry image and dark bianry image.
As shown in figure 5, (a) figure is bright bianry image, in the figure, 4 region of retro reflectors and 5 region of background are " 1 ", i.e., white
(being indicated in figure with grid lines)；(b) figure is dark bianry image, and in the figure, 5 region of background is " 1 ", i.e., white, and reflex reflection
4 region of body is " 0 ", i.e. black.
Dark bianry image is subtracted with bright bianry image, obtains difference image, as shown in Fig. 5 (c).It is converse in the difference image
4 region of beam is " 1 " (i.e. white), and 5 region of background is " 0 " (i.e. black).
Due to picture noise and the power swing of cooperation light source 1, ambient lighting, often have one in difference image slightly
Small white area, these small white areas are not retro reflectors, it should be removed it.Shape can be carried out to difference image
State opening operation removes the tiny area that the value in difference image is " 1 ", obtains the second difference image.
Calculate the pixel number N that the second difference image intermediate value is included for the region of " 1 "w；
Compared pixels number NwWith predetermined threshold NtSize, obtain testing result: if Nw<Nt, then judging result is area to be measured
Without retro reflectors in domain；If Nw≥Nt, then judging result is to have retro reflectors in region to be measured, and the second difference image intermediate value is " 1 "
Region is retro reflectors region.
On the other hand, the influence of ambient lighting can be reduced by the method for spectral filtering.Cooperate light source 1 and uses monochromatic light
Source, the halfwidth W of radiation spectrum curveHLess than 50nm.It is provided with bandpass filter in visual unit 2, the bandpass filter
Transmittance curve halfwidth be less than WH, and the central wavelength of its transmitance peak wavelength and cooperation light source matches；On for example,
The LED light source that cooperation light source 1 uses central wavelength as 940nm is stated, then the transmitance peak wavelength of bandpass filter should be chosen
940nm.The effect of bandpass filter is the most of energy filtered out in the reflected light from ambient lighting, and from cooperation light
Most of energy in the reflected light in source 1 can be by bandpass filter, to effectively inhibit the influence of ambient lighting.
In embodiments of the present invention, after completing an image procossing, adjustable visual unit 2 acquires the angle N of image,
So as to be detected from multiple angles, prevents single detection since the problem of detection angles generates error, improve detection
Accuracy rate.
In conclusion following effect at least may be implemented in the embodiment of the present invention:
In embodiments of the present invention, the modulated signal exported by modulation unit to the radiant power of the cooperation light source into
Line amplitude modulation, acquires image in its power peak and valley respectively and is handled, so that it is dry to can effectively avoid ambient lighting
The influence to the retro reflectors detection based on image is disturbed, guarantees the accuracy of detection.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of retro reflectors image detecting method of environment resistant illumination interference, which comprises the following steps:
Step 1 irradiates area to be tested along angle N by cooperation light source；The modulated signal exported by modulation unit is to described
The radiant power for cooperating light source carries out amplitude modulation, and the radiant power of the cooperation light source changes over time；The cooperation light source
Radiant power reach peak power PpAt the time of be peak value moment tp, reach valley power PvAt the time of be valley moment tv；
Step 2 passes through visual unit from the angle N, in tpAnd tvMoment obtain respectively area to be tested bright gray level image and
Dark gray image；The modulation unit and the visual unit communicate to connect；
Step 3 is handled and is analyzed to the bright gray level image and the dark gray image with visual unit, is detected to be checked
Survey the retro reflectors in region.
2. the retro reflectors image detecting method of environment resistant illumination interference according to claim 1, which is characterized in that also wrap
It includes:
Step 4: adjusting the angle N, and execute step 1.
3. the retro reflectors image detecting method of environment resistant illumination interference according to claim 1, is characterized in that, the step
It is comprised the steps of: in rapid 3
Step 31 carries out Threshold segmentation to the bright gray level image and the dark gray image respectively, obtain bright bianry image and
Dark bianry image；
Step 32 subtracts the dark bianry image with the bright bianry image, obtains difference image；
Step 33 calculates the pixel number N that the difference image intermediate value is included for the region of " 1 "w；
Step 34, compared pixels number NwWith predetermined threshold NtSize: if Nw<Nt, then judging result is in region to be measured without converse
Beam；If Nw≥Nt, then judging result is to have retro reflectors in region to be measured, and the difference image intermediate value is that the region of " 1 " is as inverse
Reflector region.
4. the retro reflectors image detecting method of environment resistant illumination interference according to claim 1, which is characterized in that described
Modulated signal is square-wave signal or sine wave signal；
And/or；
The cooperation light source is monochromatic source, the halfwidth W of radiation spectrum curveHLess than 50nm.
5. the retro reflectors image detecting method of environment resistant illumination interference according to claim 1-4, feature
It is, is provided with bandpass filter in the visual unit, the transmittance curve halfwidth of the bandpass filter is less than WH, and its
Transmitance peak wavelength and the central wavelength of cooperation light source match.
6. a kind of retro reflectors image detecting system of environment resistant illumination interference, which is characterized in that the system includes:
Cooperate light source: irradiating area to be tested along angle N；
Modulation unit: the modulated signal of output, the modulated signal carry out amplitude modulation to the radiant power of the cooperation light source,
Change over time the radiant power of the cooperation light source；The radiant power of the cooperation light source reaches peak power PpAt the time of
For peak value moment tp, reach valley power PvAt the time of be valley moment tv；
Visual unit: from the angle N in tpAnd tvMoment obtains the bright gray level image and dark gray figure of area to be tested respectively
Picture；The bright gray level image and the dark gray image are handled and analyzed, detects the reflex reflection in area to be tested
Body；
The modulation unit and the visual unit communicate to connect.
7. the retro reflectors image detecting system of environment resistant illumination interference according to claim 6, which is characterized in that also wrap
Include angle adjusting；
The angle adjusting is for adjusting the angle N.
8. the retro reflectors image detecting system of environment resistant illumination interference according to claim 6, which is characterized in that described
The processing of visual unit includes:
Threshold segmentation is carried out to the bright gray level image and the dark gray image respectively, obtains bright bianry image and dark binary map
Picture；
The dark bianry image is subtracted with the bright bianry image, obtains difference image；
Calculate the pixel number N that the difference image intermediate value is included for the region of " 1 "w；
Compared pixels number NwWith predetermined threshold NtSize, obtain testing result: if Nw<Nt, then judging result is in region to be measured
Without retro reflectors；If Nw≥Nt, then judging result is to have retro reflectors in region to be measured, and the difference image intermediate value is the region of " 1 "
As retro reflectors region.
9. the retro reflectors image detecting system of environment resistant illumination interference according to claim 6, which is characterized in that described
Modulated signal is square-wave signal or sine wave signal；
And/or；
The cooperation light source is monochromatic source, the halfwidth W of radiation spectrum curveHLess than 50nm.
10. according to the retro reflectors image detecting system of the described in any item environment resistant illumination interference of claim 6-9, feature
It is, is provided with bandpass filter in the visual unit, the transmittance curve halfwidth of the bandpass filter is less than WH, and its
Transmitance peak wavelength and the central wavelength of cooperation light source match.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244319A (en) * | 2019-05-31 | 2019-09-17 | 中国人民解放军国防科技大学 | Imaging method for detecting reverse reflector |
| CN110260975A (en) * | 2019-05-07 | 2019-09-20 | 中国人民解放军国防科技大学 | Active polarized light retroreflector detection method |
| CN110261928A (en) * | 2019-05-07 | 2019-09-20 | 中国人民解放军国防科技大学 | Non-uniform light retroreflection detection method |
| CN115546837A (en) * | 2022-10-16 | 2022-12-30 | 三峡大学 | Integrated management system for transformer substation access |
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2018
- 2018-12-25 CN CN201811593839.5A patent/CN109712159A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110260975A (en) * | 2019-05-07 | 2019-09-20 | 中国人民解放军国防科技大学 | Active polarized light retroreflector detection method |
| CN110261928A (en) * | 2019-05-07 | 2019-09-20 | 中国人民解放军国防科技大学 | Non-uniform light retroreflection detection method |
| CN110261928B (en) * | 2019-05-07 | 2020-11-06 | 中国人民解放军国防科技大学 | Non-uniform light retroreflection detection method |
| CN110260975B (en) * | 2019-05-07 | 2021-04-16 | 中国人民解放军国防科技大学 | Active polarized light retroreflector detection method |
| CN110244319A (en) * | 2019-05-31 | 2019-09-17 | 中国人民解放军国防科技大学 | Imaging method for detecting reverse reflector |
| CN110244319B (en) * | 2019-05-31 | 2021-04-09 | 中国人民解放军国防科技大学 | Imaging method for detecting reverse reflector |
| CN115546837A (en) * | 2022-10-16 | 2022-12-30 | 三峡大学 | Integrated management system for transformer substation access |
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Application publication date: 20190503 |