CN114710617B - Photographing method, photographing system, photographing equipment and photographing storage medium for dual-axis array camera - Google Patents
Photographing method, photographing system, photographing equipment and photographing storage medium for dual-axis array camera Download PDFInfo
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- CN114710617B CN114710617B CN202210272447.9A CN202210272447A CN114710617B CN 114710617 B CN114710617 B CN 114710617B CN 202210272447 A CN202210272447 A CN 202210272447A CN 114710617 B CN114710617 B CN 114710617B
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- 230000001360 synchronised effect Effects 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 230000006835 compression Effects 0.000 abstract description 6
- 238000007906 compression Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 abstract description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000109 continuous material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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Abstract
The invention discloses a photographing method of a double-axis line-array camera, which is used for a double-axis line-array camera photographing system, wherein the double-axis line-array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a line-array camera; and each line of the linear array camera shoots, and a picture is spliced after shooting for a plurality of times by moving. The invention also discloses a photographing system, equipment and a storage medium of the linear array camera. According to the technical scheme, the photographing frequency of the linear array camera can be controlled according to the output pulse signals of the servo motor, so that the photographing of the camera is not influenced by the speed, and the conditions of image stretching, abnormal compression and the like can not occur in the whole processes of acceleration, uniform speed and deceleration, and the image photographing effect is improved; the driven shaft moves along with the driving shaft, so that the moving stroke of the linear array camera is 2 times of that of the driving shaft, and the photographing range or area is enlarged while the photographing effect of the image is ensured.
Description
Technical Field
The invention relates to the technical field of cameras, in particular to a photographing method, a photographing system, photographing equipment and a storage medium of a dual-axis array camera.
Background
Linear cameras are commonly used to detect continuous materials such as metal, plastic, paper, and fiber, among others. The linear array camera adopts a linear array image sensor to collect at high speed, and each time the linear array image sensor is used for collecting a next line, the next line is continuously collected after one line just moves to the next unit precision length, and a two-dimensional picture is formed after a period of time. In general, the materials have different sizes, and the photographing range or area of the line camera is limited, so that the line camera with a larger photographing range or area is required to photograph. In addition, to splice a plurality of rows into one image, the photographed object (or the linear array camera) must be required to move along the height direction of the image, so that the photographed object has very high resolution, the photographing frequency of the linear array camera is required to be matched with the moving speed of the camera, if the photographed image is stretched or compressed due to the fact that the photographed image is slow or fast, specifically, if the photographing frequency of the camera is lower than the moving speed of the camera, the photographed image is compressed, otherwise, the photographed image is stretched, and only if the photographed image and the photographed image are completely matched, the photographed image cannot be deformed. In addition, in the prior art, the linear array camera only has one driving shaft when in motion, and the scanning photographing range is only equal to the stroke of the driving shaft, and the photographing range and the area are limited.
Disclosure of Invention
The invention aims to solve the technical problems and provide a photographing method of a dual-axis array camera, which ensures that the photographing frequency of the camera is completely matched with the moving speed of the camera, avoids the conditions of image stretching, abnormal compression and the like, and improves the image photographing effect.
Another object of the present invention is to provide a dual-axis linear camera photographing system capable of realizing a movement stroke of the linear camera being 2 times that of the driving shaft, effectively enlarging a photographing range or area, and ensuring an image photographing effect.
The invention discloses a double-axis array camera photographing method, which is used for a double-axis array camera photographing system, wherein the double-axis array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a linear array camera, and comprises the following steps:
s1, acquiring a transverse view size of a linear array camera as FOV_X;
s2, obtaining an output pulse signal of the servo driver as P;
s3, acquiring the longitudinal stroke of the linear array camera to be 2L;
s4, calculating a single transverse pixel Scale X of the linear array camera, wherein the single transverse pixel Scale X is the ratio of the transverse field size FOV_X to the resolution, and the scale_X=FOV_X/resolution;
s5, calculating a longitudinal pixel single quantity of the linear array camera, wherein the longitudinal pixel single quantity Scale Y is equal to the transverse pixel single quantity Scale X, and scale_Y=scale X;
s6, calculating the line photographing frequency F of the linear array camera, wherein the line photographing frequency F is equal to the ratio of the longitudinal stroke 2L to the longitudinal pixel single-quantity Scale Y, and F=2L/Scale Y;
s7, calculating a coefficient k of the linear array camera, wherein the coefficient k is equal to the ratio of photographing frequency to pulse output number, and k=F/P;
s8, providing a coefficient k to the dual-axis linear array camera system, and triggering the photographing frequency by the linear array camera;
s9, moving the linear array camera once every photographing line, and splicing the photographing lines into a picture.
The invention also discloses a double-axis linear array camera photographing system, which comprises a servo motor, a driving shaft, a driven shaft and a linear array camera; the servo motor is used for driving the connected driving shaft to move; the driven shaft is connected to the driving shaft in a sliding manner, and the linear array camera is fixedly connected to the tail end of the driven shaft; the driving shaft comprises a sliding block group, a guide rail group, a first belt, a second belt and a body, wherein the sliding block group is connected to the guide rail group in a sliding manner, and the first belt and the second belt are sleeved on the body; the servo motor is provided with a fixing piece and a first synchronous belt pulley, the fixing piece is fixedly connected with the sliding block group and the second belt, and the first synchronous belt pulley is connected with the first belt in a sliding manner; the servo motor drives the first belt to rotate so as to drive the driving shaft to move; the driven shaft is fixedly connected to the second belt, and the second belt moving along with the driving shaft drives the driven shaft to move.
Preferably, a second synchronous pulley is arranged at the joint of the second belt and the body.
Preferably, the second belt is fixedly connected with the fixing piece through the first positioning structure, and the second belt is fixedly connected with the driven shaft through the second positioning structure.
Preferably, the set of sliders comprises two sets of sliders for balancing the fixture.
Preferably, the guide rail group comprises two sets of guide rails for matching the slider group.
Preferably, the photographing system of the dual-axis array camera is further provided with a mounting frame, and the linear array camera is fixedly connected to the driven shaft through the mounting frame.
Preferably, the mounting frame is provided with an adjusting structure for adjusting the photographing direction of the line camera.
In addition, the invention also discloses a double-axis array camera photographing device, which comprises: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the instructions of the dual-axis line camera photographing method as described above.
The invention further discloses a computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions for causing a computer to execute the dual-axis array camera photographing method.
Compared with the prior art, the invention has the following beneficial effects:
according to the photographing method, the photographing system, the photographing equipment and the storage medium of the double-axis linear array camera, the photographing frequency of the linear array camera can be controlled according to the output pulse signals of the servo motor, so that the photographing of the camera is not influenced by the speed, and the conditions of image stretching, abnormal compression and the like can not occur in the whole processes of acceleration, uniform speed and deceleration, and the image photographing effect is improved; meanwhile, the driven shaft is added and moves along with the driving shaft, so that the moving stroke of the linear array camera is 2 times that of the driving shaft, and the photographing range or area of the linear array camera is enlarged.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the following will briefly explain the embodiments or drawings that are required to be used in the description of the prior art.
FIG. 1 is a flow chart of a photographing method of a dual-axis matrix camera of the present invention;
FIG. 2 is a schematic diagram of the original state structure of the photographing system of the dual-axis line camera according to the present invention;
FIG. 3 is a schematic top view of a dual axis matrix camera photographing system of the present invention;
FIG. 4 is a schematic bottom view of a dual axis matrix camera photographing system according to the present invention;
FIG. 5 is a schematic side view of a dual-axis camera photographing system according to the present invention;
fig. 6 is a schematic view showing an unfolded state structure of the photographing system of the biaxial linear camera of the present invention.
Reference numerals:
1. a servo motor; 11. a fixing member; 12. a first synchronous pulley; 2. a driving shaft; 21. a slider group; 22. a guide rail group; 23. a first belt; 24. a second belt; 241. a first positioning structure; 242. a second positioning structure; 25. a body; 26. a second synchronous pulley; 3. a driven shaft; 4. a line camera; 41. a mounting frame; 411. and (5) adjusting the structure.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The invention discloses a photographing method of a double-axis line-array camera, which is used for a line-array camera photographing system, and the line-array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a line-array camera, as shown in fig. 1, and comprises the following steps:
s1, acquiring the transverse view size of the linear array camera, and determining the transverse view size FOV_X after the installation object distance of the linear array camera is selected.
S2, obtaining an output pulse signal of each revolution of the servo motor, and determining if the output pulse RS422 signal P is available after the servo motor is selected.
S3, acquiring the longitudinal travel of the linear array camera, and determining the longitudinal travel by 2L after the driving shaft and the driven shaft are selected.
S4, calculating the single transverse pixel quantity of the linear array camera, and determining the value of the resolution after selecting the focal length of the lens of the linear array camera, wherein the single transverse pixel quantity Scale X of the linear array camera is the ratio of the transverse field size FOV_X to the resolution, and the scale_X=FOV_X/resolution.
S5, calculating the longitudinal pixel single quantity of the linear array camera, and when the transverse pixel single quantity is equal to the longitudinal pixel single quantity, accurately reflecting the target size in the photographed picture without abnormal compression or stretching; according to the vertical pixel single amount Scale Y being equal to the horizontal pixel single amount Scale X, scale_y=scale X.
S6, calculating the line photographing frequency of the linear array camera, and photographing by triggering the camera line once every time the distance of Scale X is moved to restore the photographed target actually; if the line photographing frequency is fast, in the photographed picture, the target is compressed longitudinally; if the line photographing frequency is slow, stretching the target in the longitudinal direction in the photographed picture; according to the line photographing frequency F equal to the ratio of the longitudinal stroke 2L and the longitudinal pixel single amount Scale Y, f=2l/Scale Y.
And S7, calculating the coefficient of the linear array camera, and setting the coefficient k to be equal to the ratio of the photographing frequency F to the output pulse signal P, wherein k=F/P.
S8, providing the coefficient k to the dual-axis linear array camera system, and enabling the linear array camera to trigger the photographing frequency to photograph. The line photographing frequency F, f=k×p of the line camera is controlled according to the output pulse RS422 signal P of the servo motor, so as not to be affected by the moving speed of the dual-axis line camera system.
S9, moving the linear array camera once every photographing line, and splicing the photographing lines into a picture. Therefore, the abnormal condition of image stretching or compression can not occur in the whole photographing process of acceleration, uniform speed and deceleration of the double-axis linear array camera system.
In order to facilitate the implementation of the photographing method, the invention also discloses a photographing system of the double-axis linear array camera, which comprises a servo motor 1, a driving shaft 2, a driven shaft 3 and a linear array camera 4, wherein the servo motor 1 is used for driving the connected driving shaft 2 to move as shown in fig. 2-5; the driven shaft 3 is connected with the driving shaft 2 in a sliding way, and the linear array camera 4 is fixedly connected with the tail end of the driven shaft 3; the driving shaft 2 comprises a sliding block set 21, a guide rail set 22, a first belt 23, a second belt 24 and a body 25, wherein the sliding block set 21 is connected with the guide rail set 22 in a sliding manner, and the first belt 23 and the second belt 24 are sleeved on the body 25; the servo motor 1 is provided with a fixing piece 11 and a first synchronous pulley 12, the fixing piece 11 is fixedly connected with the sliding block group 21 and the second belt 24, and the first synchronous pulley 12 is slidably connected with the first belt 23; the servo motor 1 drives the first belt 23 to rotate, and then drives the driving shaft 2 to move; the driven shaft 3 is fixedly connected to the second belt 24, and the second belt 24 moving along with the driving shaft 2 further drives the driven shaft 3 to move.
As shown in fig. 2 to 4 and 6, a second synchronous pulley 26 is provided at the connection between the second belt 24 and the body 25, a first positioning structure 241 is provided at the fixed connection between the second belt 24 and the fixing member 11, and a second positioning structure 242 is provided at the fixed connection between the second belt and the driven shaft 3. So set up, servo motor 1 drives first belt 23 through first synchronous pulley 12 and rotates, and then drives the body 25 of driving shaft 2 to move forward relative to servo motor 1, because second belt 24 and servo motor 1's mounting 11 fixed connection and first location structure 241, first location structure 241 moves backward relative to body 25 along with mounting 11, then second location structure 242 moves forward relative to body 25, driven shaft 3 moves forward relative to body 25 along with second location structure 242, as shown in fig. 6. Therefore, the forward movement distance of the driven shaft 3 with respect to the body 25 of the driving shaft 2 is equal to the forward movement distance of the driving shaft 2 itself, and the total forward movement distance of the driven shaft 3 is equal to twice the forward movement distance of the driving shaft 2, superimposed with the forward movement distance of the driving shaft 2. The photographing system of the double-axis linear array camera with the structure can effectively enlarge the photographing range or area.
As shown in fig. 2 to 6, the slide block set 21 includes two sets of slide blocks, and the two sets of slide blocks can be used for balancing the fixing member 11, so that the photographing system of the biaxial linear array camera is more stable in the photographing process, and photographing abnormality is avoided. Meanwhile, the guide rail group 22 comprises two groups of guide rails, and the two groups of guide rails are used as the moving track of the slide block group 21, so that the photographing range or region of the photographing system of the dual-axis array camera can be effectively defined.
As shown in fig. 2, 5 and 6, the photographing system of the dual-axis array camera is further provided with a mounting frame 41, the linear array camera 4 is fixedly connected to the driven shaft 3 through the mounting frame 41, the linear array camera 4 can be conveniently detached and mounted by adopting the structure of the mounting frame 41, and different cameras can be selected for mounting according to actual photographing requirements and different pixels. The mounting frame 41 may also be provided with an adjusting structure 411, which can adjust the photographing direction and angle of the line camera 4 according to the photographing environment.
The invention also discloses a double-axis array camera photographing device, which comprises at least one processor and a memory which is in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the instructions of the dual-axis line camera photographing method as described above.
The invention further discloses a computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions for causing a computer to execute the dual-axis array camera photographing method.
According to the photographing method, the photographing equipment and the storage medium for the double-axis linear array camera, the photographing frequency of the linear array camera can be controlled according to the output pulse signals of the servo motor, so that the photographing of the camera is not affected by the speed, the conditions of image stretching, abnormal compression and the like can not occur in the whole processes of acceleration, uniform speed and deceleration, the image photographing effect is improved, and the application range of the linear array camera is enlarged.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (10)
1. The double-axis array camera photographing method is used for a double-axis array camera photographing system, and the double-axis array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a linear array camera, and is characterized by comprising the following steps:
s1, acquiring the transverse view size of the linear array camera, wherein the transverse view size is FOV_X;
s2, obtaining an output pulse signal of the servo motor, wherein the output pulse signal is P;
s3, acquiring the longitudinal stroke of the linear array camera, wherein the longitudinal stroke is 2L;
s4, calculating a transverse pixel single quantity of the linear array camera, wherein the transverse pixel single quantity Scale X is a ratio of the transverse view size to the resolution, and Scale_X=FOV_X/resolution;
s5, calculating a longitudinal pixel single quantity of the linear array camera, wherein the longitudinal pixel single quantity Scale Y is equal to a transverse pixel single quantity, and scale_Y=scale X;
s6, calculating the line photographing frequency of the linear array camera, wherein the line photographing frequency F is equal to the ratio of the longitudinal travel to the longitudinal pixel single quantity, and F=2L/Scale Y;
s7, calculating a coefficient of the linear array camera, wherein the coefficient k is equal to the ratio of the line photographing frequency F to the output pulse P, and k=F/P;
s8, providing a coefficient k to a double-axis linear array camera system, wherein the linear array camera triggers the line photographing frequency to photograph;
s9, each line of the linear array camera shoots, and a picture is spliced after shooting for a plurality of times by moving.
2. A dual-axis line camera photographing system for implementing the dual-axis line camera photographing method of claim 1, comprising a servo motor, a driving shaft, a driven shaft and a line camera; the servo motor is used for driving the connected driving shaft to move; the driven shaft is connected to the driving shaft in a sliding manner, and the linear array camera is fixedly connected to the tail end of the driven shaft; the driving shaft comprises a sliding block set, a guide rail set, a first belt, a second belt and a body, wherein the sliding block set is connected to the guide rail set in a sliding manner, and the first belt and the second belt are sleeved on the body; the servo motor is provided with a fixing piece and a first synchronous belt pulley, the fixing piece is fixedly connected with the sliding block group and the second belt, and the first synchronous belt pulley is connected with the first belt in a sliding manner; the servo motor drives the first belt to rotate, and then drives the driving shaft to move; the driven shaft is fixedly connected to the second belt, and the second belt moving along with the driving shaft drives the driven shaft to move.
3. The system of claim 2, wherein a second timing pulley is disposed at a connection between the second belt and the body.
4. The system of claim 2, wherein the second belt is fixedly connected to the fixing member through a first positioning structure, and the second belt is fixedly connected to the driven shaft through a second positioning structure.
5. The dual-axis line camera photographing system of claim 2, wherein the slider group comprises two groups of sliders for balancing the fixture.
6. The dual-axis array camera shooting system of claim 5 wherein the set of guide rails comprises two sets of guide rails for matching the set of slide blocks.
7. The system of claim 2, further comprising a mounting frame, wherein the linear camera is fixedly connected to the driven shaft through the mounting frame.
8. The system of claim 7, wherein the mounting frame is provided with an adjustment structure for adjusting a photographing direction of the line camera.
9. A dual-axis line camera photographing apparatus, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the dual axis matrix camera photographing method of claim 1.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the dual-axis array camera photographing method of claim 1.
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| CN202210272447.9A CN114710617B (en) | 2022-03-18 | 2022-03-18 | Photographing method, photographing system, photographing equipment and photographing storage medium for dual-axis array camera |
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| CN202210272447.9A CN114710617B (en) | 2022-03-18 | 2022-03-18 | Photographing method, photographing system, photographing equipment and photographing storage medium for dual-axis array camera |
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| CN116256909B (en) * | 2023-05-15 | 2023-08-08 | 苏州优备精密智能装备股份有限公司 | Real-time detection processing system and processing method for liquid crystal coating |
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