CN101635798A - Control method for panoramically aerial camera photographing signals - Google Patents
Control method for panoramically aerial camera photographing signals Download PDFInfo
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Abstract
A control method for panoramically aerial camera photographing signals belongs to the aerial camera measuring and imaging technology control field. According to velocity-height ratio, index overlapping coefficient, target slant angle and roll angle of an airplane at the current moment, a cameral controller figures out the scanning initial position, the scanning beginning position, the scanning ending position, the photographing time t photographing and the photographing period T of a lens cone which serve as working parameters to be sent into a lens cone system. The lens cone system controls timing sequence sending position/ speed signals and photographing pulse signals at the scanning initial position according to photographing signals. Finally, after receiving the position/speed signals and the photographing pulse signals sent by the lens cone system, a reflector conducts image motion compensation, a focusing system automatically focus, and a roll system conducts roll compensation; therefore, all systems finish the consistency of the functional timing sequence in the he photographing time and the requirement of the camera meeting the index overlapping coefficient is guaranteed.
Description
Technical field
The control method of panoramically aerial camera photographing signals belongs to aerial camera and measures and technical field of imaging, especially at the panoramically aerial camera imaging.
Technical background
Panoramically aerial camera adopts the working method of lens barrel sweeping formula.Camera is when taking pictures, to a banded zone imaging of appointment on the ground; During backhaul, not imaging.The aerial camera scan angle is big more, and the ground cover width is wide more, and the cycle of taking pictures is just long more, seam might occur drawing between adjacent two images, causes losing of amount of image information.Therefore, in order to make the image continuous seamless of taking, require the banded zone of adjacent twice imaging to keep the certain index Duplication.At present, panoramically aerial camera is to control by photographing signals that camera is taken pictures and return trip time, thereby guarantees the index Duplication that camera is taken pictures.Photographing signals is made up of location/velocity signal and photography pulse signal, and these two signals mainly are to judge according to the positional information of lens barrel.But,, come control position/rate signal and photography pulse signal to be difficult to guarantee to satisfy the requirement of index Duplication according to the lens barrel positional information because camera is subjected to the interference of aircraft roll angle speed and the restriction of aircraft window size in the process of taking pictures.This paper has designed a kind of control method of new photographing signals at above-mentioned situation, and this method satisfies the requirement of index Duplication.
Summary of the invention
Goal of the invention:
The present invention has designed a kind of control method of panoramically aerial camera photographing signals, and photographing signals comprises location/velocity signal and photography pulse signal.This method can guarantee to satisfy between adjacent two images of panoramically aerial camera the requirement of index Duplication.
Technical scheme:
The panoramically aerial camera working method is divided into imaging of left bank sweeping and the imaging of right bank sweeping, and the place of adjacent two doublings of the image is called Duplication, as shown in Figure 1.From the nearest place of aircraft, Duplication minimum; From aircraft place farthest, Duplication maximum.The panoramically aerial camera photographing signals control method of the present invention's design is the requirement that the index Duplication is satisfied in the place of two doubling of the image rate minimums of assurance.
Camera transversal scanning angle 2 β formula are:
Wherein: ρ-index Duplication;
η-fast height ratio;
ω
J-lens barrel sweep speed, promptly lens barrel is with respect to the sweep speed on ground;
K-time scale coefficient;
B-pixel length;
θ-camera scan angle;
The f-camera focus.
The camera controller system calculates camera transversal scanning angle 2 β according to formula (1), under the situation of considering target inclination angle and current aircraft roll angle, determine lens barrel scanning initial position, scanning starting position and scan end position, send to lens cone system as running parameter.Traditional photographing signals is exactly to scan initial position, scanning starting position and these three positional informations of scan end position as criterion according to lens barrel, and traditional takes pictures sequential chart as shown in Figure 2.
As can be seen from Figure 2, when lens barrel arrived the scanning initial position, lens cone system sent location/velocity signal low level, selects speed control loop, and lens barrel speed accelerates to constant lens barrel sweep speed from zero.When lens barrel arrived the scanning starting position with constant lens barrel sweep speed, lens cone system sent photography pulse signal low level, and camera begins to take pictures.When lens barrel arrived scan end position, lens cone system sent photography pulse signal high level and location/velocity signal high level, the camera end of taking pictures, lens barrel switches to Position Control by speed control, enter the return stage, turn back to the scanning initial position, prepare to take pictures next time.
(1) roll angle speed influences actual Duplication
Lens barrel scanning initial position, scanning starting position and scan end position that the camera controller system sends are that lens barrel is for inertial system ground target position in fact.But because lens cone system is to adopt potentiometer or encoder as the position feedback element, its feedback be the rotational angle of lens barrel with respect to aircraft, rather than with respect to the rotational angle of inertial system the earth.If in the process of taking pictures, the roll angle speed omega of aircraft
Hg=0, illustrate that aircraft does not produce roll angle during taking pictures, lens barrel is consistent with respect to the corner of aircraft with lens barrel with respect to the corner on ground, and actual Duplication does not change; If the roll angle speed omega of aircraft in the process of taking pictures
Hg≠ 0, along with can causing, the photo opporunity accumulation variation of aircraft roll angle causes lens barrel inconsistent with respect to the corner on ground with respect to the corner and the lens barrel of aircraft, and therefore actual Duplication changes.
When the lens barrel sweep speed is ω
J=20 °/s, aircraft roll angle speed omega
Hg≤ ± 3 °/s, index Duplication ρ=10%,
Then actual Duplication ρ ' and aircraft roll angle speed omega
HgConcern as shown in table 1.
Can see by table 1, when the roll angle speed omega
HgWhen reverse, actual Duplication ρ ' increases than index Duplication ρ with the lens barrel sweep speed; When the roll angle speed omega
HgIn the same way the time, actual Duplication ρ ' reduces than index Duplication ρ, and works as ω with the lens barrel sweep speed
HgDuring 〉=2 °/s, negative appears in actual Duplication ρ '≤0, does not have overlappingly between the key diagram picture, the seam phenomenon occurs drawing, causes losing of amount of image information.
Above analytical proof, if with lens barrel scanning starting position and scan end position as the basis for estimation of photography pulse, can bring influence to actual Duplication ρ '.Since in the process of taking pictures, lens barrel sweep speed ω
JBe steady state value, lens barrel sweeping distance is camera transversal scanning angle 2 β.When fast height ratio η one timing, camera transversal scanning angle 2 β can be asked by formula (1), and therefore, camera photo opporunity t claps expression formula and is:
Wherein: 2 β-camera transversal scanning angle;
ω
J-lens barrel sweep speed, promptly lens barrel is with respect to the sweep speed on ground.
When lens barrel arrived the scanning starting position, lens cone system sent photography pulse signal low level, and camera begins to take pictures, and this moment is with photo opporunity t
ClapDo a timing 2, regularly 2 times sent photography signal high level to lens cone system, the end of taking pictures, and lens barrel begins return, even guaranteed that like this aircraft has roll angle speed during taking pictures, but actual Duplication ρ ' is unaffected.
(2) fast height ratio influences actual Duplication
By formula (1) as can be known, for panoramically aerial camera, transversal scanning angle 2 β of camera become big along with reducing of fast height ratio η.But consider the aircraft window dimensional requirement, camera transversal scanning angle 2 β limit within the specific limits, i.e. 2 β≤2 β
MaxIf fast height ratio η
0For camera transversal scanning angle has just equaled 2 β
MaxThe time fast height ratio, η
0=0.05, fast height ratio scope is η ∈ [0.01,0.1].According to designing requirement index Duplication ρ=10%, actual Duplication ρ ' of camera and fast height ratio η relation are as shown in table 2.
As can be seen from Table 2, as fast height ratio η 〉=η
0=0.05 o'clock, the actual Duplication ρ ' of camera equaled index Duplication ρ=10%; As fast height ratio η＜η
0=0.05 o'clock, along with fast height ratio η diminishes, the actual Duplication ρ ' of camera became big.When fast height ratio η=0.01, actual Duplication ρ '=82%.
Top analysis explanation is if still scan initial position as sending the low level foundation of location/velocity signal, as fast height ratio η＜η with the lens barrel return to lens barrel
0The time, it is big that actual Duplication ρ ' becomes.
The take pictures expression formula of period T of camera is:
In the formula: ρ-index Duplication;
η-fast height ratio;
B-pixel length;
θ-camera scan angle;
The f-camera focus.
From formula (3) as can be known, the period T of taking pictures and fast height ratio η are inversely proportional to.When fast height ratio η became big, the period T of taking pictures diminished; When fast height ratio η diminished, it is big that the period T of taking pictures becomes.And as fast height ratio η＜η
0The time, though camera transversal scanning angle 2 β=2 β
MaxConstant, but the period T of taking pictures becomes big thereupon.Therefore, we take pictures period T as location/velocity signal judgment foundation according to camera, and the camera after the improvement is taken pictures sequential chart as shown in Figure 3.
Among Fig. 3, after lens cone system is received photographing instruction, send location/velocity signal low level, lens barrel is controlled by speed loop, and does a timing 1 with the period T of taking pictures.When lens barrel arrives the scanning starting position, send photography pulse signal low level, camera begins to take pictures, and this moment is with photo opporunity t
ClapDo a timing 2.T clapped regularly for 2 times to lens cone system transmission photography pulse signal high level and location/velocity signal high level, the end of taking pictures, and lens barrel is controlled by position loop, turns back to the scanning initial position.When lens barrel arrives the scanning initial position, judge the timing 1 of T, if T 1 time of timing arrives, then lens cone system sends location/velocity signal low level, begins new once photo taking; If T 1 time of timing does not arrive, lens barrel continues to wait at the scanning initial position, more than is exactly the control method of panoramically aerial camera photographing signals.
For panoramically aerial camera, electric-control system is formed structure and is: camera controller system, lens cone system, mirror system, focusing system, light adjusting system and roll system.Electrical control system structure figure as shown in Figure 4.At first, the camera controller system calculates lens barrel scanning initial position, scanning starting position, scan end position, photo opporunity t according to fast height ratio, index Duplication, target inclination angle and the roll angle of aircraft current time
ClapWith the period T of taking pictures, and send to lens cone system as running parameter.Secondly, lens cone system sends location/velocity signal and photography pulse signal to mirror system, focusing system, light adjusting system and roll system at the scanning initial position according to the photographing signals control timing of Fig. 3.At last, after receiving lens cone system the location/velocity signal that sends and the pulse signal of photographing, mirror system is carried out IMC, focusing system carries out automatic focusing, light adjusting system carries out with an automatic light meter, the roll system carries out roll compensation, is implemented in that each system finishes the consistency of function sequential during taking pictures, and has guaranteed that camera satisfies the requirement of index Duplication.
Beneficial effect of the present invention: the image continuous seamless that the control panoramically aerial camera is taken requires the banded zone of adjacent twice imaging to satisfy the index Duplication.Avoid the seam phenomenon occurring drawing, prevent losing of amount of image information.Reliable and stable by testing this control method, guaranteed that camera satisfies the requirement of index Duplication.
Description of drawings
Fig. 1, image band Duplication schematic diagram.
Fig. 2, traditional approach camera photographing signals control method sequential chart.
Fig. 3, camera photographing signals control method sequential chart of the present invention.
Fig. 4, the automatically controlled structure principle chart of panoramically aerial camera.
Specific implementation method
1, the camera controller system selects for use TIX (TI) latest digital signal place (TMS320F2812) as master controller, it has the high-speed computation ability, and its characteristics are: 50MHz operating frequency, 32 position datawires, 18kRAM, 128kFLASH, 16 passage PWM, 3 timers, 2 full duplex SCI serial ports.By RS-422 serial ports swap data, select for use DS26C31 and DS26C32 between camera controller system and the lens cone system as RS-422 serial communication interface chip.
2, the camera controller system calculates camera transversal scanning angle 2 β according to current phase machine speed height ratio, index Duplication according to formula (1), determine lens barrel scanning initial position, scanning starting position and scan end position, lens barrel photo opporunity t according to target inclination angle and aircraft roll angle again
ClapWith the lens barrel period T of taking pictures.The camera controller system sends to lens cone system with these five running parameters in real time by serial ports.
3, lens cone system selects for use the TMS320F2812 of TIX (TI) as master controller equally.Select for use DS26C31 and DS26C32 as RS-422 serial communication interface chip, carry out serial communication with the camera controller system.After lens cone system is received the running parameter that the camera controller system sends, adopt T1 and two timers of T2 to clap regularly to take pictures period T and lens barrel photo opporunity t of lens barrel.Adopt two I/O mouths to send location/velocity signal and photography pulse signal.
4, mirror system, focusing system, light adjusting system and roll system select TIX (TI) respectively for use TMS320F2812 as master controller, the location/velocity signal and the photography pulse signal that adopt two I/O mouths to receive equally respectively to send by lens cone system.
5, receive the location/velocity signal and photography pulse signal that lens cone system sends after, mirror system is carried out IMC, focusing system carries out automatic focusing, light adjusting system carries out with an automatic light meter, the roll system carries out the roll compensation.Each system finishes the consistency of function sequential during taking pictures, and has guaranteed that camera satisfies the requirement of index Duplication.
Claims (3)
1, the control method of panoramically aerial camera photographing signals is characterized in that concrete control method is:
1) the camera controller system calculates lens barrel scanning initial position, scanning starting position, scan end position, photo opporunity t according to fast height ratio, index Duplication, target inclination angle and the roll angle of aircraft current time
ClapWith the period T of taking pictures, these five running parameters send to lens cone system in real time by serial ports;
2) after lens cone system is received photographing instruction, send location/velocity signal low level at the scanning initial position, lens barrel is controlled by speed loop, and does a timing 1 with the period T of taking pictures;
3) when lens barrel arrives the scanning starting position, lens cone system sends photography pulse signal low level, and camera begins to take pictures, and this moment is with photo opporunity t
ClapDo a timing 2;
4) t
ClapRegularly 2 times sent photography pulse signal high level and location/velocity signal high level to lens cone system, the end of taking pictures, and lens barrel is controlled by position loop, turns back to the scanning initial position;
5) when lens barrel arrives the scanning initial position, judge the timing 1 of T, if T 1 time of timing arrives, then lens cone system sends location/velocity signal low level, begins new once photo taking; If T 1 time of timing does not arrive, lens barrel continues to wait at the scanning initial position, more than is exactly the control method of panoramically aerial camera photographing signals.
2, the control method of panoramically aerial camera photographing signals according to claim 1 is characterized in that adopting two timers of T1 and T2 to lens barrel take pictures period T and lens barrel photo opporunity t
ClapRegularly.
3, the control method of panoramically aerial camera photographing signals according to claim 1 is characterized in that adopting two I/O mouths to send and receiving position/rate signal and photography pulse signal.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806987A (en) * | 2010-04-12 | 2010-08-18 | 中国科学院长春光学精密机械与物理研究所 | Focus detecting and controlling device of aerial camera |
| CN104079834A (en) * | 2014-07-02 | 2014-10-01 | 中国科学院长春光学精密机械与物理研究所 | Calculating method of picture taking cycles of panorama type aerial camera |
| CN104107063A (en) * | 2013-04-18 | 2014-10-22 | 上海联影医疗科技有限公司 | Medical image scanning method and device |
| CN105763815A (en) * | 2016-05-05 | 2016-07-13 | 胡央 | Camera shooting equipment for adjusting shooting interval automatically and control method of camera shooting equipment |
| CN106603905A (en) * | 2016-10-27 | 2017-04-26 | 合肥欣奕华智能机器有限公司 | Control device of industrial camera |
| US10634494B2 (en) | 2015-04-14 | 2020-04-28 | Vito Nv | System and method for processing images of a ground surface |
-
2009
- 2009-09-02 CN CN200910067483A patent/CN101635798A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806987A (en) * | 2010-04-12 | 2010-08-18 | 中国科学院长春光学精密机械与物理研究所 | Focus detecting and controlling device of aerial camera |
| CN101806987B (en) * | 2010-04-12 | 2011-04-20 | 中国科学院长春光学精密机械与物理研究所 | Focus detecting and controlling device of aerial camera |
| CN104107063A (en) * | 2013-04-18 | 2014-10-22 | 上海联影医疗科技有限公司 | Medical image scanning method and device |
| CN104079834A (en) * | 2014-07-02 | 2014-10-01 | 中国科学院长春光学精密机械与物理研究所 | Calculating method of picture taking cycles of panorama type aerial camera |
| CN104079834B (en) * | 2014-07-02 | 2017-07-14 | 中国科学院长春光学精密机械与物理研究所 | The computational methods in panoramically aerial camera photographing cycle |
| US10634494B2 (en) | 2015-04-14 | 2020-04-28 | Vito Nv | System and method for processing images of a ground surface |
| CN105763815A (en) * | 2016-05-05 | 2016-07-13 | 胡央 | Camera shooting equipment for adjusting shooting interval automatically and control method of camera shooting equipment |
| CN105763815B (en) * | 2016-05-05 | 2019-05-21 | 昆山阳翎机器人科技有限公司 | A kind of picture pick-up device and its control method of adjust automatically shooting interval |
| CN106603905A (en) * | 2016-10-27 | 2017-04-26 | 合肥欣奕华智能机器有限公司 | Control device of industrial camera |
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Open date: 20100127 |