CN102595049B - Automatic focusing control system and method - Google Patents
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Abstract
The invention relates to a field of automatic optical focusing and provides an automatic focusing control system and a method. The method includes the steps of A. adjusting a distance between an imaging device and a picture acquisition position more than once by a focusing module; B. using the imaging device to acquire images after an image acquisition module receives an image acquisition command, so that images are obtained; C. filtering out interference signals in every image after an image processing module receives images, and obtaining the best focusing position through analysis according to the intensity of effective signals in every image; and D. controlling the imaging device to move to the best focusing position after the focusing module receives a command that the best focusing position is focused. The system comprises the focusing module, the image acquisition module and the image processing module. The system and the method enable automatic focusing to be precise.
Description
Technical field
The present invention relates to optics automatic focus field, more particularly, relate to a kind of auto focus control system and method.
Background technology
Automatic focus is one of key technology in imaging system, it is the key factor of the picture quality that determines that imaging device becomes, it is the first step of obtaining picture rich in detail, focusing performance depends on accuracy and the validity of focusing function, and focusing function must have that unbiasedness is good, unimodality is strong and the usefulness such as noiseproof feature is strong.
In a kind of prior art, manual adjustments imaging device with adopt after the distance of figure position, also be manual focusing, make the lens moving of imaging device, gather multiple images, definition to multiple images that gather is carried out two point focusing filter function analyses, draws self-focusing focus point, and imaging device is adopted figure at focus point.In this technical scheme, owing to having interference signal in the image gathering, each signal intensity profile tracing pattern focusing on is out different, simultaneously, the definition of image is analyzed inaccuracy, make the not actual optimum position focusing on of best focus position of this scheme gained, thereby make automatic focus inaccuracy, what finally cause collecting is image blurring unclear; In addition, utilize the focal length of manual adjustments imaging device, because human eye exists error, make to focus on inaccurate; In addition, in system, store a large amount of hashes, the memory space of waste system.
Therefore the auto focus control system and method that, needs automatic focus position, a kind of accurate location.
Summary of the invention
The object of the present invention is to provide a kind of auto focus control system and method, be intended to solve prior art imaging device automatic focus position inaccuracy and cause focusing on failed problem.
In order to realize the object of the invention, auto focus control system comprises focusing module, adopts module and image processing module.Described focusing module, for regulating imaging device and adopting the distance of figure position, and regulates imaging device to arrive best focus position; The described module of adopting, gathers image for controlling imaging device; Described image processing module, for the interference signal of every image of filtering, the size according to useful signal intensity in every image, obtains best focus position by analysis.
Wherein, described image processing module comprises: image filtering module and image analysis module.Described image filtering module, for utilizing the interference signal of every image of Multi-point focusing filter function filtering, obtains the useful signal intensity of every image; Described image analysis module, for according to the useful signal intensity fitted signal intensity profile curve of image, the distribution by signal strength signal intensity in analyte signal intensity distribution curve, obtains best focus position.
Wherein, described Multi-point focusing filter function is any Multi-point focusing filter function.Preferably, the Multi-point focusing filter function that described Multi-point focusing filter function is 4.
Wherein, described in adopt module and control imaging device and can gather coloured image, also can gather gray level image.Described image processing module comprises: image conversion module; Described image conversion module, for being converted to gray level image by the coloured image of adopting module collection.
Wherein, described image processing module can matching one or more signal intensity profile curve.The one or more signal intensity profile curve that described signal intensity profile curve fits to according to the size of useful signal intensity.Wherein, useful signal intensity is the signal strength signal intensity of this image, is also the signal strength signal intensity of the image after filtering interference signals.
Wherein, described image processing module, by unimodality and the monotonicity of analyte signal intensity distribution curve, obtains best focus position.
Wherein, described focusing module is controlled imaging device and is focused with the step-length Cr moving lens of creeping, and adopts module and controls imaging device at an image of each focal length place collection.
Wherein, described system also comprises: image clean-up module.Described image clean-up module, the image of processing for clearing up image processing module image.
Technique scheme has realized the accurate location of automatic focus position, thereby provides the foundation for photographing image clearly.
In order better to realize goal of the invention, the present invention also provides a kind of self-focusing control method, comprising: steps A. and focusing module repeatedly regulates imaging device and adopts the distance of figure position, and the instruction of collection image is issued and adopted module; Step B. adopts module after receiving the instruction of collection image, utilizes imaging device to gather image, obtains image; Step C. image processing module after receiving image, the interference signal in every image of filtering, the size according to useful signal intensity in every image, obtains best focus position by analysis, and the instruction of focusing to best focus position is issued to focusing module; Step D. focusing module receives focuses to the instruction of best focus position, controls imaging device and moves to best focus position.
Wherein, the image of adopting module collection described in can be that coloured image can be also gray level image.
Wherein, image processing module can be according to the image matching one or more signal intensity profile curve of filtering interference signals.Wherein said intensity curves is according to size matching one or more signal intensity profile curve on two-dimensional space of the useful signal intensity of the image after filtering interference signals (signal strength signal intensity of the image after filtering interference signals be called the useful signal intensity of image or referred to as the signal strength signal intensity of image).
Wherein, described step C comprises: step C1. image processing module receives after image, utilizes the interference signal in every image of Multi-point focusing filter function filtering, obtains the useful signal intensity of every image; Step C2. image processing module, according to the useful signal intensity fitted signal intensity profile curve of image, and then by the distribution of signal strength signal intensity in analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module.
Wherein, described step C2 comprises: step C21. image processing module is according to signal strength signal intensity fitted signal intensity profile curve; The screening of step C22. image processing module meets the signal intensity profile curve of normal distribution; Step C23. image processing module utilizes monotonicity evaluation function and unimodality evaluation function, evaluates the signal intensity profile curve that meets normal distribution, obtains optimum signal strength distribution curve; Step C24. image processing module is analyzed optimum signal strength distribution curve, obtains best focus position; Step C25. image processing module is issued focusing module by the instruction of focusing to best focus position.
Preferably, described unimodality evaluation function is:
Or
Preferably, described monotonicity evaluation function is:
Or
The collection position of the image that preferably, the peak of described optimum signal strength distribution curve is corresponding is best focus position.
Wherein, after described step B, also comprising: step B '. image conversion module, after receiving coloured image, converts coloured image to gray level image.
Wherein, after described step D, also comprise: step e. when receiving, focusing module focuses to the instruction of best focus position, the image in image clean-up module cleaning image processing module.
Above-mentioned auto focus control system, by filtering interference signals, makes automatic focus more accurate; In addition, image conversion module is converted to gray level image by coloured image, adopts the rubbish in cleaning module Automatic clearance system, makes the available memory space of system larger.Simultaneously, above-mentioned self-focusing control method filtering interference signal, image after filtering interference signals is analyzed, it is more accurate to analyze, make gained focal position more accurate, in addition, above-mentioned control method is converted to gray level image by coloured image, and image in imaging device is cleared up, greatly saved the memory space of imaging device.
Accompanying drawing explanation
Fig. 1 is the structural representation of auto focus control system in one embodiment of the invention;
Fig. 2 is the structural representation of image processing module in one embodiment of the invention;
Fig. 3 is the structural representation of image processing module in another embodiment of the present invention;
Fig. 4 is the structural representation of auto focus control system in another embodiment of the present invention;
Fig. 5 is autofocus control method flow chart in one embodiment of the invention;
Fig. 6 is the method flow that gathers multiple images in one embodiment of the invention;
Fig. 7 is the method flow diagram that in one embodiment of the invention, image is processed;
Fig. 8 is the method flow diagram that obtains best focus position in one embodiment of the invention;
Fig. 9 is the method flow diagram of the signal intensity profile curve of matching in one embodiment of the invention;
Figure 10 is self-focusing control method flow process in another embodiment of the present invention;
Figure 11 is self-focusing control method flow process in another embodiment of the present invention;
Figure 12 is self-focusing control method flow process in another embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.
Fig. 1 shows the structural representation of auto focus control system in one embodiment of the invention.This system comprises:
(1) focusing module 1, for regulating imaging device and adopting the distance of figure position, and regulates imaging device to arrive best focus position.
(2) adopt module 2, for controlling imaging device, gather image.
(3) image processing module 3, and for the interference signal of every image of filtering, the size according to useful signal intensity in every image, obtains best focus position by analysis.
Imaging device in this enforcement is without particular restriction, general camera.Be preferably the combination of microscope and CCD.In the present embodiment, focusing module 1 regulates imaging device and adopts the distance between figure position, and the instruction that gathers image is issued and adopted module 2; Adopt module 2 and receive after the instruction that gathers image, control imaging device and gather image, and the image of collection is issued to image processing module 3; Image processing module receives after image, interference signal in filtering image, and the signal intensity profile curve of the image after matching filtration, analyte signal intensity distribution curve, best focus position, and issue focusing module 1 by focusing to the instruction of best focus position; Focusing module 1 receives focuses to the instruction of best focus position, regulates imaging device to best focus position.Wherein, described focusing module 1 is controlled imaging device and is moved, for repeatedly regulating imaging device and the distance of adopting figure position, and also i.e. focusing; The every adjusting of focal length once, is adopted module 2 and is controlled an image of imaging device collection, regulates repeatedly focal length, gathers multiple images, obtains the image of multiple images.
In the present embodiment, filtering interference signals can obtain the useful signal in every image, in every image the signal value of useful signal and be the signal strength signal intensity of every image.According to the signal strength signal intensity of multiple images, fitted signal intensity profile curve.
In the present embodiment, adopt module 1 control imaging device and can gather coloured image, also can gather gray level image.Preferably, adopt module 1 and control imaging device collection gray level image.
In the present embodiment, focusing module can be controlled to as device and move; Also can fixed imaging device, adopt graph region and move.Preferably, in the present embodiment, focusing module is controlled imaging device and is focused with the step-length Cr moving lens of creeping, and adopts module and controls imaging device at an image of each focal length place collection.
In the technical scheme of the present embodiment, image processing module, the interference signal of filtering image, makes the image after filtering interference signals more reliable, thereby has guaranteed that the data of participation successive image analysis are more accurate, finally makes self-focusing position more accurate.Meanwhile, focusing module is controlled imaging device moving lens and is focused, and has reduced the error of manual adjustment, has guaranteed the precision regulating.
It should be noted that, the annexation between said system, is annexation in logic, represents the transmission of instruction between modules.
Embodiment based on Fig. 1, the present invention proposes an embodiment, described image processing module matching one bars strength distribution curve.Described image processing module filters the interference signal of an image, utilizes the signal strength signal intensity of all images after filtering, and simulates a curve, is signal intensity profile curve.
Embodiment based on Fig. 1, the present invention proposes another embodiment, described many barss of image processing module matching strength distribution curve.Described image processing module filters the interference signal of an image, utilizes the signal strength signal intensity of all images after filtering, and simulates a curve, is signal intensity profile curve; The interference signal of image processing module multiple times of filtration image, once, curve of matching, gets final product to obtain many barss strength distribution curve in every filtration.
In the present embodiment, many barss of matching strength distribution curve, utilizes many barss strength distribution curve to carry out comparative analysis, thereby makes the automatic focus position of final gained more accurate.
Based on Multi-point focusing filter function, the present invention proposes an embodiment, and Multi-point focusing filter function adopts two point focusing filter functions:
f(x,y)＝|g(x+s,y+s)+g(x-s,y-s)-2g(x,y)|≥L。
Wherein, the pixel value that g (x, y) presentation video mid point (x, y) is located; S is constant, represents step-length, and L is constant, represents threshold value.When f (x, y) < L, this point of filtering; When f (x, y) >=L, retain this point.
Based on Multi-point focusing filter function, the present invention proposes another embodiment, and Multi-point focusing filter function adopts four point focusing filter functions:
f(x,y)＝|g(x+s,y)+g(x-s,y)+g(x,y+sp)+g(x,y-sp)-4g(x,y)|≥L。
Wherein, the pixel value that g (x, y) presentation video mid point (x, y) is located; S and sp are constant, all represent step-length, and s and sp can be the same or different; L is constant, represents threshold value.When f (x, y) < L, this point of filtering, also the g (x, y) at this place is interference signal; When f (x, y) >=L, retain this point, also the g (x, y) at this place is useful signal.
In above-mentioned two embodiment, the signal value that f (x, y) is located as g (x, y), add up useful signal in every image signal value and, can obtain the signal strength signal intensity of every image.Under same step-length and threshold value, utilize the signal strength signal intensity matched curve of multiple images, obtain a bars strength distribution curve.Change step-length or threshold value, utilize the signal strength signal intensity matched curve of multiple images, obtain different signal intensity profile curves, analyte signal intensity distribution curve, obtains best focus position.Wherein, unimodality and monotonicity by analyte signal intensity distribution curve, obtain best focus position.
The technical scheme of above-mentioned two embodiment, utilizes Multi-point focusing filter function to filter interference signal, and filtering interference signals, retains useful signal, guarantees the reliability of subsequent analysis; Meanwhile, adopt many barss strength distribution curve to obtain best focus position, prevented that the reasons such as error from causing the signal intensity profile curve inaccuracy of matching, cause the best focus position that draws inaccurate, thereby make the inaccurate phenomenon of automatic focus.
Fig. 2 shows the structural representation of image processing module in one embodiment of the invention, and as shown in the figure, image processing module comprises:
(1) image filtering module 31, for utilizing the interference signal of every image of Multi-point focusing filter function filtering, obtain the useful signal intensity of every image.
(2) image analysis module 32, for according to the distribution of signal intensity profile curve signal strength signal intensity, obtain best focus position.
In the present embodiment, image filtering module 31 receives after image, utilize the interference signal of Multi-point focusing filter function filtering image, obtain the signal value of useful signal, and the signal value of the useful signal in every image of statistical analysis, obtain the signal strength signal intensity of every image, and the signal strength signal intensity of every image is issued image analysis module 32; Image analysis module 32 receives after the signal strength signal intensity of every image, and according to signal strength signal intensity fitted signal intensity profile curve, analyte signal intensity distribution curve, obtains best focus position, and the instruction of focusing to best focus position is issued to focusing module.
In the present embodiment, utilizing Multi-point focusing filter function is eight point focusing filter functions:
In the present embodiment, to adopting the signal strength signal intensity of multiple images of same step-length and same threshold value to carry out matching, obtain a bars strength distribution curve; Change step-length or threshold value, obtain the signal strength signal intensity of multiple images, the signal strength signal intensity of multiple images is carried out to the signal intensity profile curve that matching obtains multiple images.
Technical scheme of the present invention, utilizes Multi-point focusing filter function, comprehensive g (x, y) each point around, take into full account g (x, y) poor with pixel around, thereby accurately judge g (x, y) strong and weak with signal around, then, utilize the poor very approaching signaling point of threshold filtering pixel, thereby guarantee that the point retaining more approaches real useful signal, improve the precision that signal filters, thereby guaranteed the reliability of the data after filtration.
Fig. 3 shows the structural representation of image processing module in another embodiment of the present invention, and described module comprises:
(1) image conversion module 30, for coloured image is converted to gray level image;
(2) image filtering module 31, for utilizing the interference signal of Multi-point focusing filter function filtering image, obtain the signal value of useful signal, and the signal value of the useful signal in every image of statistical analysis, obtain the signal strength signal intensity of every image;
(3) image analysis module 32, and for received signal strength, according to signal strength signal intensity fitted signal intensity profile curve, analyte signal intensity distribution curve, obtains best focus position
In the present embodiment, imaging device gathers coloured image.Image conversion module receives after coloured image, and coloured image is converted to gray level image, and the image after conversion is issued to image filtering module 31; Image filtering module 31 receives after image, utilize the interference signal of Multi-point focusing filter function filtering image, obtain the signal value of useful signal, and the signal value of the useful signal in every image of statistical analysis, obtain the signal strength signal intensity of every image, and the signal strength signal intensity of every image is issued image analysis module 32; Image analysis module 32 receives after the signal strength signal intensity of every image, and according to signal strength signal intensity fitted signal intensity profile curve, analyte signal intensity distribution curve, obtains best focus position, and the instruction of focusing to best focus position is issued to focusing module.
Described image conversion module 30 is converted into gray level image by coloured image, and the processing method that this coloured image is converted into gray level image can be any one in maximum value process, mean value method and weighted average method.The technical scheme of the present embodiment, image conversion module 30 is converted to gray level image by coloured image, makes system not be only applicable to gray level image analysis, is also applicable to Color Image Analysis, makes the applicability of system wider; Meanwhile, also greatly saved the memory space of system.
Fig. 4 shows the structural representation of auto focus control system in another embodiment of the present invention, and described system comprises:
(1) focusing module 1, for regulating imaging device and adopting the distance of figure position, and regulates imaging device to arrive best focus position.
(2) adopt module 2, for controlling imaging device, gather image.
(3) image processing module 3, and for the interference signal of every image of filtering, the size according to useful signal intensity in every image, obtains best focus position by analysis.
(4) image clean-up module 4, for clearing up the image of image processing module 3.
In the present embodiment, focusing module 1 regulates imaging device and adopts after the distance of figure position, the instruction that gathers image is issued and adopted module 2, adopting module 2 receives after the instruction that gathers image, control imaging device and gather image, the every adjusting imaging device of focusing module 1 moves once, adopts module 2 and gathers an image, and all images that gather are issued to image processing module 3; Image processing module 3 receives after image, filter the interference signal of filtering image, and the signal intensity profile curve of the image after matching filtration, analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module, the instruction of cleaning image is issued to image clean-up module 4; Focusing module 1 regulates imaging device to best focus position; Image in image clean-up module 4 cleaning image processing modules 3.
In the technical scheme of the present embodiment, focusing module 1 has been realized the automatic focusing of imaging device, make focusing more accurate, meanwhile, the interference signal in image processing module filtering image, makes graphical analysis more accurate, thereby the best focus position obtaining is more accurate, in addition, the image clean-up module 4 of the present embodiment has been removed the data that do not re-use in system, thereby has greatly saved the memory space of system.
In order better to realize object of the present invention, the present invention also comprises a kind of self-focusing control method.
Fig. 5 shows autofocus control method flow chart in one embodiment of the invention, and the method comprises: step S1. focusing module repeatedly regulates imaging device and adopts the distance of figure position, and the instruction of collection image is issued and adopted module.Step S2. adopts module after receiving the instruction of collection image, utilizes imaging device to gather image, obtains image.Step S3. image processing module after receiving image, the interference signal in every image of filtering, the size according to useful signal intensity in every image, obtains best focus position by analysis, and the instruction of focusing to best focus position is issued to focusing module.Step S4. focusing module is focused to the instruction of best focus position in reception, controls imaging device and moves to best focus position.
In the present embodiment, imaging device can gather coloured image, also can gather gray level image.Preferably, in the present embodiment, imaging device gathers coloured image.Wherein, described imaging device is for can adopt the device of figure arbitrarily, as camera, CCD and microscopical combination, mobile phone etc.
In the present embodiment, imaging device can move; When imaging device is fixedly time, removable position of adopting figure position, to regulate the distance between imaging device and Cai Tu position.Preferably, in the present embodiment, imaging device regulates the distance between imaging device and Cai Tu position with the step-length Cr moving lens of creeping, and also focuses, and adopts module and controls imaging device at an image of each focal length place collection, thereby obtain multiple images.
The technical scheme of the present embodiment, filtering interference signals, processes reliable analysis data is provided for successive image, thereby makes to focus on more accurate.In addition, by the distance of controlling imaging device adjusting imaging device and adopt between figure position, realize automatic focusing, avoid the inaccuracy of manual focusing, thereby realized accurate automatic focus.
For the Multi-point focusing filter function in Fig. 5 embodiment, the present invention proposes an embodiment.Multi-point focusing filter function is two point focusing filter functions, and it is: f (x, y)=| g (x+s, y+s)+g (x-s, y-s)-2g (x, y) | >=L.
Wherein, the pixel value that g (x, y) presentation video mid point (x, y) is located; S is constant, represents step-length, and L is constant, represents threshold value.When f (x, y) < L, this point of filtering; When f (x, y) >=L, retain this point.
For the Multi-point focusing filter function in Fig. 5 embodiment, the present invention proposes another embodiment.Multi-point focusing filter function adopts four point focusing filter functions:
f(x,y)＝|g(x+s,y)+g(x-s,y)+g(x,y+sp)+g(x,y-sp)-4g(x,y)|≥L。
Wherein, the pixel value that g (x, y) presentation video mid point (x, y) is located; S and sp are constant, all represent step-length, and s and sp can be the same or different; L is constant, represents threshold value.When f (x, y) < L, this point of filtering, also the g (x, y) at this place is interference signal; When f (x, y) >=L, retain this point, also the g (x, y) at this place is useful signal.
In the embodiment based on shown in Fig. 5, after changing step-length and/or threshold value, can obtain the unlike signal intensity of same image.Multiple images are adopted to same step-length and threshold filtering interference signal, calculate signal strength signal intensity, can matching one bars strength distribution curve, when changing step-length and/or threshold value, can many barss strength distribution curve.
Fig. 6 shows the method flow that gathers multiple images in one embodiment of the invention, and the method comprises: step S21. adopts the collection image instruction that focusing module of the every reception of module is sent, and adopts module and gathers an image at this focal length place; Step S22. obtains multiple images.
In the present embodiment, the camera lens of mobile imaging device, take the position at the current place of imaging device camera lens is initial point, mobile for the first time after, imaging device distance of camera lens initial point be-Cr that after movement, imaging device distance of camera lens initial point is Cr for the second time; After moving for the third time, imaging device distance of camera lens initial point is-2Cr that, after the 4th movement, imaging device distance of camera lens initial point is 2Cr; After the 2n-1 time movement, imaging device distance of camera lens initial point is-nCr that, after the 2n time movement, imaging device distance of camera lens initial point is nCr.Wherein, n is natural number.
Cr is the length of creeping, and is also displacement, and the value of Cr is not limit.
Preferably, the value of Cr is between 0.3 μ m and 1.0 μ m.
Preferred, the value of Cr is 0.7 μ m.
In the present embodiment, with sequencing reaction chamber, for adopting graph region, in step S21, for the same position in sequencing reaction chamber, gather image.Also, every mobile imaging device once, gathers one for the same position in sequencing reaction chamber and gathers image; Repeatedly mobile imaging device, just can obtain multiple and gather image.The quantity of the collection image wherein, gathering is not limit.
Preferably, the quantity that gathers image is between 20 to 100.
Preferred, the quantity that gathers image is 60.
In the present embodiment, utilize focusing module with the camera lens of certain step-length automated movement imaging device of creeping, guarantee that imaging device focusing is more accurate.
Fig. 7 shows the method flow diagram that in one embodiment of the invention, image is processed.The method comprises:
Step S31. image processing module receives after image, utilizes the interference signal in every image of Multi-point focusing filter function filtering, obtains the useful signal intensity of every image.Step S32. image processing module, the distribution according to signal strength signal intensity in signal intensity profile curve, obtains best focus position, and the instruction of focusing to best focus position is issued to focusing module.
In the technical scheme of the present embodiment, by the filtering to interference signal, can effectively obtain useful signal intensity, thereby provide guarantee for obtaining best focus position.
Fig. 8 shows the method flow diagram that obtains best focus position in one embodiment of the invention.The method comprises: step S321. image processing module is according to signal strength signal intensity fitted signal intensity profile curve; The screening of step S322. image processing module meets the signal intensity profile curve of normal distribution; Step S323. image processing module utilizes monotonicity evaluation function and unimodality evaluation function, evaluates the signal intensity profile curve that meets normal distribution, obtains optimum signal strength distribution curve; Step S324. image processing module is analyzed optimum signal strength distribution curve, obtains best focus position; Step S325. image processing module is issued focusing module by the instruction of focusing to best focus position.
In the present embodiment, image processing module is according to signal strength signal intensity, many barss of matching strength distribution curve; Then, judge whether every curve meets normal distribution, if there is no meets the curve of normal distribution, focusing module readjusts imaging device and adopts the distance between graph region, adopts module and gathers image, and image processing module is processed image; If there is curve to meet normal distribution, evaluate the signal intensity profile curve that meets normal distribution, obtain optimum signal strength distribution curve; Then on optimum signal strength distribution curve, choose best focus position; Finally the instruction of focusing to best focus position is issued to focusing module.
Based on a upper embodiment, for best focus position, the present invention proposes an embodiment.During matching one bars strength distribution curve, the position that signal intensity profile curve peak is corresponding is best focus position; Many barss of matching strength distribution curve, in many barss strength distribution curve, meet normal distribution and symmetry and monotonicity evaluation of estimate the highest for best signal intensity profile curve, the peak of this curve is best focus position.
Embodiment based in Fig. 8, for best focus position, the present invention proposes another embodiment.During matching one bars strength distribution curve, the average focal length of adopting figure position that signal intensity profile curve distance peak both sides are corresponding, is best focus position; During many barss of matching strength distribution curve, meet normal distribution and symmetry and monotonicity evaluation of estimate the highest for best signal intensity profile curve, the average focal length of adopting figure position that these curve peak both sides are corresponding, is best focus position.
For optimum signal strength distribution curve, the present invention proposes an embodiment, and first, whether Detection curve meets normal distribution; Then, to meeting the curve of normal distribution, adopt function Q (s)=K
1b (s)+K
2c (s) evaluates, and evaluating the highest is optimum signal strength distribution curve.Wherein, b (s) is unimodality evaluation function; C (s) is monotonicity evaluation function, K
1and K
2for constant.
For unimodality evaluation function, the embodiment based on shown in Fig. 8, the present invention proposes an embodiment,
In the present embodiment, F
maxfor the maximum of signal intensity profile curve, F
ifor on this curve, certain puts corresponding value, | D
i| be F
icorresponding point is to the distance of maximum of points, and M represents to participate in the number of the image of matched curve.
For unimodality evaluation function, the embodiment the present invention based on shown in Fig. 8 proposes another embodiment,
In the present embodiment, F
maxfor the maximum of signal intensity profile curve, F
ifor on this curve, certain puts corresponding value, | D
i| be F
icorresponding point is to the distance of maximum of points, and M represents to participate in the number of the image of matched curve.
For monotonicity evaluation function, the embodiment the present invention based on shown in Fig. 8 proposes an embodiment,
In the present embodiment, F
ifor on signal intensity profile curve, certain puts corresponding value, M represents to participate in the number of the image of matched curve, | D
i| be F
icorresponding point is to the distance of maximum of points.
For monotonicity evaluation function, the embodiment the present invention based on shown in Fig. 8 proposes another embodiment,
In the present embodiment, F
ifor on signal intensity profile curve, certain puts corresponding value, M represents to participate in the number of the image of matched curve, | D
i| be F
icorresponding point is to the distance of maximum of points.
Fig. 9 shows the method flow diagram of the signal intensity profile curve of matching in one embodiment of the invention.In the method, identical multiple images utilize respectively the interference signal of different step-lengths and different threshold filtering, utilize the signal strength signal intensity fitted signal intensity profile curve of useful signal, as shown in the A in Fig. 9, B, C, obtain the peak of every bars strength distribution curve, using peak as best focal point, adopt respectively figure.From A, the B of Fig. 9, C, can find out, C is the most clear.Relatively A, B, C tri-pictures, can the apparent B of knowing and C in signal intensity profile curve meet normal distribution, utilize curve evaluation function, in known Fig. 9, the Q of C (s) is greater than the Q in B (s) in Fig. 9.Known through focus analysis, the signal intensity profile curve of three matchings, the C in Fig. 9 is optimum signal strength distribution curve, the focus point while being also this image of collection corresponding to the peak of the curve of C in Fig. 9 is best focus position.
Figure 10 shows self-focusing control method flow process in another embodiment of the present invention, and the method comprises: step S1. focusing module repeatedly regulates imaging device and adopts the distance of figure position, and the instruction of collection image is issued and adopted module; Step S2. adopts module after receiving the instruction of collection image, gathers coloured image, and the coloured image of collection is issued to image conversion module; S2 '. image conversion module, after receiving coloured image, converts coloured image to gray level image, and image is issued to image processing module; Step S3. image processing module is after receiving image, interference signal in filtering image, the signal intensity profile curve of the image after matching is filtered, analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module; Step S4. focusing module is focused to the instruction of best focus position receiving, and controls imaging device and moves to best focus position.
In the present embodiment, image conversion module is converted to gray level image by the coloured image collecting, and the system memory space that image is taken is less, and meanwhile, efficiency when image is processed also can improve greatly.
Figure 11 shows self-focusing control method flow process in another embodiment of the present invention, and the method comprises: step S1. focusing module repeatedly regulates imaging device and adopts the distance of figure position, and the instruction of collection image is issued and adopted module; Step S2. adopts module after receiving the instruction of collection image, gathers image, and the image of collection is issued to image processing module; Step S3. image processing module is after receiving image, interference signal in filtering image, the signal intensity profile curve of the image after matching is filtered, analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module; Step S4. focusing module is focused to the instruction of best focus position receiving, and controls imaging device and moves to best focus position; S5. when receiving, focusing module focuses to the instruction of best focus position, the image in image clean-up module cleaning image processing module.
Image after image clean-up module cleaning in the present embodiment is processed, has saved the memory space of system greatly, has also saved the work of labor cleaning's system rubbish simultaneously.
Figure 12 shows self-focusing control method flow process in another embodiment of the present invention, and the method comprises: step S1. focusing module repeatedly regulates imaging device and adopts the distance of figure position, and the instruction of collection image is issued and adopted module; Step S2. adopts module after receiving the instruction of collection image, gathers coloured image, and the coloured image of collection is issued to image conversion module; S2 '. image conversion module, after receiving coloured image, converts coloured image to gray level image; Step S3. image processing module is after receiving image, interference signal in filtering image, the signal intensity profile curve of the image after matching is filtered, analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module; Step S4. focusing module is focused to the instruction of best focus position receiving, and controls imaging device and moves to best focus position; S5. when receiving, focusing module focuses to the instruction of best focus position, the image in image clean-up module cleaning image processing module.
Image conversion module in the present embodiment is converted to gray level image by coloured image, and the image after the cleaning of image clean-up module is processed, has saved the memory space of system greatly, has also saved the work of labor cleaning's system rubbish simultaneously.
It should be noted that in all diagrams of the present invention, the annexation between each module is in order clearly to set forth the needs of its information interaction control procedure, therefore should be considered as control relation in logic, and should not be limited to physical connection or wireless connections.It should be noted that the typical application of structure of the present invention is not limited to auto focus control system, the application in other similar devices or system also should belong in protection scope of the present invention.The application of typical auto focusing method of the present invention is not limited to order-checking and adopts map device, and the automatic focus in other equipment also should belong to the scope that comprises of the present invention.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (14)
1. an auto focus control system, is characterized in that, comprising: focusing module, adopt module and image processing module;
Described focusing module, for regulating imaging device and adopting the distance of figure position, and regulates imaging device to arrive best focus position;
The described module of adopting, gathers image for controlling imaging device, and the Polaroid device of the every adjusting of described focusing module and the distance of adopting figure position are adopted module and controlled an image of imaging device collection;
Described image processing module, for utilizing the interference signal of every image of Multi-point focusing filter function filtering, the big or small fitted signal intensity profile curve according to useful signal intensity in every image, obtains best focus position by analysis;
Described Multi-point focusing filter function is poor with pixel around by each pixel in process decision chart picture, then utilizes the poor very approaching signaling point of threshold filtering pixel.
2. auto focus control system according to claim 1, is characterized in that, described image processing module comprises: image filtering module and image analysis module;
Described image filtering module, for utilizing the interference signal of every image of Multi-point focusing filter function filtering, obtains the useful signal intensity of every image;
Described image analysis module, for according to the useful signal intensity fitted signal intensity profile curve of image, the distribution by signal strength signal intensity in analyte signal intensity distribution curve, obtains best focus position;
Described Multi-point focusing filter function is two point focusing filter functions, four point focusing filter functions or eight point focusing filter functions.
3. auto focus control system according to claim 1, is characterized in that, the Multi-point focusing filter function that described Multi-point focusing filter function is 4.
4. auto focus control system according to claim 1, is characterized in that, described image processing module comprises: image conversion module;
Described image conversion module, for being converted to gray level image by the coloured image of adopting module collection.
5. auto focus control system according to claim 1, is characterized in that, described image processing module, by unimodality and the monotonicity of analyte signal intensity distribution curve, obtains best focus position.
6. auto focus control system according to claim 1, is characterized in that, described focusing module is controlled imaging device and focused with the step-length Cr moving lens of creeping, and adopts module and controls imaging device at an image of each focal length place collection.
7. according to the auto focus control system described in any one in claim 1 to 6, it is characterized in that, described system also comprises: image clean-up module;
Described image clean-up module, for clearing up the image of image processing module.
8. a self-focusing control method, is characterized in that, method comprises the following steps:
A. focusing module repeatedly regulates imaging device and adopts the distance of figure position, and after each adjusting, will gather accordingly image instruction and issue and adopt module;
B. adopt module after receiving the instruction of collection image, utilize imaging device to gather image, obtain image;
C. image processing module is after receiving image, utilize the interference signal in every image of Multi-point focusing filter function filtering, according to the big or small fitted signal intensity profile curve of useful signal intensity in every image, and then obtain best focus position by analysis, and the instruction of focusing to best focus position is issued to focusing module;
D. focusing module receives and focuses to the instruction of best focus position, controls imaging device and moves to best focus position;
Described Multi-point focusing filter function is poor with pixel around by each pixel in process decision chart picture, then utilizes the poor very approaching signaling point of threshold filtering pixel.
9. self-focusing control method according to claim 8, is characterized in that, described step C comprises:
C1. image processing module receives after image, utilizes the interference signal in every image of Multi-point focusing filter function filtering, obtains the useful signal intensity of every image;
C2. image processing module, according to the useful signal intensity fitted signal intensity profile curve of image, and then by the distribution of signal strength signal intensity in analyte signal intensity distribution curve, obtain best focus position, and the instruction of focusing to best focus position is issued to focusing module;
Described Multi-point focusing filter function is two point focusing filter functions, four point focusing filter functions or eight point focusing filter functions.
10. self-focusing control method according to claim 9, is characterized in that, described step C2 comprises:
C21. image processing module is according to signal strength signal intensity fitted signal intensity profile curve;
C22. image processing module screening meets the signal intensity profile curve of normal distribution;
C23. image processing module utilizes monotonicity evaluation function and unimodality evaluation function, evaluates the signal intensity profile curve that meets normal distribution, obtains optimum signal strength distribution curve;
C24. image processing module is analyzed optimum signal strength distribution curve, obtains best focus position;
C25. image processing module is issued focusing module by the instruction of focusing to best focus position.
11. self-focusing control methods according to claim 10, is characterized in that, described unimodality evaluation function is:
Or
Described monotonicity evaluation function is:
Or
Described F
maxmaximum for signal intensity profile curve;
Described F
ifor on signal intensity profile curve, certain puts corresponding value;
Described | D
i| be F
icorresponding point is to the distance of maximum of points;
Described M represents to participate in the number of the image of matched curve.
12. self-focusing control methods according to claim 10, is characterized in that, the collection position of the image that the peak of described optimum signal strength distribution curve is corresponding is best focus position.
Self-focusing control method in 13. according to Claim 8 to 12 described in any one, is characterized in that, after described step B, also comprises:
B '. image conversion module, after receiving coloured image, converts coloured image to gray level image.
Self-focusing control method in 14. according to Claim 8 to 12 described in any one, is characterized in that, after described step D, also comprises:
E. when receiving, focusing module focuses to the instruction of best focus position, the image in image clean-up module cleaning image processing module.
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| CN103237173A (en) * | 2013-04-28 | 2013-08-07 | 中国空间技术研究院 | Adaptive quick focusing device and method for optical camera |
| CN107480672A (en) * | 2016-06-08 | 2017-12-15 | 广州康昕瑞基因健康科技有限公司 | Image-recognizing method and system and autofocus control method and system |
| CN107490850B (en) * | 2017-08-26 | 2019-11-01 | 湖南友哲科技有限公司 | A kind of sparse sample quick focusing method |
| CN108055470A (en) * | 2018-01-22 | 2018-05-18 | 努比亚技术有限公司 | A kind of method of focusing, terminal and storage medium |
| CN110673325A (en) * | 2019-09-25 | 2020-01-10 | 腾讯科技（深圳）有限公司 | Microscope system, smart medical device, auto-focusing method, and storage medium |
| CN115706854A (en) * | 2021-08-06 | 2023-02-17 | 北京小米移动软件有限公司 | Camera control method and device for foot type robot and foot type robot |
| CN113805304B (en) * | 2021-11-16 | 2022-03-18 | 浙江双元科技股份有限公司 | Automatic focusing system and method for linear array camera |
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| CN1916750A (en) * | 2006-08-24 | 2007-02-21 | 宁波大学 | Automatic focusing method of digital imaging based on Contourilct transform |
| CN1991341A (en) * | 2005-12-30 | 2007-07-04 | 财团法人工业技术研究院 | Interference pattern automatic focusing and automatic detection method |
| CN102023460A (en) * | 2009-09-21 | 2011-04-20 | 华晶科技股份有限公司 | Quick focusing method for digital camera |
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| CN1991341A (en) * | 2005-12-30 | 2007-07-04 | 财团法人工业技术研究院 | Interference pattern automatic focusing and automatic detection method |
| CN1916750A (en) * | 2006-08-24 | 2007-02-21 | 宁波大学 | Automatic focusing method of digital imaging based on Contourilct transform |
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