CN102798355B - Rotation angle detection device and method - Google Patents
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Abstract
The invention discloses a rotation angle detection device and method. The method comprises the following steps of: dividing an image sensor array into a plurality of image sensor blocks and annularly distributing the image sensor blocks to form a sensor ring, extracting pixel values of all the image sensor blocks of the sensor ring to form an annular image frame, carrying out rotation displacement processing on the annular image frames of an original image frame and a current image frame to obtain a comparing frame, and determining a rotation vector through the relevant operation of the comparing frame, thus realizing rotation angle detection by utilizing an image processing technology. The limitations of a conventional rotation detection device are overcome, and the application of the rotation detection device on a portable electronic device is benefited, so that a user can realize the rotation operation of a controlled object at any angle.
Description
Technical field
The present invention about a kind of pick-up unit and detection method, particularly to the apparatus and method that the anglec of rotation detects.
Background technology
The detection of the present anglec of rotation is detected by rotation sensor mostly, and rotation sensor is also the size by detecting mechanically deform amount or mechanicals efforts, or the change passing through electric capacity or resistance value judges the angle of rotation, the weak point component size that this kind of mode exists is larger, not easily be arranged on some portable electron devices, and for the rotation of picture normally fixed angle in existing portable electron device, the i.e. MEMS such as usual gravity sensor, the direction of sensing electronic installation, thus accordingly picture is changed at horizontal screen and perpendicular screen between display mode, namely the conversion of 90 degree is just carried out, the applied environment needing other angles to rotate cannot be applicable to.
Summary of the invention
The object of the present invention is to provide a kind of rotation angle detecting method, adopt image processing techniques to detect the anglec of rotation, cannot to the arbitrarily angled problem detected in prior art to solve.
For achieving the above object, the invention provides a kind of rotation angle detecting method, utilize a rotation angle detection apparatus, this rotation angle detection apparatus comprises image sensor array, this image sensor array is divided into multiple image sensor block, the formation sensor ring and these image sensor block distribute in the form of a ring, wherein the method comprises the steps:
Primitive frame is obtained by the image sensor array of this rotation angle detection apparatus;
Obtain the pixel value of the sensor ring of primitive frame, and this sensor ring of rotation displacement forms multiple first compares frame;
Obtain present frame, and obtain the pixel value of sensor ring, and this sensor ring of rotation displacement forms multiple second compares frame;
These first are compared frame and compare frame with second and carry out related operation, obtains maximum related value, calculate the rotating vector that this maximum related value is corresponding.
According to above-mentioned principal character, comparing frame according to the pixel value formation first of primitive frame sensor ring is by being carried out by the pixel value of this sensor ring obtaining with the image sensor block being rotated counterclockwise a unit that is shifted clockwise, the pixel value of each sensor ring of primitive frame is Y1, Y2, .Y12, then the first data Ai comparing frame that the image sensor block turning clockwise a unit is formed
1, Ai
2..., Ai
12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the first data Ai comparing frame
1, Ai
2..., Ai
12for:
Ai
1＝(1-ai)Y1+ai Y2；
Ai
2＝(1-ai)Y2+ai Y3
By parity of reasoning, and Ai
12=(1-ai) Y12+ai Y1;
And the data of the comparison frame that the image sensor block being rotated counterclockwise displacement a unit obtains are A-i
1, A-i
2, A-i
3, A-i
12for:
A-i
2＝a iY1+(1-ai)Y2；
A-i
3＝ai Y2+(1-ai)Y3；
By parity of reasoning, and A-i
1=ai Y12+ (1-ai) Y1.
According to above-mentioned principal character, comparing frame according to the pixel value formation second of present frame sensor ring is by being carried out by the pixel value of this sensor ring obtaining with the image sensor block being rotated counterclockwise a unit that is shifted clockwise, the pixel value of each sensor ring of present frame is Z1, Z2, Z12, then the second data Bi comparing frame that the image sensor block of the displacement a unit that turns clockwise is formed
1, Bi
2..., Bi
12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the second data Bi comparing frame
1, Bi
2..., Bi
12for:
Bi
1＝(1-ai)Z1+ai Z2；
Bi
2＝(1-ai)Z2+ai Z3
By parity of reasoning, and Bi
12=(1-ai) Z12+aiZ1;
And the data of the comparison frame that the image sensor block being rotated counterclockwise displacement a unit obtains are B-i
1, B-i
2, B-i
3, B-i
12for:
B-i
2＝ai Z1+(1-ai)Z2；
B-i
3＝ai Z2+(1-ai)Z3；
By parity of reasoning, and B-i
1=aiZ12+ (1-ai) Z1.
According to above-mentioned principal character, when there being multiple sensor ring, with present frame, rotation displacement process is carried out to the primitive frame of each sensor ring and forms first and second more comparatively frame, to go forward side by side line correlation computing, obtain the rotating vector that the maximum related value of each sensor ring is corresponding, afterwards these anglecs of rotation are weighted on average, obtain final rotating vector.
Compared with prior art, the present invention is by being divided into multiple image sensor block by image sensor array, and distribution forms sensor ring in the form of a ring, so form ring-type image by being taken out by the pixel value of each image sensor block of sensor ring, afterwards by obtaining comparing frame with the ring-type image rotation process of present frame to primitive frame, rotating vector is determined by comparing the related operation of frame, the principle of image procossing is so utilized to realize the detection of the anglec of rotation, thus overcome the limitation of existing rotation detecting, this rotation detecting is more conducive to be applied on portable electron device, thus make user realize control object rotation process at any angle.
Accompanying drawing explanation
Fig. 1 is the distribution schematic diagram of the image sensor array implementing rotation angle detection apparatus of the present invention.
Fig. 2 is the process flow diagram implementing rotation angle detecting method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the invention is described.
Refer to shown in Fig. 1, for implementing the distribution schematic diagram of the imageing sensor battle array example of rotation angle detection apparatus of the present invention, this image sensor array is divided into multiple image sensor block, and distribution forms sensor ring in the form of a ring.And when implementing, can be provided with multiple (as K) sensor ring, and these imageing sensor rings are in arranging with one heart, every sensor ring then comprises N number of image sensor block, and each frame of the image so formed is made up of K*N pixel.Certainly in the specific implementation, this image sensor block can be a less imageing sensor battle array example, by the pixel average of imageing sensor battle array example being obtained the pixel value as this image sensor block.
In the embodiment shown in fig. 1, three imageing sensor ring L are provided with
1, L
2, L
3, wherein each imageing sensor ring comprises ring-shaped distributed 12 image sensor block.In addition, the center of this image sensor array is provided with image processing circuit, in like manner, formed sensor ring image sensor block between and all can be provided with gap between different sensors ring, so also some treatment circuits can be set.
Refer to shown in Fig. 2, for implementing the process flow diagram of rotation angle detecting method of the present invention, be the method utilizing above-mentioned rotation angle detection apparatus to detect the anglec of rotation, the method comprises the steps:
Primitive frame is obtained by the image sensor array of this rotation angle detection apparatus;
Obtain the pixel value of the sensor ring of primitive frame, and this sensor ring of rotation displacement forms multiple first compares frame;
Obtain present frame, and obtain the pixel value of sensor ring, and clockwise be rotated counterclockwise this sensor ring that is shifted and form multiple second and compare frame;
These first are compared frame and compare frame with second and carry out related operation, obtains maximum related value, calculate the rotating vector that this maximum related value is corresponding.
In above-mentioned step, wherein comparing frame according to the pixel value formation first of primitive frame sensor ring is by being carried out by the pixel value of this sensor ring obtaining with the image sensor block being rotated counterclockwise a unit that is shifted clockwise, the pixel value of each sensor ring of primitive frame is Y1, Y2, .Y12, then the first data Ai comparing frame that the image sensor block turning clockwise a unit is formed
1, Ai
2..., Ai
12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the first data Ai comparing frame
1, Ai
2..., Ai
12for:
Ai
1＝(1-ai)Y1+ai Y2；
Ai
2＝(1-ai)Y2+ai Y3
By parity of reasoning, and Ai
12=(1-ai) Y12+ai Y1;
And the data of the comparison frame that the image sensor block being rotated counterclockwise displacement a unit obtains are A-i
1, A-i
2, A-i
3, A-i
12for:
A-i
2＝a iY1+(1-ai)Y2；
A-i
3＝ai Y2+(1-ai)Y3；
By parity of reasoning, and A-i
1=ai Y12+ (1-ai) Y1.
In like manner, and forming second according to the pixel value of present frame sensor ring, to compare frame be by being carried out by the pixel value of this sensor ring obtaining with the image sensor block being rotated counterclockwise a unit that is shifted clockwise, the pixel value of each sensor ring of present frame is Z1, Z2, Z12, then the second data Bi comparing frame that the image sensor block of the displacement a unit that turns clockwise is formed
1, Bi
2..., Bi
12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the second data Bi comparing frame
1, Bi
2..., Bi
12for:
Bi
1＝(1-ai)Z1+ai Z2；
Bi
2＝(1-ai)Z2+ai Z3
By parity of reasoning, and Bi
12=(1-ai) Z12+aiZ1;
And the data of the comparison frame that the image sensor block being rotated counterclockwise displacement a unit obtains are B-i
1, B-i
2, B-i
3, B-i
12for:
B-i
2＝ai Z1+(1-ai)Z2；
B-i
3＝ai Z2+(1-ai)Z3；
By parity of reasoning, and B-i
1=aiZ12+ (1-ai) Z1.
Obtain first and second by above-mentioned mode and compare frame, afterwards first and second is compared frame and carry out related operation, (2I+1) * (2I+1) individual correlation is all had for each sensor ring, by primitive frame by rotating ai (i=0, I, I representative rotate Board Lot) mode, obtain 2I+1 first altogether to compare frame (wherein i=0 is primitive frame, namely do not rotate), also can obtain 2I+1 individual second in the same way and compare frame, so the two carries out related operation, thus (2I+1) * (2I+1) individual correlation can be obtained, thus obtain maximum related value, thus just can calculate rotating vector, in the specific implementation, this rotating vector can be the anglec of rotation, or also can be rotary acceleration, this depends on actual application feature completely, for calculating wherein, as the anglec of rotation and rotary acceleration, for the method that image processing field is very ripe, therefore no longer describe in detail here.
Below lift an example to be described, suppose I=2, during a=1/4, then can obtain 2I+1=5 and compare frame.
The rotation quantity (being rotated counterclockwise two units) of the comparison frame that S1-first is corresponding is (-2) xa=-1/2, (i=2, a=1/4);
The rotation quantity (being rotated counterclockwise a unit) of the comparison frame that S2-second is corresponding is (-1) xa=-1/4, (i=1, a=1/4);
The rotation quantity (be rotated counterclockwise 0 unit, namely do not rotate) of the comparison frame that S3-the 3rd is corresponding is (0) xa=0, (i=0, a=1/4);
The rotation quantity (turn clockwise a unit) of the comparison frame that S4-the 4th is corresponding is (1) xa=1/4, (i=1, a=1/4);
The rotation quantity (turn clockwise two units) of the comparison frame that S5-the 5th is corresponding is (2) xa=1/2, (i=2, a=1/4);
Therefore above-mentioned S1, S2, S3, S4, S5 correspond to primitive frame and present frame common property raw 5 first compare frame and 5 second compare frame, be defined as SY1 respectively, SY2, SY3, SY4, SY5 and SD1, SD2, SD3, SD4, SD5.
SY1 is carried out correlation computations with SD1, SD2, SD3, SD4, SD5 respectively, draws 5 correlations.
SY2 is carried out correlation computations with SD1, SD2, SD3, SD4, SD5 respectively, draws 5 correlations.
SY3 is carried out correlation computations with SD1, SD2, SD3, SD4, SD5 respectively, draws 5 correlations.
SY4 is carried out correlation computations with SD1, SD2, SD3, SD4, SD5 respectively, draws 5 correlations.
SY5 is carried out correlation computations with SD1, SD2, SD3, SD4, SD5 respectively, draws 5 correlations.
So draw (2I+1) x (2I+1)=25 correlation altogether, take out the combination of one of them SYi and SDj corresponding to maximally related value, just can draw rotating vector.Citing: if SYi=SY3, SDj=SD3, then rotating vector is S3-S3=0.If SYi=SY2, SDj=SD5, then rotating vector is that S5-S2=1/2-(-1/4)=3/4 rotates quantity.Certainly the value of I, a, rotation quantity and the anglec of rotation needs to determine according to the sample frequency of sensor in the specific implementation, as in above-mentioned example, if a=1/4 representative have rotated 1 degree, then represented by the known 3/4 rotation number amount of above-mentioned calculating and turned clockwise 3 degree.
In the specific implementation, if there is multiple sensor ring, be provided with K, then can be calculated K maximum related value by above-mentioned, calculate the K corresponding with each a maximum related value anglec of rotation afterwards, finally can determine the rotating vector of primitive frame and present frame according to this anglec of rotation calculated by weighted mean, when specific implementation, weight that can be higher to the vector assignment that correlation is strong, and the weight that the weak vector assignment of correlation is low, thus obtain final rotating vector.
Those of ordinary skill in the art can recognize, in conjunction with unit and the method step of each example described by embodiment disclosed herein, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use diverse ways realize described function to each specific application, but this realization should not thought and exceeds scope of the present invention.
In conjunction with the software module that the method step of embodiment disclosed herein description can use hardware, processor to perform, or the combination of the two realizes.Software module can be placed in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, CD-ROM or any other forms of storage medium well known in the art.
Be understandable that, for those of ordinary skills, can be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, and all these change or replace the protection domain that all should belong to the claim appended by the present invention.
Claims (4)
1. a rotation angle detecting method, utilize a rotation angle detection apparatus, this rotation angle detection apparatus comprises image sensor array, this image sensor array is divided into multiple image sensor block, the formation sensor ring and these image sensor block distribute in the form of a ring, wherein the method comprises the steps:
Primitive frame is obtained by the image sensor array of this rotation angle detection apparatus;
Obtain the pixel value of the sensor ring of primitive frame, and the sensor ring of this primitive frame of rotation displacement forms multiple first compares frame;
Obtain present frame, and obtain the pixel value of the sensor ring of present frame, and the sensor ring of this present frame of rotation displacement forms multiple second compares frame;
These first are compared frame and compare frame with second and carry out related operation, obtains maximum related value, calculate the rotating vector that this maximum related value is corresponding.
2. the method for claim 1, it is characterized in that: comparing frame according to the pixel value formation first of primitive frame sensor ring is by being carried out by the pixel value of this primitive frame sensor ring obtaining with the mode being rotated counterclockwise a*i clockwise, wherein a is the unit rotated, i=0, I, the unit number that i representative rotates, I represents the unit number of maximum rotation, and the pixel value of primitive frame sensor ring is Y
1, Y
2... .Y
12, then the first data A comparing frame of being formed by the mode of the a*i that turns clockwise of primitive frame
i1, A
i2..., A
i12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the first data A comparing frame
i1, A
i2..., A
i12for:
A
i1＝(1-a*i)*Y
1+a*i*Y
2；
A
i2＝(1-a*i)*Y2+a*i*Y
3
By parity of reasoning, and A
i12=(1-a*i) * Y
12+ a*i*Y
1;
And the first data comparing frame that primitive frame is obtained by the mode being rotated counterclockwise a*i are A
-i1, A
-i2, A
-i3, A
-i12for:
A
-i2＝a*i*Y
1+(1-a*i)*Y
2；
A
-i3＝a*i*Y
2+(1-a*i)*Y
3；
By parity of reasoning, and A
-i1=a*i*Y
12+ (1-a*i) * Y
1.
3. method as claimed in claim 2, it is characterized in that: comparing frame according to the pixel value formation second of present frame sensor ring is by being carried out by the pixel value of this present frame sensor ring obtaining with the mode being rotated counterclockwise a*i clockwise, wherein a is the unit rotated, i=0, I, the unit number that i representative rotates, I represents the unit number of maximum rotation, and the pixel value of present frame sensor ring is Z
1, Z
2..., Z
12, then the second data B comparing frame of being formed by the mode of the a*i that turns clockwise of present frame
i1, B
i2..., B
i12, wherein i=0 ... the unit number that I, i representative rotates, I represents the unit number of maximum rotation, the second data B comparing frame
i1, B
i2..., B
i12for:
B
i1＝(1-a*i)*Z
1+a*i*Z
2；
B
i2＝(1-a*i)*Z
2+a*i*Z
3
By parity of reasoning, and B
i12=(1-a*i) * Z
12+ a*i*Z
1;
And the second data comparing frame that present frame is obtained by the mode being rotated counterclockwise a*i are B
-i1, B
-i2, B
-i3, B
-i12for:
B
-i2＝a*i*Z
1+(1-a*i)*Z
2；
B-i
3＝a*i*Z
2+(1-a*i)*Z
3；
By parity of reasoning, and B
-i1=a*i*Z
12+ (1-a*i) * Z
1.
4. method as claimed in claim 3, it is characterized in that: when there being multiple sensor ring, carry out rotation displacement process to the primitive frame of each sensor ring and present frame to form first and second and compare frame, to go forward side by side line correlation computing, obtain the rotating vector that the maximum related value of each sensor ring is corresponding, afterwards these rotating vectors are weighted on average, obtain final rotating vector.
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| CN104793633B (en) * | 2015-04-14 | 2018-01-12 | 北京小鱼在家科技有限公司 | A kind of rotary stopper automatic detection device and its operating method |
| CN109842766B (en) * | 2018-12-28 | 2021-05-18 | 上海集成电路研发中心有限公司 | Polar coordinate image sensor and image processing method thereof |
| CN112215894B (en) * | 2019-07-09 | 2024-06-25 | 杭州萤石软件有限公司 | Limit detection method and device, electronic equipment and readable storage medium |
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Effective date of registration: 20180814 Address after: 201204 Room 201, 5 lane 289, Bi Sheng Road, Pudong New Area, Shanghai. Patentee after: Shanghai core song Intelligent Technology Co., Ltd. Address before: 200063 501, 6 Lane 777 lane, Guangfu West Road, Putuo District, Shanghai. Patentee before: Liu Jian |