CN103581625A - Time-share parallel image collecting device and calibration method thereof - Google Patents
Time-share parallel image collecting device and calibration method thereof Download PDFInfo
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Abstract
The invention discloses a time-share parallel image collecting device and a calibration method thereof. The time-share parallel image collecting device comprises a lens, a prism set, an image sensor array and a controller. An incident ray passes through the lens and shoots into the prism set, the prism set divides the incident ray into N branch light beams of different light intensities, the N branch light beams are focused on N image sensors in the image sensor array perpendicular to the incident ray respectively, the controller respectively controls all the image sensors to trigger exposure in a time-share mode in sequence to obtain images of an object at different moments, N times the image collecting frame rate is reached, and high-speed collection of the images is achieved. The time-share parallel image collecting device and the calibration method thereof can obviously improve the frequency of high-speed image collection, and the time interval of shooting two images is made to be shorter. Due to the fact that a next image sensor is made to collect images at the exposure interval of a front image sensor by controlling the image collecting sequence of single image sensor chips, the times of image collection in the identical time period can be increased, and thus the image collecting frequency of the whole device can be improved.
Description
Technical field
The invention belongs to acquisition technology field, more specifically, relate to a kind of pipelined-flash image collecting device and scaling method thereof.
Background technology
High-speed photography refers to that camera adopts figure frequency and be greater than for 128 width/seconds, can obtain continuously photographies more than 3 width, and the indispensable instrument that will realize high-speed photography is high-speed camera, high-speed camera is very extensive in scientific research and the application of other numerous areas, be often used as the motion change of record analysis object, the even motion of biologic-organ, microbe, molecule, for example, in particle image velocimetry field, high-speed camera has become indispensable instrument.
Particle Image Velocimetry is a kind of of image analysis technology, adopt two very short pulsed laser light sources of the time interval to illuminate the flow field of required measurement, utilize high-speed camera that the trace particle in thrown light on flow field is recorded, utilize computer to carry out the information that image processing obtains the velocity field of trace particle, thus a kind of technology of reflection fluid velocity field.
The sensor devices of Modern High-Speed camera is generally CCD or cmos device, single image sensor chip to reach rank time interval ultrahigh speed nanosecond to adopt figure frequency price extremely expensive, thereby greatly limited the use of high speed camera.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of pipelined-flash image collecting device, the high speed acquisition that its object is to improve IMAQ frame per second and realizes image; What solve thus that single image sensor chip in prior art will reach rank time interval ultrahigh speed nanosecond adopts figure frequency, the technical problem that price is extremely expensive.
Pipelined-flash image collecting device provided by the invention, comprises camera lens, prism group, high speed imaging sensor array and controller; During work, incident ray is incident to described prism group through described camera lens, described prism group is divided into N the beamlet that light intensity is different by incident ray, N beamlet focuses on respectively in the high speed imaging sensor array vertical with described incident ray on N imageing sensor, controller is controlled respectively the timesharing triggering exposure successively of each imageing sensor, obtain not the image of object in the same time, reached N IMAQ frame per second doubly, realized the high speed acquisition of image; N is more than or equal to 3 integer.
Further, described prism group comprises (N+1) individual semi-transparent prism, and described (N+1) individual semi-transparent prism is divided into vertically disposed two groups mutually, and each group includes a plurality of semi-transparent prisms that are arranged in parallel; Transmitted light after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the first light beam, reverberation after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the second light beam, reverberation after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 3rd light beam, and the transmitted light after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 4th light beam; Described the first light beam is parallel with described the 3rd light beam, and described the second light beam is parallel with described the 4th light beam.
Further, high speed imaging sensor array comprises N imageing sensor, is successively set on the reflected light path of N semi-transparent prism.
Further, the control sequential of controller comprises N periodic square wave, the sequential interval of a rear square wave and previous square wave be followed successively by Δ T1, △ T2 ... △ TN; T=(Δ T1+ Δ T2+ wherein ... △ TN); T is the single image transducer double exposure time interval; △ Ti is the time interval of i imageing sensor and i+1 imageing sensor exposure.
The present invention also provides a kind of scaling method of pipelined-flash image collecting device described above, it is characterized in that, comprises the steps:
(1) geometric calibration: place grid or dot matrix scaling board before camera lens, by controller, control the collection that exposes of N imageing sensor, the image of each imageing sensor collection is gone to have realized the identical demarcation in a plurality of cameras camera site after lens distortion processing and coordinate transform;
(2) brightness is demarcated: controller is controlled N imageing sensor and exposed simultaneously, the N that synchronization photographs same object opens image, take wherein one be standard, other images that brightness are greater than to this image carry out brightness deterioration processing, other images that brightness are less than to this image carry out brightness enhancing processing, then according to grey level histogram intense adjustment, to make all image brightness consistent.
Further, the concrete numerical value of brightness deterioration or enhancing is according to formula
the multiple containing is related to rapid adjustment, wherein I
0for total light intensity; Ni is the number of prisms of light process while arriving i transducer; I
ifor i the light intensity that imageing sensor obtains after Amici prism.
What the present invention can obtain many times of single high speed imaging sensor chips by this device adopts figure frequency; By what control single image sensor chip, adopt figure order, make the latter at the exposure interval Nei Caitu of previous imageing sensor, so just can be within the identical time cycle adopt figure increased frequency, thereby improve whole device adopt figure frequency.By corresponding calibration algorithm, guaranteed to adopt the accuracy of figure.
Accompanying drawing explanation
Fig. 1 is the pipelined-flash image collecting device structural representation that the embodiment of the present invention provides;
Fig. 2 is the sequencing control figure of the pipelined-flash image collecting device middle controller that provides of the 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.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each execution mode of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
Pipelined-flash image collecting device provided by the invention comprises: one group for being divided into incident ray the optical prism group on N road, light after light splitting is radiated on the photosensitive array being comprised of N digital image sensor chip, image capture controller is accurately controlled the timesharing triggering exposure successively of N digital image sensor chip, to obtain not the image of object in the same time, thereby reach former high speed imaging sensor chip N IMAQ frame per second doubly, realize high speed and the ultrahigh speed collection of image.
Pipelined-flash image collecting device provided by the invention adopts multi-sensor chip parallel acquisition mode, under sequence circuit is controlled, order triggers, what theory adopted that figure frequency can reach that parallel number of probes is multiplied by single-sensor adopts figure frequency, thereby have simple in structure, control simply, adopt the feature that figure frequency is high, for same high sample frequency, multi-chip structure is more much lower than the cost of single chip architecture, can realize the high speed of image and the effect that ultrahigh speed gathers.
Good effect of the present invention is: what (1) can obtain many times of single high speed imaging sensor chips by this device adopts figure frequency; (2) by what control single image sensor chip, adopt figure order, make the latter at the exposure interval Nei Caitu of previous imageing sensor, so just can be within the identical time cycle adopt figure increased frequency, thereby improve whole device adopt figure frequency.(3) by corresponding calibration algorithm, the accuracy that has guaranteed to adopt figure.
Below with reference to accompanying drawing, explain technical scheme of the present invention: overall architecture as shown in Figure 1, incident ray is injected prism group 2 through camera lens 1, prism group 2 is divided into incident ray after the different beamlet of N light intensity, N beamlet focuses on respectively on each imageing sensor in the high speed imaging sensor array 3 vertical with incident ray, and IMAQ and transmission control unit (TCU) 4 controls that each high speed imaging sensor exposes successively according to sequential as shown in Figure 2 and output image successively.
In embodiments of the present invention, prism group 2 comprises (N+1) individual semi-transparent prism, and (N+1) individual semi-transparent prism is divided into vertically disposed two groups mutually, and each group includes a plurality of semi-transparent prisms that are arranged in parallel; Transmitted light after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the first light beam, reverberation after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the second light beam, reverberation after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 3rd light beam, and the transmitted light after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 4th light beam; Described the first light beam is parallel with described the 3rd light beam, and described the second light beam is parallel with described the 4th light beam.
Optical prism (pellicle mirror) group is arranged as shown in Figure 1, spread geometry by " ", "/" be divided into two (groups), the prism of same is parallel to each other, two groups of prisms are mutually vertical between mutually.N prism two number approximate equalities (N is two numbers half and half of even number, N be odd number " many 1 prisms of \ " group) avoid one longly to cause that last sensor photosensitive is not enough.
In embodiments of the present invention, high speed imaging sensor array 3 comprises N imageing sensor, is successively set on the reflected light path of N semi-transparent prism.
The control sequential of controller 4 comprises N periodic square wave, the sequential interval of a rear square wave and previous square wave be followed successively by Δ T1, Δ T2 ... △ TN; T=(△ T1+ Δ T2+ wherein ... △ TN); T is the single image transducer double exposure time interval; △ Ti is the time interval of i imageing sensor and i+1 imageing sensor exposure.
As shown in Figure 2, C1, C2, ..., CN is respectively first, second, ..., the exposure time series figure of N sheet high speed imaging sensor chip, C is the exposure time series figure of equivalent single camera, sequencing control flow process is as follows: IMAQ and transmission control unit (TCU) 4 are controlled first high speed imaging sensor chip and exposed, first high speed imaging sensor chip elapsed time △ t1 (wherein Δ t1 is determined by high speed imaging sensor setting) completes exposure and gathers after image, elapsed time Δ T1, IMAQ and transmission control unit (TCU) 4 are controlled second high speed imaging sensor chip exposure, second high speed imaging sensor chip elapsed time △ t2 completes exposure and gathers after image, through the △ T2 time, control the 3rd high speed imaging sensor chip exposure, control successively N high speed imaging sensor chip exposure, video camera array deadline sequence epigraph gathers, thereby realize, by adopting figure frequency, bring up to single high speed imaging sensor chip frequency N effect doubly, realize the ultrahigh speed collection of image, T=(Δ T1+ Δ T2+... Δ TN) wherein, T is the single image transducer double exposure time interval, △ Ti is the time interval of i imageing sensor and i+1 imageing sensor exposure, i equals 1,2 ... N.
The number of prism that arrives each image sensor chip process due to light is different, the loss of luminous intensity is also different, the brightness of the image that therefore each image sensor chip photographs is different, simultaneously because a plurality of prisms are different with the position of image sensor chip installation, thereby cause the same piece image photographing to have translation, Rotation and Zoom conversion, therefore need to demarcate this device in advance, we propose single exposure scaling method as required, realize the picture brightness identical (brightness demarcation) of N camera picture position corresponding (geometric calibration) and N camera simultaneously.
Geometric calibration: place high-precision grid or dot matrix scaling board before camera lens, controlling all chips exposes and adopts figure, the image that each image sensor chip is collected carries out conventional going lens distortion and convert world coordinates to pixel transformation of coordinates, the transformational relation that each image sensor chip is corresponding deposits computer in, obtains following relational expression:
To certain 1 j coordinate on scaling board, be [x
wj, y
wj, z
wj, 1]
t, the corresponding pixel coordinate i camera plane is [u
ij, v
ij, 1]
t, there is lower relation of plane:
M wherein
ithe position relationship that represents scaling board and i camera, can obtain by traditional scaling method (Zhang Zhengyou).
If selecting the 1st camera is standard, need the picture location of other a N-1 camera to adjust, make a bit to appear on object the same position of N camera, to (1) formula premultiplication
obtain:
Obtain the point [u in different cameral
ij, v
ij, 1]
tcorrespond to the position of first camera point, realized the identical demarcation in a plurality of cameras camera site.
Above-mentioned calibration result is deposited in computer system, when adopt figure next time, carry out same geometric transformation and can guarantee that same object appears at the same position of all cameras.
Brightness is demarcated: after Amici prism, i camera sensor obtains light intensity I
ithere is following relation with the number of prisms Ni of process in theory:
(3); I
0for total light intensity; Ni-light arrives the number of prisms of i transducer process.
Control all image sensor chips simultaneously expose (can with the same single exposure of geometric calibration), the N that synchronization photographs same object opens image, take wherein one be standard, other images that brightness is greater than this image carry out brightness deterioration, other images that brightness is less than this image carry out brightness enhancing, the multiple that the concrete numerical value of brightness deterioration or enhancing contains according to (3) formula is related to rapid adjustment, then according to grey level histogram intense adjustment, to make all image brightness consistent, the transformational relation that each image sensor chip is corresponding deposits computer in, when adopt figure next time, carry out same luminance transformation.
Those skilled in the art will readily understand; 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 (6)
1. a pipelined-flash image collecting device, is characterized in that, comprises camera lens (1), prism group (2), high speed imaging sensor array (3) and controller (4);
During work, incident ray is incident to described prism group (2) through described camera lens (1), described prism group (2) is divided into N the beamlet that light intensity is different by incident ray, N beamlet focuses on respectively on middle N the imageing sensor of the high speed imaging sensor array (3) vertical with described incident ray, controller (4) is controlled respectively the timesharing triggering exposure successively of each imageing sensor, obtain not the image of object in the same time, reach N IMAQ frame per second doubly, realized the high speed acquisition of image; N is more than or equal to 3 integer.
2. pipelined-flash image collecting device as claimed in claim 1, it is characterized in that, described prism group (2) comprises (N+1) individual semi-transparent prism, and described (N+1) individual semi-transparent prism is divided into vertically disposed two groups mutually, and each group includes a plurality of semi-transparent prisms that are arranged in parallel;
Transmitted light after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the first light beam, reverberation after the semi-transparent prism that incident ray is arranged through horizontal direction is defined as the second light beam, reverberation after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 3rd light beam, and the transmitted light after the semi-transparent prism that incident ray is arranged through vertical direction is defined as the 4th light beam; Described the first light beam is parallel with described the 3rd light beam, and described the second light beam is parallel with described the 4th light beam.
3. pipelined-flash image collecting device as claimed in claim 2, is characterized in that, described high speed imaging sensor array (3) comprises N imageing sensor, is successively set on the reflected light path of N semi-transparent prism.
4. pipelined-flash image collecting device as claimed in claim 1, is characterized in that, the control sequential of described controller (4) comprises N periodic square wave, the sequential interval of a rear square wave and previous square wave be followed successively by △ T1, △ T2 ... Δ TN; T=(△ T1+ △ T2+ wherein ... △ TN); T is the single image transducer double exposure time interval; △ Ti is the time interval of i imageing sensor and i+1 imageing sensor exposure.
5. a scaling method for the pipelined-flash image collecting device as described in claim 1-4 any one, is characterized in that, comprises the steps:
(1) geometric calibration: place grid or dot matrix scaling board before camera lens, by controller, control the collection that exposes of N imageing sensor, the image of each imageing sensor collection is gone to have realized the identical demarcation in a plurality of cameras camera site after lens distortion processing and coordinate transform;
(2) brightness is demarcated: controller is controlled N imageing sensor and exposed simultaneously, the N that synchronization photographs same object opens image, take wherein one be standard, other images that brightness are greater than to this image carry out brightness deterioration processing, other images that brightness are less than to this image carry out brightness enhancing processing, then according to grey level histogram intense adjustment, to make all image brightness consistent.
6. scaling method as claimed in claim 5, is characterized in that, the concrete numerical value of brightness deterioration or enhancing is according to formula
the multiple containing is related to rapid adjustment, wherein I
0for total light intensity; Ni is the number of prisms of light process while arriving i transducer; I
ifor i the light intensity that imageing sensor obtains after Amici prism.
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| WO2022222497A1 (en) * | 2021-04-20 | 2022-10-27 | 上海图漾信息科技有限公司 | Depth data measurement head, depth data computing device, and corresponding method |
| RU2795189C1 (en) * | 2022-02-03 | 2023-05-02 | Российская Федерация, от имени которой выступает Государственная корпорация по атомной энергии "Росатом" (Госкорпорация "Росатом") | Method for video recording of a fast process accompanied by intense radiation in optical range |
| CN115174768A (en) * | 2022-06-10 | 2022-10-11 | 中国科学院西安光学精密机械研究所 | High-speed industrial camera system capable of realizing multi-time frame frequency imaging and imaging method thereof |
| CN118169131A (en) * | 2024-05-11 | 2024-06-11 | 合肥埃科光电科技股份有限公司 | Multi-frequency camera design method, system and medium |
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