CN103747186A - Time-division three-path image acquisition device and calibration method for same - Google Patents
Time-division three-path image acquisition device and calibration method for same Download PDFInfo
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Abstract
The invention discloses a time-division three-path image acquisition device and a calibration method for the same. The device comprises a lens, a tri-splitting prism, a first image sensor, a second image sensor, a third image sensor and a controller, wherein the tri-splitting prism is positioned on an output light path of the lens, and is used for splitting an incident beam into three sub-beams with equal light intensity; the first, second and third image sensors are positioned on output light paths of the three sub-beams; the controller is connected with the first, second and third sensors respectively, and is used for controlling the three image sensors to sequentially trigger exposure in a time division way to obtain object images at different moments to achieve an image acquisition frame rate which is triple that of a single image sensor. The calibration method at least comprises one of geometric calibration and brightness calibration. According to the device and the method, the image acquisition frequency can be greatly increased, and meanwhile, the image acquisition accuracy is ensured; the device is simple in structure, and the cost is greatly lowered.
Description
Technical field
The invention belongs to acquisition technology field, more specifically, relate to a kind of timesharing three road image collecting device and scaling methods 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 imageing sensor of Modern High-Speed camera is generally CCD or cmos device, single image sensor chip to reach rank time interval nanosecond to adopt figure frequency price extremely expensive, thereby greatly limited the use of high speed camera.
Summary of the invention
Above defect or Improvement requirement for prior art, the invention provides a kind of timesharing three road image collecting device and scaling methods thereof, what can effectively solve 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, making to adopt figure frequency significantly improves, guaranteed to adopt the accuracy of figure, and apparatus structure is simple, cost significantly reduces simultaneously.
For achieving the above object, according to one aspect of the present invention, provide a kind of timesharing three road image collecting devices, it is characterized in that, comprised camera lens, three minutes prisms, the first imageing sensor, the second imageing sensor, the 3rd imageing sensor and controller, within described three minutes, prism is positioned on the output light path of described camera lens, for incident beam is divided into three beamlets that light intensity is equal, described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor lay respectively on the output light path of three beamlets, described controller connects respectively described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor, be used for controlling described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor successively timesharing trigger exposure, to obtain not subject image in the same time, reach the IMAQ frame per second of three times of single image transducers.
Preferably, within described three minutes, prism comprises the first prism and the second prism, and the rib C of the rib A of described the first prism and rib B and described the second prism and rib D are positioned on the output light path of described camera lens 1 successively; Described rib B is for partly reflecting incident light and obtain reverberation R
1, part transmission obtains transmitted light T
1, described rib A is used for reverberation R
1total reflection obtains the first beamlet, and described rib D is used for transmitted light T
1part reflection obtains reverberation R
2, part transmission obtains the second beamlet, and described rib C is used for reverberation R
2total reflection obtains the 3rd beamlet.
Preferably, described controller is specifically controlled described the first imageing sensor in the following way, described the second imageing sensor and described the 3rd imageing sensor successively timesharing trigger exposure: control described the first imageing sensor exposure, elapsed time △ T1, control described the second imageing sensor exposure, elapsed time △ T2 again, control described the 3rd imageing sensor exposure, elapsed time △ T3 again, controlling described the first imageing sensor exposes again, so repeat above process, wherein, the time that described the first imageing sensor single exposure gathers image is △ t1, the time that described the second imageing sensor single exposure gathers image is △ t2, the time that described the 3rd imageing sensor single exposure gathers image is △ t3, △ t1< △ T1<T
c1-△ t2-△ t3,0< △ t2<T
c1-△ t1-△ t3, △ t2< △ T2<T
c1-△ T1-△ t3,0< △ t3<T
c1-△ T1-△ t2, T
c1for the cycle of described the first imageing sensor collection image.
Preferably, described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor are the photosensitive array that digital image sensor chip forms.
According to another aspect of the present invention, a kind of scaling method of timesharing three road image collecting devices is provided, it is characterized in that, at least comprise that geometric calibration and brightness demarcates one of them; Described geometric calibration is specially: before camera lens, place grid or dot matrix scaling board, controlling three imageing sensors exposes and adopts figure, the image of each imageing sensor collection is gone to lens distortion processing and coordinate transform, make same object appear at the same position of all the sensors; Described brightness is demarcated and is specially: control three imageing sensors and expose simultaneously, synchronization photographs three images of same object, 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, make all image brightness consistent.
Preferably, described geometric calibration is further realized in the following way: take one of them imageing sensor as standard, by the pixel coordinate difference premultiplication of the sensitive face of another two imageing sensors
with
thereby make same object appear at the same position of all the sensors, wherein, M
1for scaling board and position relationship as the imageing sensor of standard, M
2and M
3for scaling board respectively with the position relationship of another two imageing sensors.
In general, the above technical scheme of conceiving by the present invention compared with prior art, has following beneficial effect:
1, adopt the mode of three imageing sensor parallel acquisitions, by control chart image-position sensor, adopt figure order, make three image sensor chip rapid alternations, make same time adopt figure increased frequency in the cycle, adopt figure frequency and be single image transducer three times, can realize high speed and the ultrahigh speed collection of image.
2, by geometric calibration and brightness, demarcate, realize three to adopt figure picture position corresponding identical with brightness simultaneously, the accuracy that has guaranteed to adopt figure.
3, apparatus structure is simple, by three sensor chip structures, replaces single-sensor chip structure to realize same high sample frequency, and cost significantly reduces.
Accompanying drawing explanation
Fig. 1 is the timesharing three road image collecting device structural representations of the embodiment of the present invention;
Fig. 2 is the control sequential chart of the timesharing three road image collecting device middle controllers of the embodiment of the present invention.
In institute's drawings attached, identical Reference numeral is used for representing identical element or structure, wherein: 1-camera lens, 2-the first prism, 3-the first imageing sensor, 4-the second prism, 5-controller, 6-the second imageing sensor, 7-the 3rd imageing sensor.
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.
As shown in Figure 1, the timesharing three road image collecting devices of the embodiment of the present invention comprise camera lens 1, three minutes prisms, the first imageing sensor 3, the second imageing sensor 6, the 3rd imageing sensor 7 and controllers 5.Within three minutes, prism is positioned on the output light path of camera lens 1, for incident beam is divided into three beamlets that light intensity is equal, the first imageing sensor 3, the second imageing sensor 6 and the 3rd imageing sensor 7 lay respectively on the output light path of three beamlets, controller 5 connects respectively the first imageing sensor 3, the second imageing sensor 6 and the 3rd imageing sensor 7, be used for controlling the timesharing triggering exposure successively of three imageing sensors, to obtain not the image of object in the same time, thereby reach the IMAQ frame per second of three times of single image transducers, realize high speed and the ultrahigh speed collection of image.
Particularly, three minutes prisms further comprise that the rib A of the first prism 2 and the second prism 4, the first prisms 2 and rib C and the rib D of rib B and the second prism 4 are positioned on the output light path of camera lens 1 successively.Rib B is for partly reflecting incident light and obtain reverberation R
1, part transmission obtains transmitted light T
1, rib A is used for reverberation R
1total reflection obtains the first beamlet, and rib D is used for transmitted light T
1part reflection obtains reverberation R
2, part transmission obtains the second beamlet, and rib C is used for reverberation R
2total reflection obtains the 3rd beamlet.
Particularly, the photosensitive array that the first imageing sensor 3, the second imageing sensor 6 and the 3rd imageing sensor 7 form for digital image sensor chip.
As shown in Figure 2, C1, C2 and C3 are respectively the exposure time series figure of the first imageing sensor 3, the second imageing sensor 6 and the 3rd imageing sensor 7 to the control sequential chart of controller, and C is the exposure time series figure of equivalent single image transducer.Sequencing control flow process is as follows: controller 5 is controlled the first imageing sensor 3 exposures, elapsed time △ T1, controller 5 is controlled the second imageing sensor 6 exposures, elapsed time △ T2 again, controller 5 is controlled the 3rd imageing sensors 7 exposures, then elapsed time △ T3, controller 5 is controlled the first imageing sensor 3 and is again exposed, so repeat above process, thereby bring up to three times of single image transducer by adopting figure frequency, realize the frequency multiplication collection of image.Wherein, the time that the first imageing sensor 3 single exposures gather image is △ t1, the time that the second imageing sensor 6 single exposures gather image is △ t2, and the time that the 3rd imageing sensor 7 single exposures gather image is △ t3, △ t1< △ T1<T
c1-△ t2-△ t3,0< △ t2<T
c1-△ t1-△ t3, △ t2< △ T2<T
c1-△ T1-△ t3,0< △ t3<T
c1-△ T1-△ t2, T
c1it is the cycle that the first imageing sensor 3 gathers image.
The brightness of the image photographing due to three imageing sensors can not be identical, simultaneously because imageing sensor and prism are installed and are had machine error, thereby cause the same piece image photographing to have small translation, Rotation and Zoom conversion, therefore need to demarcate this device in advance, we propose single exposure scaling method as required, realize three simultaneously and adopt figure picture position corresponding (geometric calibration) and adopt figure picture brightness identical (brightness demarcation) with 3.
Geometric calibration: place high-precision grid or dot matrix scaling board before camera lens, controlling three imageing sensors exposes and adopts figure, the image that each imageing sensor is collected carries out conventional going lens distortion and convert world coordinates to pixel transformation of coordinates, the transformational relation that each imageing sensor is corresponding deposits computer in, carries out same geometric transformation and can guarantee that same object appears at the same position of all cameras when adopt figure next time.
Specifically realize in the following way:
To certain 1 j coordinate on scaling board, be [x
wj, y
wj, z
wj, 1]
t, the corresponding pixel coordinate at i imageing sensor sensitive face is [u
ij, v
ij, 1]
t, there is lower relation of plane:
M wherein
ithe position relationship that represents scaling board and i imageing sensor, can obtain by traditional scaling method.
Obtain the point [u on the second imageing sensor 6
2j, v
2j, 1]
tcorrespond to the position of the first imageing sensor 3, realized two identical demarcation in camera camera site.
Brightness is demarcated: control three imageing sensors simultaneously expose (can with the same single exposure of geometric calibration), synchronization photographs three images of same object, 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, to make three image brightness consistent, deposit each image sensor chip luminance transformation relation in computer, 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. timesharing three road image collecting devices, is characterized in that, comprise camera lens, three minutes prisms, the first imageing sensor, the second imageing sensor, the 3rd imageing sensor and controller;
Within described three minutes, prism is positioned on the output light path of described camera lens, for incident beam is divided into three beamlets that light intensity is equal, described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor lay respectively on the output light path of three beamlets, described controller connects respectively described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor, be used for controlling described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor successively timesharing trigger exposure, to obtain not subject image in the same time, reach the IMAQ frame per second of three times of single image transducers.
2. timesharing three road image collecting devices as claimed in claim 1, it is characterized in that, within described three minutes, prism comprises the first prism and the second prism, and the rib C of the rib A of described the first prism and rib B and described the second prism and rib D are positioned on the output light path of described camera lens 1 successively;
Described rib B is for partly reflecting incident light and obtain reverberation R
1, part transmission obtains transmitted light T
1, described rib A is used for reverberation R
1total reflection obtains the first beamlet, and described rib D is used for transmitted light T
1part reflection obtains reverberation R
2, part transmission obtains the second beamlet, and described rib C is used for reverberation R
2total reflection obtains the 3rd beamlet.
3. timesharing three road image collecting devices as claimed in claim 1 or 2, it is characterized in that, described controller is specifically controlled described the first imageing sensor in the following way, described the second imageing sensor and described the 3rd imageing sensor successively timesharing trigger exposure: control described the first imageing sensor exposure, elapsed time △ T1, control described the second imageing sensor exposure, elapsed time △ T2 again, control described the 3rd imageing sensor exposure, elapsed time △ T3 again, controlling described the first imageing sensor exposes again, so repeat above process, wherein, the time that described the first imageing sensor single exposure gathers image is △ t1, the time that described the second imageing sensor single exposure gathers image is △ t2, the time that described the 3rd imageing sensor single exposure gathers image is △ t3, △ t1< △ T1<T
c1-△ t2-△ t3,0< △ t2<T
c1-△ t1-△ t3, △ t2< △ T2<T
c1-△ T1-△ t3,0< △ t3<T
c1-△ T1-△ t2, T
c1for the cycle of described the first imageing sensor collection image.
4. timesharing three road image collecting devices as claimed any one in claims 1 to 3, is characterized in that, described the first imageing sensor, described the second imageing sensor and described the 3rd imageing sensor are the photosensitive array that digital image sensor chip forms.
5. a scaling method for timesharing three road image collecting devices, is characterized in that, at least comprises that geometric calibration and brightness demarcates one of them;
Described geometric calibration is specially: before camera lens, place grid or dot matrix scaling board, controlling three imageing sensors exposes and adopts figure, the image of each imageing sensor collection is gone to lens distortion processing and coordinate transform, make same object appear at the same position of all the sensors;
Described brightness is demarcated and is specially: control three imageing sensors and expose simultaneously, synchronization photographs three images of same object, 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, make all image brightness consistent.
6. the scaling method of timesharing three road image collecting devices as claimed in claim 5, it is characterized in that, described geometric calibration is further realized in the following way: take one of them imageing sensor as standard, by the pixel coordinate difference premultiplication of the sensitive face of another two imageing sensors
with
thereby make same object appear at the same position of all the sensors, wherein, M
1for scaling board and position relationship as the imageing sensor of standard, M
2and M
3for scaling board respectively with the position relationship of another two imageing sensors.
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