CN106131461A - A kind of multiple image sensor synchronous control system and image processing module - Google Patents
A kind of multiple image sensor synchronous control system and image processing module Download PDFInfo
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- CN106131461A CN106131461A CN201610484413.0A CN201610484413A CN106131461A CN 106131461 A CN106131461 A CN 106131461A CN 201610484413 A CN201610484413 A CN 201610484413A CN 106131461 A CN106131461 A CN 106131461A
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- imageing sensor
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- image sensor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
The invention discloses a kind of multiple image sensor synchronous control system, including detecting module and control module for connecting multiple image sensor system, also include the initialization module for connecting multiple image sensor system, described control module is connected with detecting module, during control system work, asynchronous behavior between detection different sensors output signal, then adjusted and controlled the duty of each sensor according to asynchronous behavior before this；Also disclose a kind of image processing module applying aforementioned control system, when being used for controlling multiple image sensor system, the time difference exporting view data in multiple image sensor system between each imageing sensor can be reduced.
Description
Technical field
The invention belongs to digital signal processing technique field, be specifically related to a kind of multiple image sensor synchronous control system,
And apply the image processing module of this system.
Background technology
Along with development and the continuous growth of demand of science and technology, single imageing sensor is generally not capable of meeting the need of application
Asking, multi-sensor technology is then proposed, this technology utilizes various different imageing sensor to gather different passage simultaneously
Data, and utilize the data of the comprehensive different passages of Data fusion technique.
Up to the present, multi-sensor technology has been widely used for Industry Control, robot, air traffic control, sea
The technical fields such as solid, the integrated navigation in ocean.Fusion is multifaceted data handling procedure, and it utilizes fully
Multiple sensor resources, by arranging various sensors and the reasonable of observation information thereof and use, by various sensors at sky
Between and temporal complementation combine according to certain Optimality Criteria with redundancy, produce the explanation of the concordance of observing environment
And description.The target of information fusion is based on each sensor separation observation information, by deriving more to the optimum organization of information
Effective information.
Common a kind of multisensor pattern is the binocular form using dual sensor.Within the system, two, left and right biography
Needing to keep high-precision synchronization between sensor, the data of two different passages that such guarantee system obtains are in time
There is the concordance of height.When there is bigger synchronous error between the two sensor, the data fusion in later stage will be deposited
In the biggest error.
Summary of the invention
An object of the present invention is to solve the stationary problem between above-mentioned many sensings, it is provided that a kind of many image sensings
Device synchronous control system.
The technical solution adopted for the present invention to solve the technical problems is: a kind of multiple image sensor synchronous control system,
Including detecting module and control module for connecting multiple image sensor system, also include for connecting multiple image sensor system
The initialization module of system, described control module is connected with detecting module；Described detecting module detects each imageing sensor
Output data signal between asynchronous nature, described control module according to the asynchronous nature detected adjust image each
The duty of sensor, even eliminates the synchronization difference between output signal to reduce.
Described a kind of multiple image sensor synchronous control system, its multiple image sensor system refers to for having different technologies
The double image sensor system that target the first imageing sensor and the second imageing sensor are constituted.
The two of the purpose of the present invention are that providing a kind of applies above-mentioned synchronous control system to realize dual sensor Synchronization Control
Image processing module, be used for controlling multiple image sensor system, to reduce each image sensing in multiple image sensor system
The time difference of view data is exported between device.
The technical solution adopted for the present invention to solve the technical problems is: a kind of image processing module, when also including first
Sequence generator, the second timing sequencer, the first IC bus control unit and the second IC bus control unit, institute
The first imageing sensor stated is connected with detecting module by the first timing sequencer, and the second described imageing sensor passes through the
Two timing sequencers are connected with detecting module, the first described imageing sensor by the first IC bus control unit with
Control module connects, and the second described imageing sensor is connected with control module by the second IC bus control unit.
Described a kind of image processing module, its detecting module includes cycle rate counter and difference counter, described week
Phase enumerator is simultaneously connected with the first timing sequencer and control module, and described difference counter is simultaneously connected with the second sequential and occurs
Device and control module, described difference counter is also connected with the first timing sequencer.
The invention has the beneficial effects as follows:
(1) the multiple image sensor synchronous control system that the present invention proposes does not has special wanting to the technical parameter of imageing sensor
Ask, there is well adapting to property.Such as, each imageing sensor can be commencing signal and first of vertical synchronizing signal
There is between pulse signal a regular time delay.
(2) the multiple image sensor synchronous control system that the present invention proposes is to need not between each sensor of extra demand
There is synchronization mechanism, such as, utilize the master & slave control mechanism that the synchronization pin between two imageing sensors realizes.
(3) the multiple image sensor synchronous control system of the present invention need not extra caching to realize the same of image output
Step, system has lower cost and reliability.
Accompanying drawing explanation
Fig. 1 is the principle schematic of synchronous control system of the present invention；
Fig. 2 is the operation principle schematic diagram of the image processing module applying synchronous control system of the present invention；
Fig. 3 is the structural representation of image processing module of the present invention；
Fig. 4 is the sequential chart between the vertical synchronizing signal of different sensors output.
Each reference is: 101 detecting modules, 102 control modules, 103 initialization modules, image more than 200
Sensing system, 201 first imageing sensors, 202 second imageing sensors, 203 image processing modules, 301 weeks
Phase enumerator, 302 difference counters, 401 first timing sequencers, 402 second timing sequencers, 403 first collection
Become circuit bus control unit, 404 second IC bus control units.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
As it is shown in figure 1, as basic embodiment, the invention discloses a kind of multiple image sensor synchronous control system,
Including detecting module 101 and control module 102 for connecting multiple image sensor system 200, also include for connecting many figures
The initialization module 103 of image sensor system 200, described control module 102 is connected with detecting module 101.
Described detecting module 101 detects the asynchronous nature between the data signal of each imageing sensor output, described
Control module 102 then adjust the duty of each sensor of image according to the asynchronous nature that detects, to reduce even
Eliminate the synchronization difference between output signal, and then improve the synchronization accuracy between different sensors.
During control system of the present invention work, the asynchronous behavior between detection different sensors output signal, then root before this
Adjust and control the duty of each sensor according to the asynchronous behavior between different sensors output signal.
When synchronous control system of the present invention is used for controlling multiple image sensor system 200, multiple image sensor system can be reduced
System 200 exports between each imageing sensor the time difference of view data.Each image in multiple image sensor system 200
The data signal of sensor output is IOUT1、IOUT2、……、IOUTN, when each imageing sensor is operated in video acquisition mould
Formula, then data signal IOUT exported1、IOUT2、……、IOUTNFor a series of video data.
Under normal circumstances, different images sensor correspond to different spatial view, and detecting module 101 is used for detecting multiple
Asynchronous nature between data signal IOUT1 of different images sensor output, IOUT2 ..., IOUTN；Control module 102
Connecting with detecting module 101 and multiple image sensor system 200, control module 102 can be visited according to detecting module 101 simultaneously
Asynchronous behavior between different images sensor output signal IOUT1 that measures, IOUT2 ..., IOUTN adjusts each and passes
The duty of sensor, and then improve the synchronization accuracy between different sensors, thus reduce and even eliminate output signal
Synchronization difference between IOUT1, IOUT2 ..., IOUTN.
In the present invention, the quantity of the imageing sensor comprised in multiple image sensor system 200 is not defined, also
That is, the multiple image sensor synchronous control system of the present invention can apply to any imageing sensor quantity more than one be
System.
For convenience of description, in the present embodiment, having the double image sensor system of two imageing sensors it is only
Example, but in actual applications, do not limit the quantity of imageing sensor.
Described multiple image sensor system 200 be have each other different technologies index (the most different resolution,
Different frame frequencies) the first imageing sensor 201 and the second imageing sensor 202 constitute double image sensor system.
Being likely to be of different frame frequencies between first imageing sensor 201 and the second imageing sensor 202, this is it is possible to draw
The nonsynchronous problem of output signal between first imageing sensor 201 and the second imageing sensor 202 of rising.When the first image sensing
When there is the different problem of output signal between device 201 and the second imageing sensor 202, as in figure 2 it is shown, the application present invention synchronizes
The image processing module 203 of control system just can detect and measure from the synchronization discrepancy between the signal of different images sensor
Different, adjust the first imageing sensor 201 and duty of the second imageing sensor 202 simultaneously, reduce or eliminate the first figure
As the time difference between sensor 201 and the second imageing sensor 202 output signal.
In this process, detecting module 101 can be according to the vertical synchronizing signal of multiple image sensor system 200 output
Detect output signal IOUT of the first imageing sensor 2011Output signal IOUT with the second imageing sensor 2022Between
Time difference.
The vertical synchronizing signal of multiple image sensor system 200 output and output signal IOUT1、IOUT2Between the most relevant
Connection, output signal IOUT detected according to detecting module 1011And IOUT2Between time difference, control module 102 can be led to
Cross the parameters such as adjustment master clock, pixel clock to adjust multiple image sensor system 200.
This synchronous control system 100 realizes in image processing module 203, must be at image but be also not necessarily limited to
Module 203 realizes, it is also possible to realize on other platform.
Shown in reference Fig. 3, a kind of image processing module applying double image sensor synchronous control system, also include first
Timing sequencer the 401, second timing sequencer the 402, first IC bus control unit 403 and the second IC bus
Control unit 404, the first described imageing sensor 201 is connected with detecting module 101 by the first timing sequencer 401, institute
The second imageing sensor 202 stated is connected with detecting module 101 by the second timing sequencer 402, and the first described image passes
Sensor 201 is connected with control module 102 by the first IC bus control unit 403, the second described imageing sensor
202 are connected with control module 102 by the second IC bus control unit 404.
First timing sequencer 401 can produce reset signal RESET1 of an imageing sensor and reset the first image
Sensor 201, and provide a master clock signal MCLK1 as reference clock to the first imageing sensor 201；This time,
First imageing sensor 201 is reset after signal RESET1 triggers and restarts work；Frequency in first imageing sensor 201
Synthesizer produces pixel clock PCLK1 according to master clock MCLK1, and the first imageing sensor 201 then comes according to pixel clock PCLK1
Export the pixel in every two field picture；Additionally, the first imageing sensor 201 by pixel clock PCLK1, horizontal-drive signal HS1, with
And vertical synchronizing signal VS1 is transferred to the first timing sequencer 401.
Horizontal-drive signal HS1 and vertical synchronizing signal VS1 are that the picture signal with the first imageing sensor 201 output is closed
It is linked togather；Horizontal-drive signal HS1 indicates the transmission of one-row pixels in a two field picture of the first imageing sensor 201
Completing, vertical synchronizing signal VS1 represents that last column pixel transmission of a two field picture completes.
Being similar to, the second timing sequencer 402 also can produce reset signal RESET2 and reset the second image sensing
Device 202, and provide a master clock signal MCLK2 as reference clock to the second imageing sensor 202；This time, second
Imageing sensor 202 is reset after signal RESET2 triggers and restarts work；Frequency synthesis in second imageing sensor 202
Device produces pixel clock PCLK2 according to master clock MCLK2, and the second imageing sensor 202 then exports according to pixel clock PCLK2
Pixel in every two field picture；Additionally, the second imageing sensor 202 by pixel clock PCLK2, horizontal-drive signal HS2 and hangs down
Straight synchronizing signal VS2 is transferred to the second timing sequencer 402.
Horizontal-drive signal HS2 and vertical synchronizing signal VS2 are that the picture signal with the second imageing sensor 202 output is closed
It is linked togather.Horizontal-drive signal HS2 indicates the transmission of one-row pixels in a two field picture of the second imageing sensor 201
Completing, vertical synchronizing signal VS2 represents that last column pixel transmission of a two field picture completes.
Vertical synchronizing signal VS1 indicates that the two field picture from the first imageing sensor 201 is completely transported to image
In processing module 203；Being similar to, vertical synchronizing signal VS2 also indicates the two field picture quilt from the second imageing sensor 202
It is completely transmitted in image processing module 203；Detecting module 101 can be according to vertical synchronizing signal VS1 and vertical synchronizing signal
Difference between VS2 detects and exports the synchronization between data between the first imageing sensor 201 and the second imageing sensor 202
Difference.
Further, described detecting module 101 contains, but is not limited to: cycle rate counter 301 and difference counter
302, described cycle rate counter 301 is simultaneously connected with the first timing sequencer 401 and control module 102, described difference count
Device 302 is simultaneously connected with the second timing sequencer 402 and control module 102, and described difference counter 302 is also connected with the first sequential
Generator 401.
Period technique device 301 is for recording the clock of two vertical sync pulses of continuous print in same vertical synchronizing signal
Cycle, and export result CN；The difference counter 302 time difference between two continuous vertical sync pulses of record, these are two years old
Individual continuous print vertical sync pulse is respectively from vertical synchronizing signal VS1 and vertical synchronizing signal VS2, and exports result DN.
The time difference of different images sensor output is can be obtained by according to CN and DN.
Fig. 4 is the sequential chart between the vertical synchronizing signal of different sensors output.
It gives the relation between vertical synchronizing signal VS1 and VS2.Control module 102 can be true according to CN and DN
Determine the true phase relation between the vertical sync pulse in vertical synchronizing signal VS1 and VS2.
If CN and DN meets following relation:, then control module 102 can judge vertically
The phase-lead of synchronizing signal VS1 in vertical synchronizing signal VS2, leading numerical values recited is。
If CN and DN meets following relation:, then control module 102 can judge vertically
The phase place of synchronizing signal VS1 lags behind vertical synchronizing signal VS2, and the numerical values recited fallen behind is。
If CN and DN meets following relation:, then control module 102 can judge vertically
The phase-lead of synchronizing signal VS2 in vertical synchronizing signal VS1, leading numerical values recited is。
If CN and DN meets following relation:, then control module 102 can judge vertically
The backwardness of synchronizing signal VS2 leads over vertical synchronizing signal VS1, and the numerical values recited fallen behind is。
WhenDuring more than certain threshold value set, it is assumed that the first imageing sensor 201 and the second imageing sensor 202
Between exist synchronize difference；After the output time difference that detecting module 101 obtains between different images sensor, control
Module 102 just can control different imageing sensors to adjust the output time of next frame image so that different images senses
Device is capable of synchronism output in next frame image.
The principle of above-described embodiment only illustrative present invention and effect thereof, and the embodiment that part is used, for
For those of ordinary skill in the art, without departing from the concept of the premise of the invention, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.
Claims (4)
1. a multiple image sensor synchronous control system, it is characterised in that: include for connecting multiple image sensor system
(200) detecting module (101) and control module (102), also include for connecting the initial of multiple image sensor system (200)
Changing module (103), described control module (102) is connected with detecting module (101)；
Described detecting module (101) detects the asynchronous nature between the data signal of each imageing sensor output, described
Control module (102) adjusts the duty of each sensor of image according to the asynchronous nature detected, and even disappears to reduce
Except the synchronization difference between output signal.
A kind of multiple image sensor synchronous control system the most according to claim 1, it is characterised in that described many images
Sensing system (200) is the first imageing sensor (201) and the second imageing sensor (202) structure with different technologies index
The double image sensor system become.
3. the image processing module applying synchronous control system as claimed in claim 2, it is characterised in that also include first
Timing sequencer (401), the second timing sequencer (402), the first IC bus control unit (403) and the second integrated electricity
Road bus control unit (404), described the first imageing sensor (201) is by the first timing sequencer (401) and detection mould
Block (101) connects, and described the second imageing sensor (202) is by the second timing sequencer (402) with detecting module (101) even
Connecing, described the first imageing sensor (201) is by the first IC bus control unit (403) and control module (102)
Connecting, described the second imageing sensor (202) passes through the second IC bus control unit (404) and control module
(102) connect.
A kind of image processing module the most according to claim 3, it is characterised in that described detecting module (101) includes
Cycle rate counter (301) and difference counter (302), described cycle rate counter (301) is simultaneously connected with the first timing sequencer
(401) and control module (102), described difference counter (302) is simultaneously connected with the second timing sequencer (402) and controls mould
Block (102), described difference counter (302) is also connected with the first timing sequencer (401).
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| CN201610484413.0A CN106131461A (en) | 2016-06-28 | 2016-06-28 | A kind of multiple image sensor synchronous control system and image processing module |
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| CN110326285A (en) * | 2017-03-02 | 2019-10-11 | 索尼半导体解决方案公司 | Imaging sensor and control system |
| WO2020062076A1 (en) * | 2018-09-28 | 2020-04-02 | 华为技术有限公司 | Initialization synchronization device and method and camera |
| CN113329174A (en) * | 2021-05-21 | 2021-08-31 | 浙江大华技术股份有限公司 | Control method, device and system of multi-view camera and electronic device |
| CN115484409A (en) * | 2022-09-09 | 2022-12-16 | 成都微光集电科技有限公司 | Multi-image sensor cooperative working method and system |
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Application publication date: 20161116 |