CN106603892A - Industrial camera and system for 3D scanning image matching - Google Patents
Industrial camera and system for 3D scanning image matching Download PDFInfo
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Abstract
The present invention discloses an industrial camera and system for 3D scanning image matching. The system comprises an upper computer, a main camera and auxiliary cameras. The upper computer and the main camera are in connection communication with all the auxiliary cameras, and the main camera is in connection communication with all the auxiliary cameras. The exposure time of the main camera and the auxiliary cameras is controlled, and the number of the exposure times is introduced to take as the basis of image matching, so that the consistency of the exposure time of a plurality of industrial cameras can be accurately controlled. The consistency of images obtained by the cameras on the time and the space is ensured.
Description
Technical field
The present invention relates to 3D scannings field, more particularly to a kind of a kind of industrial camera for the matching of 3D scanograms of system offer for the matching of 3D scanograms.
Background technology
In recent years, with the proposition of industrial 4.0 concept, laboratory is gradually walked out in 3D scannings, moves towards reality.With all trades and professions that the development of 3D scanning techniques, 3D scanning techniques are widely used.Especially in body digitalization, industrial on-line checking, the sector application such as CAD of Garment are particularly extensive.And double camera or multiple cameras are often applied to while synthesizing 3D rendering by computed in software after being acquired view data in above-mentioned application.By introducing multiple images sensor acquisition image, the quality and efficiency of collection image can be greatly improved.Different cameral carries out image data acquiring to same object, view data is uploaded to host computer then in same time, different angles, runs on the software of host computer different cameral while the view data of collection carries out synthesis 3D rendering.If expecting high-precision 3D rendering, it is desirable to which all industrial cameras for participating in collection view data that are connected with host computer are in synchronization exposure collection view data.In order to realize multiple stage industrial camera in synchronization exposure collection image, traditional mode is continuously to send command request exposure respectively to the industrial camera for being connected by the host computer of main control end.It is typically all multitask non-real time operating system that this method have ignored the operating system of host computer operation first, even if the directive statement of the requirement exposure described using computer language is continuously performed in form, but due to the problem of thread scheduling, bigger time deviation is carved with when reality performs sentence, and also is difficult to the duration of determination deviation.Secondly, it is typically all what is completed by computer bus that host computer sends exposure instruction to industrial camera, general computer bus, if usb bus, netting twine are instructed using non-isochronous transfers, computer instruction is sent by bus unification, but the moment of the different industrial cameras of arrival is present than larger time deviation, and is difficult the duration of determination deviation.Finally, based on above-mentioned two factor, the actual exposure moment of the multiple stage industrial camera connected by host computer there is the deviation that cannot be determined.
The Second Problem that said method is present is, the exposure and transmission of camera are detached, and it is also uncertain that the view data that camera exposure is produced is transferred to the moment of host computer, and host computer accurately cannot carry out packet transaction to the picture of different cameral upload.
In sum, the how time of exposure of the multiple industrial cameras of precise control, it is ensured that concordance of the image that polyphaser is obtained in the time, spatially is extremely important.
The content of the invention
It is an object of the invention to provide a kind of industrial camera and system for the matching of 3D scanograms, to solve the above problems.
In order to achieve the above object, the technical scheme is that what is be achieved in that：
A kind of industrial camera for the matching of 3D scanograms, comprising Digital Logical Circuits module section, CPU（Computing and control core）Module and sensitive chip exposure module.The CPU module of industrial camera is responsible for and the upper machine communication being connected, and the view data for being responsible for producing camera exposure is uploaded.Digital Logical Circuits module is responsible for the work order for receiving camera CPU and is externally received and sending signal, while sending exposure command signal to the exposure module of camera.Sensitive chip exposure module is receiving the exposure instruction post-exposure image that above-mentioned Digital Logical Circuits module is sent.
Based on above-mentioned industrial camera, the present invention also provides a kind of system for the matching of 3D scanograms.Including host computer, above-mentioned industrial camera.Further, above-mentioned industrial camera includes principal phase machine, from camera one, from camera two, from camera N（N is constant, be according to actual needs come determine connect host computer camera quantity）.Principal phase machine and it is connected by interface from camera with host computer, it is all of to be connected by interface from camera with principal phase machine.
A kind of system for the matching of 3D scanograms that the corresponding present invention is provided comprises the steps：
Host computer sends exposure and counts to the CPU of principal phase machine, and the exposure counts the enabled instruction as principal phase machine.Principal phase machine CPU sends exposure instruction after exposure counting is received to the Digital Logical Circuits module of principal phase machine and requires that Digital Logical Circuits control is exposed to the sensitive chip module of principal phase machine after time T1, and time T1 can be set by software interface.Principal phase machine Digital Logical Circuits module after exposure instruction is received sends exposure to the connected Digital Logical Circuits module from camera by circuit code and counts, and sends the time constant and measurable for T2.Receiving after the exposure that principal phase machine sends counts from the digital circuit blocks of camera, in the time（T1-T2）Exposure instruction is sent to respective sensitive chip module afterwards.After exposure is completed from camera, the exposure read out by the view data of exposure and from respective Digital Logical Circuits from the respective CPU module of camera is counted and is uploaded to host computer together.The view data that host computer is uploaded by the principal phase machine for receiving and from camera carries out judgement process.
A kind of industrial camera and system for the matching of 3D scanograms that the present invention is provided can be with：The all industrial cameras being connected with host computer of control are exposed in the same time in phase, it is ensured that the view data of the different cameral exposure that host computer is received is that synchronization exposure is produced, and improves the precision that 3D rendering is processed.
Description of the drawings
Fig. 1 provides a kind of for 3D scanogram matching system structural representations for the embodiment of the present invention.
Fig. 2 provides a kind of 3D scanograms matching flow chart that image is gathered based on double camera for the embodiment of the present invention.
Specific embodiment
Below by specific embodiment and combine accompanying drawing the present invention is described in further detail.Referring to Fig. 1, the present invention is implemented there is provided a kind of system for the matching of 3D scanograms.Including host computer 30, principal phase machine 10, from camera 1, from camera two.Principal phase machine and all of it is just as from camera structure, to explain from camera one in Fig. 1, including CPU module 201, receive the order of host computer transmission and data or send data to host computer, it is same can also from it is connected be that digital circuit blocks 202 read data.Camera also includes digital circuit blocks 202, and its function is to receive the instruction of the transmission of CPU 201, or receives the director data of external circuit transmission and exposure instruction can be sent to connected 203 module of sensitive chip.And sensitive chip 203 carries out exposure image after the instruction that digital circuit blocks send is received.
The present invention implement it is is provided it is a kind of for 3D scanograms matching system can control all industrial cameras being connected with host computer phase in the same time and meanwhile expose, the difference of multiple cameras that non-isochronous transfers cause on signal time is received can be eliminated, synthesizes 3D rendering so as to obtain the view data of high matching degree.
Based on the structural representation described in Fig. 1, below with binocular camera（One principal phase machine, one from camera）3D scanograms matching system the invention is made camera description, referring to Fig. 2.Comprise the steps：
Step S001, host computer activation system, while notifying that all of camera completes initial work.Host computer sends exposure counting and gives principal phase machine, and exposure here is counted as i（I is constant, and i is started counting up from 0）；Preferably, described host computer adopts PC.Described host computer and camera connection can select gigabit network interface, fire-wire interfaces or USB interface according to actual situation.
Step S101, the CPU of principal phase machine are receiving the host computer transmission exposure counting, exposure instruction of the exposure counting as principal phase machine.
Step S102, the digital circuit blocks of principal phase machine after time T1, notify that the sensitive chip exposure module of principal phase machine is exposed image after the exposure counting that the host computer sends is received.Also, principal phase machine is encoded by digital circuit and described exposure is counted the digital circuit blocks being sent to from camera after time t 2.Described time T1 and time T2 can be measurement.
It should be noted that professional and technical personnel in the field can be about in the parameter temporal T1, and the internal memory of time T2 burning camera by being programmed into, the parameter is operationally read out setting by camera.
Step S201, the digital circuit blocks from camera are counted in the exposure that the digital circuit blocks for receiving the principal phase machine send.The exposure is counted and also serves as the exposure instruction from camera simultaneously.
Step S202, in the elapsed time（T1-T2）Afterwards, the digital circuit blocks from camera send exposure instruction to the sensitive chip from camera, described to receive after exposure instruction exposure image immediately from the sensitive chip module of camera.
Step S103, the principal phase machine sensitive chip module are receiving exposure instruction then exposure image immediately.
The view data that its sensitive chip module exposure is generated is sent back to host computer by step S104, the CPU module of the principal phase machine.
Step S203, it is described from the digital circuit blocks of camera to read out exposure counting i that the digital circuit blocks in step S201 receive from described from camera CPU, and host computer is sent back to together with the view data generated from the sensitive chip module exposure of camera.
Step S002, the host computer according to the frame number of described image data, judge whether it is same group of view data after the principal phase machine and the view data sent from camera is received.The frame number is exactly the exposure counting i in above-mentioned steps.
Further, as some peripheries affect, if the principal phase machine that the host computer is received is different with the frame number of the view data sent from camera, may determine that the view data non-concurrent for receiving carves what exposure was produced, as mismatch, the host computer can do discarding data processing.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for a person skilled in the art, the present invention there can be various modifications and variations.All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included within the scope of the present invention.
Claims (5)
1. it is a kind of for 3D scanograms matching industrial camera, it is characterised in that：Including CPU（Computing and control）Module, digital circuit blocks, sensitive chip exposure module；Wherein, the CPU module is the control module of the industrial camera, is responsible for receiving the instruction of host computer transmission and the view data that the sensitive chip exposure module exposes is uploaded to host computer；The CPU module is responsible for sending instructions to digital circuit blocks；The digital circuit blocks, are connected to the CPU module, and for receiving the instruction that the CPU module sends, and the time parameter according to setting sends exposure instruction to the sensitive chip module；Data interaction can be carried out with diconnected by interface between the digital circuit blocks of described different industrial cameras；
The sensitive chip exposure module, is connected to the digital circuit blocks；
The sensitive chip exposure module starts exposure program collection image after the exposure instruction that the digital circuit blocks send is received.
2. it is a kind of for 3D scanograms matching system, it is characterised in that include：
Industrial camera described in claim 1；
Host computer；The host computer is connected with the industrial camera；The industrial camera includes principal phase machine, from camera；The principal phase machine is connected from camera with all；Wherein, the principal phase machine is used to receiving the exposure that the host computer sends and counts, and is responsible for transmitted exposure and counts to coupled all from camera.
3. as claimed in claim 2 a kind of system for the matching of 3D scanograms, it is characterised in that：
The host computer sends exposure and counts to described principal phase machine, after the CPU module of the principal phase machine receives exposure counting, principal phase machine CPU sends exposure after exposure counting is received and instructs the Digital Logical Circuits module to the principal phase machine and require that Digital Logical Circuits control is exposed to the sensitive chip module of principal phase machine after time T1.
4. as claimed in claim 2 a kind of system for the matching of 3D scanograms, it is characterised in that：
The principal phase machine Digital Logical Circuits module after exposure instruction is received sends exposure to the connected Digital Logical Circuits module from camera by circuit code and counts, and sends the time constant and measurable for T2.
5. as claimed in claim 2 a kind of system for the matching of 3D scanograms, it is characterised in that：
The digital circuit blocks from camera are being received after the exposure that principal phase machine sends counts, in the time（T1-T2）Exposure instruction is sent to the sensitive chip module from camera afterwards；
It is described complete exposure from camera after, the exposure read out by the view data of exposure and from respective Digital Logical Circuits from the respective CPU module of camera is counted and is uploaded to the host computer together.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510677870.7A CN106603892A (en) | 2015-10-20 | 2015-10-20 | Industrial camera and system for 3D scanning image matching |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510677870.7A CN106603892A (en) | 2015-10-20 | 2015-10-20 | Industrial camera and system for 3D scanning image matching |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107948515A (en) * | 2017-11-30 | 2018-04-20 | 北京图森未来科技有限公司 | A kind of camera synchronous method and device, binocular camera |
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| US20110119405A1 (en) * | 2009-11-17 | 2011-05-19 | Aptina Imaging Corporation | Systems and methods for addressing and synchronizing multiple devices |
| US20120194712A1 (en) * | 2011-02-01 | 2012-08-02 | Neal Crook | Systems and methods for synchronizing and controlling multiple image sensors |
| CN103338334A (en) * | 2013-07-17 | 2013-10-02 | 中测新图(北京)遥感技术有限责任公司 | System and method for controlling multi-cameral digital aerial photographic camera synchronous exposure |
| CN104764442A (en) * | 2015-04-15 | 2015-07-08 | 中测新图(北京)遥感技术有限责任公司 | Method and device for determining exposure time of aerial photogrammetric camera in light-small unmanned aerial vehicle |
| CN205039906U (en) * | 2015-10-20 | 2016-02-17 | 上海方诚光电科技有限公司 | A industry camera and system for 3D scan imagery matches |
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- 2015-10-20 CN CN201510677870.7A patent/CN106603892A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110119405A1 (en) * | 2009-11-17 | 2011-05-19 | Aptina Imaging Corporation | Systems and methods for addressing and synchronizing multiple devices |
| US20120194712A1 (en) * | 2011-02-01 | 2012-08-02 | Neal Crook | Systems and methods for synchronizing and controlling multiple image sensors |
| CN103338334A (en) * | 2013-07-17 | 2013-10-02 | 中测新图(北京)遥感技术有限责任公司 | System and method for controlling multi-cameral digital aerial photographic camera synchronous exposure |
| CN104764442A (en) * | 2015-04-15 | 2015-07-08 | 中测新图(北京)遥感技术有限责任公司 | Method and device for determining exposure time of aerial photogrammetric camera in light-small unmanned aerial vehicle |
| CN205039906U (en) * | 2015-10-20 | 2016-02-17 | 上海方诚光电科技有限公司 | A industry camera and system for 3D scan imagery matches |
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| CN107948515A (en) * | 2017-11-30 | 2018-04-20 | 北京图森未来科技有限公司 | A kind of camera synchronous method and device, binocular camera |
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Application publication date: 20170426 |