CN108492254A - Image capturing system and method - Google Patents
Image capturing system and method Download PDFInfo
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- CN108492254A CN108492254A CN201810260261.5A CN201810260261A CN108492254A CN 108492254 A CN108492254 A CN 108492254A CN 201810260261 A CN201810260261 A CN 201810260261A CN 108492254 A CN108492254 A CN 108492254A
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- 230000009466 transformation Effects 0.000 claims abstract description 28
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- 230000008859 change Effects 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 4
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- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
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- 101150026942 CAM3 gene Proteins 0.000 description 4
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- 101001077352 Homo sapiens Calcium/calmodulin-dependent protein kinase type II subunit beta Proteins 0.000 description 4
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- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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Abstract
A kind of image capturing system of offer of the embodiment of the present invention and method.Image capturing system includes the image capture device and computer equipment communicated to connect between each other.Image capture device includes fixed plate and multiple cameras for being arranged in fixed plate, and multiple cameras distinguish the image of continuous acquisition target object along predetermined moving direction, and the image that synchronization acquires is sent to computer equipment.The each pixel coordinate for the image that computer equipment sends each camera at each moment based on the camera model demarcated in advance carries out image transformation, after multiple orthoscopic images at each moment after being converted, image mosaic is carried out to multiple orthoscopic images at each moment respectively, generate first stitching image at each moment, and image mosaic is carried out to first stitching image at each moment, generate the stitching image of target object.Hereby it is achieved that the image overall picture acquisition in small space, and the high resolution of the image collected, robustness are high.
Description
Technical field
The present invention relates to image acquisition technology fields, in particular to a kind of image capturing system and method.
Background technology
In the prior art, the method for the contactless acquisition body surface image of short distance, is limited to the visual field and clarity, especially
It is in small gaps, since problem is limited in the visual field of image capture device, it is difficult to be acquired to the overall picture of body surface.
Invention content
In view of this, the purpose of the present invention is to provide a kind of image capturing system and method, on solving or improve
State problem.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
The embodiment of the present invention provides a kind of image capturing system, and described image acquisition system includes communication connection between each other
Image capture device and computer equipment.
Described image collecting device includes fixed plate and multiple is taken the photograph according to what preset distance was arranged in the fixed plate
As head, the multiple camera is used to distinguish along predetermined moving direction the image of continuous acquisition target object, and by synchronization
The image of acquisition is sent to the computer equipment.
The computer equipment was used for based on the camera model demarcated in advance to each camera at each moment
Each pixel coordinate of the image of transmission carries out image transformation, after multiple orthoscopic images at each moment after being converted,
Image mosaic is carried out to multiple orthoscopic images at each moment respectively, generates first stitching image at each moment, and
Image mosaic is carried out to first stitching image at each moment, generates the stitching image of the target object.
Optionally, the figure that each camera is sent at each moment based on the camera model demarcated in advance
Each pixel coordinate progress image transformation of picture, the mode of multiple orthoscopic images at each moment after being converted, including：
Corresponding calibration coordinate is obtained from the camera model demarcated in advance；
Each pixel coordinate of the image sent at each moment according to the calibration each camera of coordinate pair into
Row transformation, multiple orthoscopic images at each moment after being converted.
Optionally, multiple orthoscopic images to each moment carry out image mosaic, generate each moment
The mode of first stitching image, including：
Calculate the identical image characteristic point between each two adjacent orthoscopic images；
For each orthoscopic image, choose preset quantity identical image characteristic point calculate the orthoscopic image relative to
The transformation matrix of coordinates of adjacent orthoscopic image；
The same characteristic features point in coordinate change is carried out to the pixel on the orthoscopic image based on the transformation matrix of coordinates
Alignment, obtains spliced first stitching image.
Optionally, first stitching image to each moment carries out image mosaic, generates the target object
Stitching image mode, including：
For first stitching image at each moment, image is carried out on the basis of first stitching image at last moment respectively
Splicing, generates the stitching image of the target object.
Optionally, described image collecting device further includes being arranged around each camera, for each camera shooting
The shooting environmental of head carries out the light filling plate of light filling.
Optionally, described image collecting device further includes the stretching structure being fixedly connected with the fixed plate, described flexible
Structure include the first slide bar, the second slide bar, third slide bar, the first sliding block, the second sliding block, slide bar fixed seat, stepper motor and
Synchronous belt；
First slide bar one end is fixedly connected with first sliding block, and the other end is fixedly connected with the fixed plate, institute
It states the second slide bar and third slide bar one end to be fixedly connected with second sliding block, the other end is fixed with the slide bar fixed seat
Connection, first sliding block are connect with the fixed plate；
Synchronous pulley is provided on second sliding block, one end of the synchronous belt is fixed with the synchronous pulley, another
End is fixed across first sliding block with the stepper motor, and band is rotated by the synchronous belt when the stepper motor is rotated
It moves first sliding block to slide on second slide bar and the third slide bar, and drives second sliding block described first
It is slided on slide bar, to drive the fixed plate to move.
Optionally, it is provided with contact-making switch in the slide bar fixed seat, when first sliding block collides the contact-making switch
Shi Suoshu stepper motors turn to initial point position.
In conjunction with second aspect, the embodiment of the present invention also provides a kind of image-pickup method, is applied to above-mentioned Image Acquisition
System, the method further include：
Multiple cameras in described image collecting device distinguish the figure of continuous acquisition target object along predetermined moving direction
Picture, and the image that synchronization acquires is sent to the computer equipment；
The computer equipment sends each camera at each moment based on the camera model demarcated in advance
Image each pixel coordinate carry out image transformation, multiple orthoscopic images at each moment after being converted；
Image mosaic is carried out to multiple orthoscopic images at each moment respectively, generates first splicing at each moment
Image；
Image mosaic is carried out to first stitching image at each moment, generates the stitching image of the target object.
In terms of existing technologies, the invention has the advantages that：
A kind of image capturing system of offer of the embodiment of the present invention and method.Image capturing system includes mutual communication link
The image capture device and computer equipment connect.Image capture device includes fixed plate and is arranged in fixation according to preset distance
Multiple cameras on plate, multiple cameras are used to distinguish along predetermined moving direction the image of continuous acquisition target object, and will
The image of synchronization acquisition is sent to computer equipment.Computer equipment is used for based on the camera model demarcated in advance to each
A camera carries out image transformation in each pixel coordinate for the image that each moment sends, each moment after being converted
After multiple orthoscopic images, image mosaic is carried out to multiple orthoscopic images at each moment respectively, generates the of each moment
One stitching image, and image mosaic is carried out to first stitching image at each moment, generate the stitching image of target object.By
This, is respectively acquired the image in the respective visual field by the multiple cameras being arranged in fixed plate, and pass through computer
Equipment carries out image mosaic after eliminating pattern distortion, and to generate overview image, the image overall picture realized in small space is adopted
Collection has the greatly shooting visual field, and the high resolution of the image collected, and robustness is high, when not moved by Image Acquisition
The influence of vibrations.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the interaction schematic block diagram of image capturing system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of image capture device provided in an embodiment of the present invention；
Fig. 3 is one of the principle schematic of image capturing system provided in an embodiment of the present invention；
Fig. 4 is the two of the principle schematic of image capturing system provided in an embodiment of the present invention；
Fig. 5 is the three of the principle schematic of image capturing system provided in an embodiment of the present invention；
Fig. 6 is the four of the principle schematic of image capturing system provided in an embodiment of the present invention；
Fig. 7 is the five of the principle schematic of image capturing system provided in an embodiment of the present invention；
Fig. 8 be camera provided in an embodiment of the present invention, fixed plate and light filling plate decomposition texture schematic diagram；
Fig. 9 is the structural schematic diagram of stretching structure provided in an embodiment of the present invention；
Figure 10 is the flow diagram of image-pickup method provided in an embodiment of the present invention.
Icon：10- image capturing systems；100- image capture devices；110- fixed plates；120- cameras；130- is acquired
Line；140- light filling plates；145- light compensating lamps；150- stretching structures；The first slide bars of 151-；The second slide bars of 152-；153- third slide bars；
The first sliding blocks of 154-；The second sliding blocks of 155-；156- slide bar fixed seats；157- synchronous belts；158- contact-making switches；200- computers are set
It is standby.
Specific implementation mode
There is not yet in currently available technology can closely it is contactless acquisition body surface image method, especially
In small gaps, since problem is limited in the visual field of image capture device, it is difficult to be acquired to the overall picture of body surface.
Defect present in the above scheme in the prior art, is that inventor is obtaining after putting into practice and carefully studying
As a result, therefore, the solution that the discovery procedure of the above problem and the hereinafter embodiment of the present invention are proposed regarding to the issue above
Scheme all should be the contribution that inventor makes the present invention in process of the present invention.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term "upper", "lower" is base
In orientation or positional relationship shown in the drawings or the invention product using when the orientation or positional relationship usually put, only
It is that for convenience of description of the present invention and simplification of the description, not indicating or implying the indicated device or element must have specifically
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
In concrete meaning.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Referring to Fig. 1, for the interaction schematic block diagram of image capturing system 10 provided in an embodiment of the present invention.The present embodiment
In, described image acquisition system 10 may include the image capture device communicated to connect between each other 100 and computer equipment 200.
Further regard to Fig. 2, described image collecting device 100 may include including fixed plate 110 and according to preset distance
The multiple cameras 120 being arranged in the fixed plate 110, the multiple camera 120 are used to distinguish along predetermined moving direction
The image of continuous acquisition target object, and the image that synchronization acquires is sent to the computer equipment 200.
In one embodiment, described image collecting device 100 can also include gathering line 130, the gathering line 130
Connect respectively with each camera 120 and the computer equipment 200, for realizing described image collecting device 100 with
Data communication between the computer equipment 200.It is, of course, understood that in other embodiments, the camera
120 can also carry out data by wireless communication mode, such as the modes such as bluetooth, LORA, WIFI with the computer equipment 200
Communication, the present embodiment are not specifically limited to specifically communicating to connect mode.
The computer equipment 200 can be the electronic equipment for having data-handling capacity, such as PC, intelligent hand
Machine, intelligent wearable device, laptop etc..
In the present embodiment, the computer equipment 200 receives the figure that each camera 120 is sent at each moment
It, can be based on each of the image that the camera model demarcated in advance sends each camera 120 at each moment as after
Pixel coordinate carries out image transformation, multiple orthoscopic images at each moment after being converted.In one embodiment, institute
It states computer equipment 200 and obtains corresponding calibration coordinate from the camera model demarcated in advance, then sat according to the calibration
The each pixel coordinate for marking the image sent at each moment to each camera 120 converts, after being converted
Multiple orthoscopic images at each moment influence so as to eliminate pattern distortion.
Then, the computer equipment 200 carries out image mosaic to multiple orthoscopic images at each moment respectively,
Generate first stitching image at each moment.In one embodiment, the computer equipment 200 can calculate each adjacent
Identical image characteristic point between two orthoscopic images, then it is directed to each orthoscopic image, choose the identical figure of preset quantity
As characteristic point calculates transformation matrix of coordinates of the orthoscopic image relative to adjacent orthoscopic image, it is then based on the coordinate
Transformation matrix carries out the pixel on the orthoscopic image same characteristic features point alignment in coordinate change, obtains spliced first
Stitching image.
Then, the computer equipment 200 carries out image mosaic to first stitching image at each moment, generates institute
State the stitching image of target object.Such as it can be directed to first stitching image at each moment, it is spelled respectively with the first of the last moment
Image mosaic is carried out on the basis of map interlinking picture, generates the stitching image of the target object.
In one embodiment, the calibration mode of the above-mentioned camera model demarcated in advance can be real by the following method
It is existing：
For selecting 120 camera lens of camera (such as 150 degree) of focusing wide angle or fixed-focus bugeye lens, make first
Camera 120 is demarcated to obtain camera model with predetermined uncalibrated image (for example, gridiron pattern), which can
Including X, the drop shadow curve's equation of focal length, imaging center point coordinates and the pixel of Y-direction in 3d space.Then, this is used
The pixel of 120 the image collected of camera is projected to three dimensions by camera model, can obtain the image after distortion,
The imaging region gone after distortion is an indent rectangle.Then the figure after distortion can be obtained according to the coordinate of imaging center point
The transverse and longitudinal direction symmetry axis of picture searches four image edge point coordinates on two axis, the respectively seat of upper and lower, left and right
Punctuate retains sideline interior zone using this four coordinates as the midpoint in four cutting sidelines, and cutting obtains inscribed rectangle, and
Four point coordinates are added in the camera model, to obtain the above-mentioned camera model demarcated in advance.
With reference to Fig. 3-Fig. 7, the technical solution of above-described embodiment is illustrated.
Referring to Fig. 3, assuming that the image capture device 100 includes the camera of 2,000,000 pixels of three 150 degree of wide-angles
120, respectively CAM1, CAM2 and CAM3, the target object are tire, and CAM1, CAM2 and CAM3 receive acquisition
Shoot tire image respectively afterwards.In actual application, image capture device 100 is for closely non-contact photographic subjects object
Body, such as tire, therefore the distance between each camera 120 and tire are typically small, such as shown in Fig. 4, each camera 120 with
The distance between tire is generally 10mm-20mm, and the length of each camera 120 is generally less than 30mm, and thus, it is possible to realize narrow
Shooting at close range target object image in small space.
Refering to Fig. 5, CAM1, CAM2 and CAM3 can be moved along fixed-direction, speed 50mm/s, according to adopting for 3-5hz
Computer equipment 200 is sent to after sample frequency continuous acquisition image, computer equipment 200 is using camera model to each of image
A pixel coordinate is converted, and obtains the image of undistorted cutting, such as shown in Fig. 6, and left figure is the figure that camera 120 is shot
Picture, the rectangle of four side indent of lines is the image eliminated after distortion in right figure, and central filler region is then to cut obtained minimum
Inscribed rectangle.
Then, refering to Fig. 7, the computer equipment 200 spells the image of CAM1, CAM2 and CAM3 after cutting
It connects, obtains the first stitching image, then synthesize the image sequence of the first stitching image composition, frame before and after image sequence is spelled
It connects, obtains the second stitching image namely overall picture stitching image of the tire.
For example, the image on the basis of removing the intermediate image B in three images A, B, C after distorting, calculates image A and image
The same characteristic features point of C and image B, the characteristic point for randomly selecting preset quantity (such as five) or more calculate image A, image C
Relative to the transformation matrix of coordinates H of image B, coordinate is carried out using transformation matrices H to pixel all on image C and image A
Same characteristic features point alignment on image A and image C and image B after transformation is obtained horizontally-spliced image by transformation.
Then, circumferentially moved along tire, fixed intervals are continuously taken pictures, often acquire an image, obtain one it is horizontally-spliced after
Image, image after several are horizontally-spliced carry out it is longitudinal spliced, on the basis of splicing is all one above every time, such as first two
Image is on the basis of first, and the image after having spliced is as the benchmark spliced next time.It is longitudinal spliced without cutting, it is longitudinal
The global image to final clapped body surface after having spliced.
Based on above-mentioned design, the present embodiment is by multiple cameras 120 for being arranged in fixed plate 110 respectively to respectively considering oneself as
The image of Yezhong is acquired, and carries out image mosaic after eliminating pattern distortion by computer equipment 200, to generate overall picture
Image realizes the image overall picture acquisition in small space, has the greatly shooting visual field, and the resolution of the image collected
Rate is high, and robustness is high, and being shaken when not moved by Image Acquisition is influenced.
It is found in practical study through present inventor, due to the small space light residing for the image capture device 100
Line is dark, thus is unfavorable for actual acquisition, referring to Fig. 8, optionally, described image collecting device 100 further includes being arranged each
Around a camera 120, the light filling plate 140 for carrying out light filling to the shooting environmental of each camera 120, the light filling plate
Multiple light compensating lamps 145 for illumination are provided on 140, it as a result, can be by each light compensating lamp 145 to each camera 120
Shooting environmental carries out light filling, and then is convenient for Image Acquisition of the camera 120 in small space.
In practical application scene, such as in small space, adopted to carry out image to each region of small space
Collection, needs the telescopic moving in small space of fixed plate 110, to drive each camera 120 to acquire the image of different zones.For
Realization above-mentioned purpose, referring to Fig. 9, optionally, described image collecting device 100 can also include and the fixed plate 110
The stretching structure 150 being fixedly connected.The stretching structure 150 include the first slide bar 151, the second slide bar 152, third slide bar 153,
First sliding block 154, the second sliding block 155, slide bar fixed seat 156, stepper motor and synchronous belt 157.First slide bar 151 1
End is fixedly connected with first sliding block 154, and the other end is fixedly connected with the fixed plate 110, second slide bar 152 and institute
153 one end of third slide bar to be stated to be fixedly connected with second sliding block 155, the other end is fixedly connected with the slide bar fixed seat 156,
First sliding block 154 is connect with the fixed plate 110.
The wheel of synchronous belt 157, one end of the synchronous belt 157 and the synchronous belt 157 are provided on second sliding block 155
Wheel is fixed, and the other end is fixed across first sliding block 154 with the stepper motor, passes through institute when the stepper motor rotates
Stating the rotation of synchronous belt 157 drives first sliding block 154 to be slided on second slide bar 152 and the third slide bar 153, and
Second sliding block 155 is driven to be slided on first slide bar 151, to drive the fixed plate 110 to move.Thus, it is possible to
It realizes the telescopic moving in small space of fixed plate 110, each camera 120 is driven to acquire the image of different zones, broadening
The application scenarios of image capture device 100.Above structure is convenient for stretching in small space simultaneously, easily controllable.
Still refering to Fig. 9, optionally, it is also provided with contact-making switch 158 in the slide bar fixed seat 156, when described
First sliding block 154 when colliding the contact-making switch 158 stepper motor turn to initial point position, it is possible thereby to initial with this
Point is set at 0 point, judges the sliding distance of current first sliding block 154, is convenient for subsequent control.
Optionally, it can be fixedly connected with executing agency with the end of first slide bar 151 on first sliding block 154, it should
The extending direction that executing agency can prolong first slide bar 151 completes linear motion, and then whole image acquisition may be implemented
Linear scaling movement of the equipment 100 in small space.
Further, referring to Fig. 10, the embodiment of the present invention also provides a kind of image-pickup method, the image-pickup method
Applied to above-mentioned image capturing system 10, this method comprises the following steps：
Step S210, multiple cameras 120 in image capture device 100 distinguish continuous acquisition mesh along predetermined moving direction
The image of object is marked, and the image that synchronization acquires is sent to the computer equipment 200.
Step S220, the computer equipment 200 is based on the camera model demarcated in advance to each camera 120
Carry out image transformation in each pixel coordinate for the image that each moment sends, each moment after being converted it is multiple without abnormal
Become image.
Step S230 carries out image mosaic to multiple orthoscopic images at each moment respectively, generates each moment
The first stitching image.
Step S240 carries out image mosaic to first stitching image at each moment, generates the target object
Stitching image.
Optionally, described that each camera 120 is sent at each moment based on the camera model demarcated in advance
Each pixel coordinate of image carry out image transformation, the step of multiple orthoscopic images at each moment after being converted,
Including：
Corresponding calibration coordinate is obtained from the camera model demarcated in advance；
Each pixel coordinate according to the image that the calibration each camera 120 of coordinate pair was sent at each moment
It is converted, multiple orthoscopic images at each moment after being converted.
Optionally, multiple orthoscopic images to each moment carry out image mosaic, generate each moment
The step of first stitching image, including：
Calculate the identical image characteristic point between each two adjacent orthoscopic images；
For each orthoscopic image, choose preset quantity identical image characteristic point calculate the orthoscopic image relative to
The transformation matrix of coordinates of adjacent orthoscopic image；
The same characteristic features point in coordinate change is carried out to the pixel on the orthoscopic image based on the transformation matrix of coordinates
Alignment, obtains spliced first stitching image.
The detailed content of each step can refer to corresponding in above-described embodiment in image-pickup method provided in this embodiment
Description, details are not described herein.
In conclusion a kind of image capturing system of offer of the embodiment of the present invention and method.Image capturing system includes mutual
Between the image capture device and computer equipment that communicate to connect.Image capture device includes fixed plate and according to preset distance
The multiple cameras being arranged in fixed plate, multiple cameras are used to distinguish continuous acquisition target object along predetermined moving direction
Image, and the image that synchronization acquires is sent to computer equipment.Computer equipment is used for based on the camera shooting demarcated in advance
The each pixel coordinate for the image that machine model sends each camera at each moment carries out image transformation, after being converted
After multiple orthoscopic images at each moment, image mosaic is carried out to multiple orthoscopic images at each moment respectively, is generated each
First stitching image at a moment, and image mosaic is carried out to first stitching image at each moment, generate the spelling of target object
Map interlinking picture.The image in the respective visual field is acquired respectively by the multiple cameras being arranged in fixed plate as a result, and is led to
It crosses after computer equipment eliminates pattern distortion and carries out image mosaic, to generate overview image, realize the figure in small space
As overall picture acquisition, there is the greatly shooting visual field, and the high resolution of the image collected, robustness is high, is not adopted by image
The influence that collection shakes when mobile.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of image capturing system, which is characterized in that described image acquisition system includes the image communicated to connect between each other
Collecting device and computer equipment；
Multiple cameras that described image collecting device includes fixed plate and is arranged according to preset distance in the fixed plate,
The multiple camera is used to distinguish along predetermined moving direction the image of continuous acquisition target object, and synchronization is acquired
Image is sent to the computer equipment；
The computer equipment is for sending each camera at each moment based on the camera model demarcated in advance
Each pixel coordinate of image carry out image transformation, after multiple orthoscopic images at each moment after convert, distinguish
Image mosaic is carried out to multiple orthoscopic images at each moment, generates first stitching image at each moment, and to institute
The first stitching image for stating each moment carries out image mosaic, generates the stitching image of the target object.
2. image capturing system according to claim 1, which is characterized in that described based on the camera model demarcated in advance
Each pixel coordinate of the image sent at each moment to each camera carries out image transformation, every after being converted
The mode of multiple orthoscopic images at a moment, including：
Corresponding calibration coordinate is obtained from the camera model demarcated in advance；
Each pixel coordinate of the image sent at each moment according to the calibration each camera of coordinate pair is become
It changes, multiple orthoscopic images at each moment after being converted.
3. image capturing system according to claim 1, which is characterized in that described multiple without abnormal to each moment
Become image and carry out image mosaic, generates the mode of first stitching image at each moment, including：
Calculate the identical image characteristic point between each two adjacent orthoscopic images；
For each orthoscopic image, chooses preset quantity identical image characteristic point and calculate the orthoscopic image relative to adjacent
Orthoscopic image transformation matrix of coordinates；
The same characteristic features point alignment in coordinate change is carried out to the pixel on the orthoscopic image based on the transformation matrix of coordinates,
Obtain spliced first stitching image.
4. image capturing system according to claim 1, which is characterized in that first splicing to each moment
Image carries out image mosaic, generates the mode of the stitching image of the target object, including：
For first stitching image at each moment, image spelling is carried out on the basis of first stitching image at last moment respectively
It connects, generates the stitching image of the target object.
5. image capturing system according to claim 1, which is characterized in that described image collecting device further includes that setting exists
Around each camera, the light filling plate for carrying out light filling to the shooting environmental of each camera.
6. image capturing system according to claim 1, which is characterized in that described image collecting device further include with it is described
The stretching structure that fixed plate is fixedly connected, the stretching structure include the first slide bar, the second slide bar, third slide bar, the first sliding block,
Second sliding block, slide bar fixed seat, stepper motor and synchronous belt；
First slide bar one end is fixedly connected with first sliding block, and the other end is fixedly connected with the fixed plate, and described
Two slide bars and third slide bar one end are fixedly connected with second sliding block, and the other end is fixed with the slide bar fixed seat to be connected
It connects, first sliding block is connect with the fixed plate；
Synchronous pulley is provided on second sliding block, one end of the synchronous belt is fixed with the synchronous pulley, and the other end is worn
It crosses first sliding block to fix with the stepper motor, is rotated by the synchronous belt when the stepper motor is rotated and drive institute
It states the first sliding block to slide on second slide bar and the third slide bar, and drives second sliding block in first slide bar
Upper sliding, to drive the fixed plate to move.
7. image capturing system according to claim 6, which is characterized in that be provided with contact in the slide bar fixed seat and open
It closes, when first sliding block collides the contact-making switch, the stepper motor turns to initial point position.
8. a kind of image-pickup method, which is characterized in that be applied to the Image Acquisition system described in any one of claim 1-7
System, the method further include：
Multiple cameras in described image collecting device distinguish the image of continuous acquisition target object along predetermined moving direction, and
The image that synchronization acquires is sent to the computer equipment；
The figure that the computer equipment sends each camera at each moment based on the camera model demarcated in advance
Each pixel coordinate of picture carries out image transformation, multiple orthoscopic images at each moment after being converted；
Image mosaic is carried out to multiple orthoscopic images at each moment respectively, generates first spliced map at each moment
Picture；
Image mosaic is carried out to first stitching image at each moment, generates the stitching image of the target object.
9. image-pickup method according to claim 8, which is characterized in that described based on the camera model demarcated in advance
Each pixel coordinate of the image sent at each moment to each camera carries out image transformation, every after being converted
The step of multiple orthoscopic images at a moment, including：
Corresponding calibration coordinate is obtained from the camera model demarcated in advance；
Each pixel coordinate of the image sent at each moment according to the calibration each camera of coordinate pair is become
It changes, multiple orthoscopic images at each moment after being converted.
10. image-pickup method according to claim 8, which is characterized in that multiple nothings to each moment
Fault image carries out image mosaic, the step of generating first stitching image at each moment, including：
Calculate the identical image characteristic point between each two adjacent orthoscopic images；
For each orthoscopic image, chooses preset quantity identical image characteristic point and calculate the orthoscopic image relative to adjacent
Orthoscopic image transformation matrix of coordinates；
The same characteristic features point alignment in coordinate change is carried out to the pixel on the orthoscopic image based on the transformation matrix of coordinates,
Obtain spliced first stitching image.
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