CN108566503B - Image acquisition processing device and method - Google Patents

Image acquisition processing device and method Download PDF

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Publication number
CN108566503B
CN108566503B CN201810388408.9A CN201810388408A CN108566503B CN 108566503 B CN108566503 B CN 108566503B CN 201810388408 A CN201810388408 A CN 201810388408A CN 108566503 B CN108566503 B CN 108566503B
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image
motor
dsp controller
sends
shell
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CN108566503A (en
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陈劲全
田菁
余卫宇
林俊科
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Guangzhou Feeyy Intelligent Technology Co ltd
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Guangzhou Feeyy Intelligent Technology Co ltd
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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
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G06T5/70—

Abstract

The image acquisition and processing device comprises a first motor, wherein a first transmission shaft is screwed on the first motor in a threaded manner, the end part of the first transmission shaft is screwed with a screwing ring, a second adjusting seat is pivoted in the screwing ring, and the lower end of the second adjusting seat is hinged with a shell; the first motor is electrically connected with a first motor driver; the lower side of the shell is screwed with the glass cover through threads; a second motor is fixed in the shell, a DSP controller is connected in the shell in a clamping manner, and the DSP controller is electrically connected with the second motor; the second motor is electrically connected with a second motor driver; a second transmission shaft penetrates through the bottom of the shell, and one end of the second transmission shaft is spirally and spirally connected with the image acquisition part; the outer wall of the shell is clamped with a third angle sensor; the third angle sensor is electrically connected with a third motor driver; the DSP controller comprises an image fusion device, and the image fusion device comprises a source image blocking module, a sharpness calculation module, a noise reduction module, a filtering module and a fusion module; and the fusion module fuses the source images.

Description

Image acquisition processing device and method
Technical Field
The invention relates to the technical field of image processing, in particular to an image acquisition and processing device and method.
Background
The traditional image acquisition device only has one camera, the camera can only rotate within a certain angle range, and the image acquisition range is only limited within a smaller range; for the situation that a large-scale image acquisition or an omnidirectional video monitoring is required, the traditional image acquisition device is not suitable.
When the traditional image acquisition device is used for acquiring images, all objects in the same image are difficult to focus clearly due to the limitation of the depth of field. Aiming at the problem, the multi-focus image fusion is to obtain a clear image through a software algorithm on a plurality of images formed by different focuses. Since the gradient information of the image can reflect the sharpness of the image content, the image fusion algorithm based on the gradient information of the image is a common image fusion algorithm. The existing measurement of image gradient information only considers amplitude or phase information of a single gradient, and can not effectively measure the sharpness of an image and influence the quality and definition of a fused image.
Therefore, it is desirable to provide an image capture processing apparatus, which can perform all-around image capture and perform effective fusion processing on the captured images to obtain high-definition images.
Disclosure of Invention
The invention aims to provide an image acquisition processing device and method, which are used for solving the problems of small acquisition range and poor image fusion effect of the conventional image acquisition processing device.
In order to achieve the purpose, the technical scheme of the invention is that
An image acquisition and processing device comprises a first motor, wherein a first transmission shaft is screwed at the end part of the first motor, a circular screwing ring is screwed at the other end of the first transmission shaft, a second adjusting seat is pivoted in the screwing ring along the axial direction of the screwing ring, and a hemispherical shell is hinged at the lower end of the second adjusting seat; a first motor driver is electrically connected to the first motor;
a hemispherical glass cover is screwed on the lower side of the shell in a threaded manner; a second motor is fixed on the inner bolt of the shell, a DSP controller is connected in the shell in a clamping manner, and the DSP controller is electrically connected with the second motor; a second motor driver is electrically connected to the second motor;
a second round-rod-shaped transmission shaft penetrates through the bottom of the outer shell along the radial direction of the outer shell, the upper end of the second transmission shaft is in threaded connection with the lower end of the second motor, and an image acquisition part is in threaded connection with one end of the second transmission shaft, which extends into the glass cover; a third angle sensor is clamped on the outer wall of the shell and is electrically connected with the DSP controller; a third motor driver is electrically connected to the third angle sensor;
the DSP controller comprises an image fusion device; the image fusion device comprises a source image blocking module, a sharpness degree calculation module, a noise reduction module and a fusion module.
The first motor is fixed in the mounting seat through a bolt; a cylindrical sliding cylinder is screwed on the first transmission shaft in a threaded manner, and a pull rod is hinged on the outer wall of the sliding cylinder; a first adjusting seat is clamped on the outer wall of the shell, and the lower end of the pull rod is slidably arranged in the first adjusting seat.
The image acquisition part comprises an installation frame, an adjusting hole is arranged in the middle of the installation frame in a penetrating mode, and an adjusting groove is arranged on the side wall of the adjusting hole in a concave mode;
a cylindrical driving rod penetrates through the adjusting hole, a round rod-shaped tightening rod is clamped on the outer wall of the driving rod, and the tightening rods are parallel to each other; the other end of the tightening rod is hinged with an ellipsoidal extrusion part; the extrusion piece and the adjusting groove are matched with each other;
a blocking piece is screwed at the lower end of the driving rod in a threaded manner, and the blocking piece is covered at one end of the adjusting hole;
the mounting rack is disc-shaped; the outer side of the mounting rack is screwed with cameras, and the cameras are uniformly distributed along the outer circumference of the mounting rack;
a guide rail is clamped on the upper side of the mounting frame and extends along the radial direction of the mounting frame; a sliding guide groove is concavely arranged at the upper part of the guide rail, and a sliding block is arranged in the sliding guide groove in a sliding manner;
the upper end of the driving rod is screwed with a circular truncated cone-shaped mounting seat in a threaded manner, and a base is clamped on the outer wall of the mounting seat along the bus direction of the mounting seat;
a spherical hinge joint is hinged on the base, a round rod-shaped pull rod is screwed on the hinge joint along the radial direction of the hinge joint in a threaded manner, and the lower end of the pull rod is clamped on the upper side of the sliding block;
a first angle sensor and a second angle sensor are clamped on the driving rod; the first angle sensor is used for measuring and controlling the inclination angle of the driving rod; the second angle sensor is used for measuring and controlling the rotation angle of the driving rod; the angle sensor and the second angle sensor are both electrically connected with the DSP controller;
a linear stepping motor is fixed on the upper side of one end of the guide rail through a bolt, a propelling shaft is screwed on the linear stepping motor, and the other end of the propelling shaft is clamped on the sliding block; the propelling shaft is parallel to the guide rail; and a third motor driver is electrically connected to the linear stepping motor.
The noise reduction module comprises a detection unit and a filtering noise reduction unit;
the detection unit is used for detecting the frequency band range of the noise in the selected image;
and the filtering and denoising unit is used for selecting a corresponding image filtering method according to the frequency band range to carry out filtering and denoising processing on the noise so as to improve the signal-to-noise ratio of the image.
The source image blocking module comprises a first parameter setting unit, a second parameter setting unit, an image selecting unit and an image blocking unit;
the first parameter setting unit is used for setting the number m of source images for image fusion, wherein m is more than or equal to 2;
the second parameter setting unit is used for setting a dimension number n when the image is cut into blocks, wherein the dimension number n is more than or equal to 3;
the image selection unit is used for selecting the image needing image fusion;
the image cutting unit is used for cutting the selected image according to a preset rule to obtain n multiplied by n image blocks.
The sharpness degree calculating module comprises an amplitude consistency calculating unit, a phase consistency calculating unit and a comprehensive unit;
the amplitude consistency calculating unit is used for calculating the amplitude of the image gradient of each image block according to a preset first algorithm;
the phase consistency calculating unit is used for calculating the phase consistency of the image gradient of each image block according to a preset second algorithm;
and the integration unit is used for calculating the sharpness of the image according to the amplitude of the image gradient and the phase consistency of the image gradient.
The fusion module is used for fusing the source images of the plurality of focusing parameters according to a preset third algorithm.
An image acquisition processing method adopts the image acquisition processing device,
step 1: setting a first rotation angle a, a second rotation angle b and a first inclination angle c through the DSP controller;
step 2: the DSP controller sends a rotation command to the first motor driver, and the first motor driver drives the first motor to rotate;
and step 3: the first transmission shaft rotates and drives the shell to rotate, and the third angle sensor detects a first actual rotation angle a1 of the shell and sends the first actual rotation angle a1 to the DSP controller;
and 4, step 4: if a1 is less than a, the DSP controller sends a continue spin command to the first motor drive; if a1 equals a, the DSP controller sends a stop rotation command to the first motor driver while the DSP controller accumulates a plurality of actual rotation angles of the first motor;
and 5: the DSP controller sends a rotation command to the second motor driver, the second motor driver drives the second motor to rotate, the driving rod rotates, and the second angle sensor detects a second actual rotation angle b1 of the driving rod in real time;
step 6: if b1 is less than b, the DSP controller sends a continue spin command to the second motor drive; if b1 equals b, the DSP controller sends a stop rotation command to the second motor drive;
and 7: the DSP controller sends a photographing or video recording command to the cameras, and the cameras acquire image information and send the image information to the DSP controller;
and 8: the image fusion device fuses the received images;
and step 9: the DSP controller sends a rotation command to the third motor driver, the third motor driver drives the linear stepping motor to rotate, and the propulsion shaft moves and pulls or pushes the sliding block to slide along the guide rail; the slide block drives the pull rod, and the pull rod pulls the mounting seat to further drive the driving rod; the first angle sensor detects the actual inclination angle c1 of the driving rod in real time and sends the actual inclination angle c1 to the DSP controller;
step 10: if c1 is less than c, the DSP controller sends a continue turn command to the third motor drive; if c1 equals c, the DSP controller sends a stop rotation command to the third motor drive;
step 11: the DSP controller sends a photographing or video recording command to the cameras, and the cameras acquire image information and send the image information to the DSP controller; the image fusion device fuses the received images;
step 12: if the accumulated value of the actual rotation angles of the first motor for multiple times is less than 180 degrees, returning to the step 2; otherwise, the DSP controller sends a stop rotation command to the first motor driver.
The invention has the following advantages:
the image acquisition and processing device comprises a first motor, wherein a first transmission shaft is screwed at the end part of the first motor, a circular screwing ring is screwed at the other end of the first transmission shaft, a second adjusting seat is pivoted in the screwing ring along the axial direction of the screwing ring, and a hemispherical shell is hinged at the lower end of the second adjusting seat; a first motor driver is electrically connected to the first motor;
a hemispherical glass cover is screwed on the lower side of the shell in a threaded manner; a second motor is fixed on the inner bolt of the shell, a DSP controller is connected in the shell in a clamping manner, and the DSP controller is electrically connected with the second motor; a second motor driver is electrically connected to the second motor;
a second round-rod-shaped transmission shaft penetrates through the bottom of the outer shell along the radial direction of the outer shell, the upper end of the second transmission shaft is in threaded connection with the lower end of the second motor, and an image acquisition part is in threaded connection with one end of the second transmission shaft, which extends into the glass cover; a third angle sensor is clamped on the outer wall of the shell and is electrically connected with the DSP controller; a third motor driver is electrically connected to the third angle sensor;
the DSP controller comprises an image fusion device; the image fusion device comprises a source image blocking module, a sharpness degree calculation module, a noise reduction module and a fusion module;
the DSP controller controls the first motor to rotate, and the first motor drives the first transmission shaft and the shell to rotate, so that the image acquisition and processing device can rotate within 360 degrees in the vertical direction, and images can be acquired within 360 degrees in the vertical direction;
the DSP controller controls the second motor to rotate, and the second motor drives the second transmission shaft and the image acquisition part to rotate, so that an image is acquired within a range of 360 degrees in the horizontal direction;
the image acquisition piece can rotate and acquire images in a spherical range, so that the image acquisition processing device can acquire images in 360-degree horizontal and 360-degree vertical ranges, and the image acquisition range is large;
the filtering module can be used for denoising a source image, the source image blocking module can be used for cutting an image, the sharpness degree calculating module is used for calculating the sharpness degree of the cut image, and the fusion module is used for fusing the source image to obtain a clear image.
Drawings
Fig. 1 is a schematic structural diagram of an image acquisition and processing device of the present invention.
FIG. 2 is a functional block diagram of the image fuser of the present invention.
Fig. 3 is a schematic view of the structure of the image pickup member of the present invention.
1-mounting a base; 2-a first electric machine; 3-a sliding cylinder; 4-a first drive shaft; 5-a second adjusting seat; 6-a spin-on ring; 7-a housing; 8-a second motor; 9-DSP controller; 91-a noise reduction module; 92-source image blocking module; 93-sharpness calculation module; 94-a fusion module; 10-a second drive shaft; 11-a glass cover; 12-an image acquisition member; 1201-a mount; 1202-a drive rod; 1203-extrusion; 1204-a mounting frame; 1205-camera; 1206-tightening rod; 1207-barriers; 1208-guide rail; 1209-a slider; 1210-a pull rod; 1211 — a hinge; 1212-a base; 1213-first angle sensor; 1214-a second angle sensor; 1215-a propulsion shaft; 1216-linear stepper motor; 13-a first adjustment seat; 14-a pull rod; 15-third angle sensor.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
The image collecting and processing device of embodiment 1 includes a first motor 2, a first transmission shaft 4 is screwed to an end of the first motor 2, a circular screw-connection ring 6 is screwed to another end of the first transmission shaft 4, a second adjusting seat 5 is pivoted in the screw-connection ring 6 along an axial direction of the screw-connection ring, and a hemispherical shell 7 is hinged to a lower end of the second adjusting seat 5; a first motor driver is electrically connected to the first motor 2;
a hemispherical glass cover 11 is screwed on the lower side of the shell 7 through threads; a second motor 8 is fixed on an inner bolt of the shell 7, a DSP controller 9 is connected in the shell 7 in a clamping manner, and the DSP controller 9 is electrically connected with the second motor 8; a second motor driver is electrically connected to the second motor 8;
a second transmission shaft 10 in the shape of a round bar penetrates through the bottom of the outer shell 7 along the radial direction, the upper end of the second transmission shaft 10 is screwed to the lower end of the second motor 8, and an image acquisition part 12 is screwed to one end of the second transmission shaft 10, which extends into the glass cover 11; a third angle sensor 15 is clamped on the outer wall of the shell 7, and the third angle sensor 15 is electrically connected with the DSP controller 9; a third motor driver is electrically connected to the third angle sensor 15;
the DSP controller 9 comprises an image fusion device; the image fuser includes a noise reduction module 91, a source image blocking module 92, a sharpness calculation module 93, and a fusing module 94.
The motor is characterized by further comprising an installation seat 1, wherein the first motor 2 is fixed in the installation seat 1 through bolts; a cylindrical sliding cylinder 3 is screwed on the first transmission shaft 4 in a threaded manner, and a pull rod 14 is hinged on the outer wall of the sliding cylinder 3; a first adjusting seat 13 is clamped on the outer wall of the shell 7, and the lower end of the pull rod 14 is slidably arranged in the first adjusting seat 13.
The image acquisition part 12 comprises a mounting frame 1204, wherein an adjusting hole is formed in the middle of the mounting frame 1204 in a penetrating manner, and an adjusting groove is formed in the side wall of the adjusting hole in a concave manner;
a cylindrical driving rod 1202 penetrates through the adjusting hole, a round rod-shaped tightening rod 1206 is clamped on the outer wall of the driving rod 1202, and the tightening rods 1206 are parallel to each other; an ellipsoidal extrusion member 1203 is hinged to the other end of the tightening rod 1206; the pressing piece 1203 and the adjusting groove are matched with each other;
a blocking piece 1207 is screwed at the lower end of the driving rod 1202 in a threaded manner, and the blocking piece 1207 is covered at one end of the adjusting hole;
the mounting frame 1204 is disc-shaped; the outer side of the mounting frame 1204 is screwed with a camera 1205, and a plurality of cameras 1205 are uniformly distributed along the outer circumference of the mounting frame 1204;
a guide rail 1208 is clamped on the upper side of the mounting frame 1204, and the guide rail 1208 extends along the radial direction of the mounting frame 1204; a sliding guide groove is concavely arranged at the upper part of the guide rail 1208, and a sliding block 1209 is arranged in the sliding guide groove in a sliding manner;
a truncated cone-shaped mounting seat 1201 is screwed at the upper end of the driving rod 1202, and a base 1212 is clamped on the outer wall of the mounting seat 1201 along the generatrix direction thereof;
a spherical joint 1211 is hinged on the base 1212, a round rod-shaped pull rod 1210 is screwed on the joint 1211 along the radial direction, and the lower end of the pull rod 1210 is clamped on the upper side of the sliding block 1209;
a first angle sensor 1213 and a second angle sensor 1214 are clamped on the driving rod 1202; the first angle sensor 1213 is used to measure and control the tilt angle of the drive rod 1202; the second angle sensor 1214 is used for measuring and controlling the rotation angle of the driving rod 1202; the first angle sensor 1213 and the second angle sensor 1214 are both electrically connected to the DSP controller 9;
a linear stepping motor 1216 is fixed on the upper bolt at one end of the guide rail 1208, a propulsion shaft 1215 is screwed on the linear stepping motor 1216, and the other end of the propulsion shaft 1215 is clamped on the sliding block 1209; the propulsion shaft 1215 and the guide rail 1208 are parallel to each other; a third motor driver is electrically connected to the linear stepper motor 1216.
The DSP controller 9 controls the first motor 2 to rotate, and the first motor 2 drives the first transmission shaft 4 and the shell 7 to rotate, so that the image acquisition and processing device can rotate within 360 degrees in the vertical direction, and images can be acquired within 360 degrees in the vertical direction;
the DSP controller 9 controls the second motor 8 to rotate, and the second motor 8 drives the second transmission shaft 10 and the image acquisition part 12 to rotate, so that an image is acquired within a range of 360 degrees in the horizontal direction;
the image acquisition part 12 can rotate and acquire images in a spherical range, so that the image acquisition processing device can acquire images in 360-degree horizontal and 360-degree vertical ranges, and the image acquisition range is large.
Example 2
The noise reduction module 91 comprises a detection unit and a filtering noise reduction unit;
the detection unit is used for detecting the frequency band range of the noise in the selected image;
and the filtering and denoising unit is used for selecting a corresponding image filtering method according to the frequency band range to carry out filtering and denoising processing on the noise so as to improve the signal-to-noise ratio of the image.
The source image blocking module 92 comprises a first parameter setting unit, a second parameter setting unit, an image selecting unit and an image blocking unit;
the first parameter setting unit is used for setting the number m of source images for image fusion, wherein m is more than or equal to 2;
the second parameter setting unit is used for setting a dimension number n when the image is cut into blocks, wherein the dimension number n is more than or equal to 3;
the image selection unit is used for selecting the image needing image fusion;
the image cutting unit is used for cutting the selected image according to a preset rule to obtain n multiplied by n image blocks.
The sharpness degree calculation module 93 comprises an amplitude consistency calculation unit, a phase consistency calculation unit and a synthesis unit;
the amplitude consistency calculating unit is used for calculating the amplitude of the image gradient of each image block according to a preset first algorithm;
the amplitude consistency calculation unit calculates a gradient variance matrix for each image block according to (formula 1)
Figure GDA0002462070960000091
Wherein Ir(r, c) and Ic(r, c) are shown separatelyThe gradient of the image in both the row and column directions at the (r, c) position is shown. Then decomposing the gradient variance matrix to obtain
Figure GDA0002462070960000101
Wherein V is defined by a feature vector V1And V2A composed 2 x 2 matrix, lambda1And λ2Are the corresponding characteristic values. The magnitude of the image gradient may be expressed as a (r, c) ═ λ1-λ2(equation 3).
The phase consistency calculating unit is used for calculating the phase consistency of the image gradient of each image block according to a preset second algorithm;
the phase consistency calculation unit calculates the phase consistency of the gradient for each image block according to (equation 4), expressed as
Figure GDA0002462070960000102
Wherein θ (r, c) and
Figure GDA0002462070960000103
the phase of the image gradient at the (r, c) position and the mean of the neighborhood phases, respectively.
The comprehensive unit is used for calculating the sharpness of the image according to the amplitude of the image gradient and the phase consistency of the image gradient;
the comprehensive unit calculates the sharpness of the image according to the formula 5, and comprehensively considers the gradient amplitude information and the phase consistency information of the image block
S (r, c) ═ a (r, c) P (r, c) (formula 5)
The fusion module 94 is configured to fuse the source images of the plurality of focusing parameters according to a preset third algorithm.
The fusion module 94 subjects the source images I with different focusing parametersn,n∈[1,N]The fused image f can be obtained by fusion in the following manner
Figure GDA0002462070960000104
Wherein Sn(r, c) and InAnd (r, c) respectively represent the gradient of the source image along the two directions of the rows and the columns at the (r, c) position.
Example 3
An image acquisition processing method adopts the image acquisition processing device,
step 1: setting a first rotation angle a, a second rotation angle b and a first inclination angle c through the DSP controller 9;
step 2: the DSP controller 9 sends a rotation command to the first motor driver, and the first motor driver drives the first motor 2 to rotate;
and step 3: the first transmission shaft 4 rotates and drives the shell 7 to rotate, and the third angle sensor 15 detects a first actual rotation angle a1 of the shell 7 and sends the first actual rotation angle a1 to the DSP controller 9;
and 4, step 4: if a1 is less than a, the DSP controller 9 sends a continue spin command to the first motor drive; if a1 equals a, the DSP controller 9 sends a stop rotation command to the first motor driver while the DSP controller 9 accumulates a plurality of actual rotation angles of the first motor 2;
and 5: the DSP controller 9 sends a rotation command to the second motor driver, the second motor driver drives the second motor 8 to rotate, the driving rod 1202 rotates, and the second angle sensor 1214 detects a second actual rotation angle b1 of the driving rod 1202 in real time;
step 6: if b1 is less than b, the DSP controller 9 sends a continue spin command to the second motor drive; if b1 equals b, the DSP controller 9 sends a stop rotation command to the second motor drive;
and 7: the DSP controller 9 sends a photographing or video recording command to the cameras 1205, and the plurality of cameras 1205 collect image information and send the image information to the DSP controller 9;
and 8: the image fusion device fuses the received images;
and step 9: the DSP controller 9 sends a rotation command to the third motor driver, which drives the linear stepper motor 1216 to rotate, the propulsion shaft 1215 moves and pulls or pushes the sliding block 1209 to slide along the guide rail 1208; the slider 1209 drives the pull rod 1210, and the pull rod 1210 pulls the mounting seat 1201 to drive the driving rod 1202; the first angle sensor 1213 detects the actual tilt angle c1 of the drive lever 1202 in real time and sends it to the DSP controller 9;
step 10: if c1 is less than c, the DSP controller 9 sends a continue turn command to the third motor drive; if c1 equals c, the DSP controller 9 sends a stop rotation command to the third motor drive;
step 11: the DSP controller 9 sends a photographing or video recording command to the cameras 1205, and the plurality of cameras 1205 collect image information and send the image information to the DSP controller 9; the image fusion device fuses the received images;
step 12: if the accumulated value of the actual rotation angles of the first motor 2 for a plurality of times is less than 180 degrees, returning to the step 2; otherwise, the DSP controller 9 sends a stop rotation command to the first motor driver.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (4)

1. An image acquisition and processing device is characterized by comprising a first motor (2), wherein a first transmission shaft (4) is screwed at the end part of the first motor (2) in a threaded manner, a circular screwing ring (6) is screwed at the other end of the first transmission shaft (4) in a threaded manner, a second adjusting seat (5) is pivoted in the screwing ring (6) along the axial direction of the screwing ring (6), and a hemispherical shell (7) is hinged at the lower end of the second adjusting seat (5); a first motor driver is electrically connected to the first motor (2);
a hemispherical glass cover (11) is screwed on the lower side of the shell (7) in a threaded manner; a second motor (8) is fixed on an inner bolt of the shell (7), a DSP controller (9) is connected in the shell (7) in a clamping manner, and the DSP controller (9) is electrically connected with the second motor (8); a second motor driver is electrically connected to the second motor (8);
a second round rod-shaped transmission shaft (10) penetrates through the bottom of the outer shell (7) along the radial direction, the upper end of the second transmission shaft (10) is in threaded connection with the lower end of the second motor (8), and an image acquisition part (12) is in threaded connection with one end, extending into the glass cover (11), of the second transmission shaft (10); a third angle sensor (15) is clamped on the outer wall of the shell (7), and the third angle sensor (15) is electrically connected with the DSP controller (9); a third motor driver is electrically connected to the third angle sensor (15);
the DSP controller (9) comprises an image fusion device; the image fusion device comprises a noise reduction module (91), a source image blocking module (92), a sharpness calculation module (93) and a fusion module (94);
wherein the noise reduction module (91) comprises a detection unit and a filtering noise reduction unit; the detection unit is used for detecting the frequency band range of the noise in the selected image; the filtering and denoising unit is used for selecting a corresponding image filtering method according to the frequency band range to carry out filtering and denoising processing on the noise so as to improve the signal-to-noise ratio of the image;
the source image blocking module (92) comprises a first parameter setting unit, a second parameter setting unit, an image selecting unit and an image blocking unit; the first parameter setting unit is used for setting the number m of source images for image fusion, wherein m is more than or equal to 2; the second parameter setting unit is used for setting a dimension number n when the image is cut into blocks, wherein the dimension number n is more than or equal to 3; the image selection unit is used for selecting the image needing image fusion; the image cutting unit is used for cutting the selected image into blocks according to a preset rule to obtain n multiplied by n image blocks;
the sharpness degree calculation module (93) comprises an amplitude consistency calculation unit, a phase consistency calculation unit and a synthesis unit; the amplitude consistency calculating unit is used for calculating the amplitude of the image gradient of each image block according to a preset first algorithm; the phase consistency calculating unit is used for calculating the phase consistency of the image gradient of each image block according to a preset second algorithm; the comprehensive unit is used for calculating the sharpness of the image according to the amplitude of the image gradient and the phase consistency of the image gradient;
the fusion module (94) is used for fusing the source images of a plurality of focusing parameters according to a preset third algorithm.
2. The image acquisition and processing device according to claim 1, further comprising a mounting base (1), wherein the first motor (2) is bolted in the mounting base (1); a cylindrical sliding cylinder (3) is screwed on the first transmission shaft (4) in a threaded manner, and a pull rod (14) is hinged on the outer wall of the sliding cylinder (3); a first adjusting seat (13) is clamped on the outer wall of the shell (7), and the lower end of the pull rod (14) is slidably arranged in the first adjusting seat (13).
3. The image acquisition processing device according to claim 2, wherein the image acquisition member (12) comprises a mounting frame (1204), an adjusting hole is formed in the middle of the mounting frame (1204), and an adjusting groove is recessed in the side wall of the adjusting hole;
a cylindrical driving rod (1202) penetrates through the adjusting hole, a round rod-shaped tightening rod (1206) is clamped on the outer wall of the driving rod (1202), and the tightening rods (1206) are parallel to each other; an ellipsoidal extrusion piece (1203) is hinged to the other end of the tightening rod (1206); the extrusion piece (1203) and the adjusting groove are matched with each other;
a blocking piece (1207) is screwed at the lower end of the driving rod (1202) in a threaded manner, and the blocking piece (1207) is covered at one end of the adjusting hole;
the mounting frame (1204) is disc-shaped; the outer side of the mounting frame (1204) is screwed with a camera (1205), and a plurality of cameras (1205) are uniformly distributed along the outer circumference of the mounting frame (1204);
a guide rail (1208) is clamped on the upper side of the mounting frame (1204), and the guide rail (1208) extends along the radial direction of the mounting frame (1204); a sliding guide groove is concavely arranged at the upper part of the guide rail (1208), and a sliding block (1209) is arranged in the sliding guide groove in a sliding way;
a truncated cone-shaped mounting seat (1201) is screwed at the upper end of the driving rod (1202), and a base (1212) is clamped on the outer wall of the mounting seat (1201) along the bus direction of the mounting seat (1201);
a spherical hinge head (1211) is hinged to the base (1212), a round rod-shaped pull rod (1210) is screwed on the spherical hinge head along the radial direction of the hinge head (1211), and the lower end of the pull rod (1210) is clamped on the upper side of the sliding block (1209);
a first angle sensor (1213) and a second angle sensor (1214) are clamped on the driving rod (1202); the first angle sensor (1213) is used for measuring and controlling the tilt angle of the drive rod (1202); the second angle sensor (1214) is used for measuring and controlling the rotation angle of the driving rod (1202); the first angle sensor (1213) and the second angle sensor (1214) are both electrically connected to the DSP controller (9);
a linear stepping motor (1216) is fixed on the upper side bolt at one end of the guide rail (1208), a propelling shaft (1215) is screwed on the linear stepping motor (1216), and the other end of the propelling shaft (1215) is clamped on the sliding block (1209); the propulsion shaft (1215) and the guide rail (1208) are parallel to each other; and a third motor driver is electrically connected to the linear stepping motor (1216).
4. An image acquisition processing method applied to the image acquisition processing apparatus according to claim 3,
step 1: setting a first rotation angle a, a second rotation angle b and a first inclination angle c through the DSP controller (9);
step 2: the DSP controller (9) sends a rotation command to the first motor driver, and the first motor driver drives the first motor (2) to rotate;
and step 3: the first transmission shaft (4) rotates and drives the shell (7) to rotate, and the third angle sensor (15) detects a first actual rotation angle a1 of the shell (7) and sends the first actual rotation angle a1 to the DSP controller (9);
and 4, step 4: if a1 is less than a, the DSP controller (9) sends a continue spin command to the first motor drive; if a1 equals a, the DSP controller (9) sends a stop rotation command to the first motor drive while the DSP controller (9) accumulates a plurality of actual rotation angles of the first motor (2);
and 5: the DSP controller (9) sends a rotation command to the second motor driver, the second motor driver drives the second motor (8) to rotate, the driving rod (1202) rotates, and the second angle sensor (1214) detects a second actual rotation angle b1 of the driving rod (1202) in real time;
step 6: if b1 is less than b, the DSP controller (9) sends a continue spin command to the second motor drive; if b1 equals b, the DSP controller (9) sends a stop rotation command to the second motor drive;
and 7: the DSP controller (9) sends a photographing or video recording command to the cameras (1205), and a plurality of cameras (1205) collect image information and send the image information to the DSP controller (9);
and 8: the image fusion device fuses the received images;
and step 9: the DSP controller (9) sends a rotation command to the third motor driver, the third motor driver drives the linear stepping motor (1216) to rotate, the propulsion shaft (1215) moves and pulls or pushes the sliding block (1209) to slide along the guide rail (1208); the sliding block (1209) drives the pull rod (1210), and the pull rod (1210) pulls the mounting seat (1201) to further drive the driving rod (1202); the first angle sensor (1213) detects the actual tilt angle c1 of the drive lever (1202) in real time and sends it to the DSP controller (9);
step 10: if c1 is less than c, the DSP controller (9) sends a continue turn command to the third motor drive; if c1 equals c, the DSP controller (9) sends a stop rotation command to the third motor drive;
step 11: the DSP controller (9) sends a photographing or video recording command to the cameras (1205), and a plurality of cameras (1205) collect image information and send the image information to the DSP controller (9); the image fusion device fuses the received images;
step 12: if the accumulated value of the actual rotation angles of the first motor (2) for multiple times is less than 180 degrees, returning to the step 2; otherwise, the DSP controller (9) sends a stop rotation command to the first motor drive.
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