CN110049243A - Image-pickup method, device, equipment and medium - Google Patents
Image-pickup method, device, equipment and medium Download PDFInfo
- Publication number
- CN110049243A CN110049243A CN201910319681.0A CN201910319681A CN110049243A CN 110049243 A CN110049243 A CN 110049243A CN 201910319681 A CN201910319681 A CN 201910319681A CN 110049243 A CN110049243 A CN 110049243A
- Authority
- CN
- China
- Prior art keywords
- rotary shaft
- acquisition
- image
- position information
- time position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
-
- 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
-
- 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
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Abstract
The embodiment of the invention discloses a kind of image-pickup method, device, equipment and media.Wherein, the method is applied to image capture device, and described image acquires and is configured with filming apparatus, light source and rotary shaft in equipment, is provided with displacement sensor in the rotary shaft, acquisition target is placed on the rotary shaft, which has at least one irregular surface；This method comprises: it is mobile according to desired guiding trajectory to control the rotary shaft；The real time position of the rotary shaft is obtained by institute's displacement sensors, and according to the shape of the real time position of the rotary shaft and acquisition target, calculates the real-time position information of the acquisition target；If the real-time position information of the acquisition target matches with preset target position information, the light source and filming apparatus acquisition image are triggered.The embodiment of the present invention simplifies the motion process of Image Acquisition, and whole image collection process is carried out continuously, and improves the efficiency of Image Acquisition.
Description
Technical field
The present embodiments relate to technical field of machine vision more particularly to a kind of image-pickup method, device, equipment and
Medium.
Background technique
It all include the design in irregular face, such as arc surface included in mobile phone side in a large amount of product, right
When such product is detected, the image information for how rapidly and effectively obtaining irregular face is particularly significant.
At present to comprising irregularly shaped object surface carry out Image Acquisition when, usually by respectively control photographic unit and
Object belonging to surface to be collected move, and constantly to adjust the relative position between photographic unit and part surface to be measured
Relationship, thus to acquire the image information on part surface to be measured.
However, being needed in existing image-pickup method during Image Acquisition according to the affiliated object in surface to be collected
The continuous adjustment photographic unit of movement position, it is cumbersome and take a long time.
Summary of the invention
The present invention provides a kind of image-pickup method, device, equipment and medium, to simplify the motion process of Image Acquisition,
Improve the efficiency of Image Acquisition.
In a first aspect, being applied to image capture device, the figure the embodiment of the invention provides a kind of image-pickup method
As being configured with filming apparatus, light source and rotary shaft in acquisition equipment, it is provided with displacement sensor in the rotary shaft, acquisition target is put
It sets in the rotary shaft, which has at least one irregular surface；
Wherein, which comprises
It is mobile according to desired guiding trajectory to control the rotary shaft；
The real time position of the rotary shaft is obtained by institute's displacement sensors, and according to the real time position of the rotary shaft
With the shape of acquisition target, the real-time position information of the acquisition target is calculated；
If the real-time position information of the acquisition target matches with preset target position information, the light source is triggered
Image is acquired with filming apparatus；
Wherein, the target position information for from different perspectives at least two tested surfaces of each irregular surface into
Row Image Acquisition, at least two tested surface are to divide to obtain to irregular surface according to the first preset step-length in advance.
Second aspect, the embodiment of the invention also provides a kind of image collecting devices, are configured in image capture device, institute
It states and is also configured with filming apparatus, light source and rotary shaft on image capture device, displacement sensor is provided in the rotary shaft, acquire
Object is placed in the rotary shaft, which has at least one irregular surface；
Wherein, the described device includes:
Desired guiding trajectory mobile module, it is mobile according to desired guiding trajectory for controlling the rotary shaft；
Real-time position information computing module, for obtaining the real time position of the rotary shaft by institute's displacement sensors,
And according to the shape of the real time position of the rotary shaft and acquisition target, the real-time position information of the acquisition target is calculated；
Filming apparatus trigger module, if real-time position information and preset target position information for the acquisition target
Match, then triggers the light source and filming apparatus acquisition image；
Wherein, the target position information for from different perspectives at least two tested surfaces of each irregular surface into
Row Image Acquisition, at least two tested surface are to divide to obtain to irregular surface according to the first preset step-length in advance.
The third aspect, the embodiment of the invention also provides a kind of image capture device, the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
Filming apparatus is used for shooting, collecting object；
Light source, for illuminating acquisition target；
Rotary shaft, for placing acquisition target, and it is mobile according to desired guiding trajectory, which there is at least one not advise
Then surface；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the image-pickup method as described in any embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program, which is characterized in that the Image Acquisition side as described in any embodiment of the present invention is realized when the program is executed by processor
Method.
The embodiment of the present invention is mobile according to desired guiding trajectory by control rotary shaft, and obtains rotary shaft by displacement sensor
Real time position, to calculate the real time position of acquisition target according to the shape of the real time position of rotary shaft and acquisition target,
If the real-time position information of acquisition target and preset target position information match, while triggering light source and filming apparatus acquisition
Image.The embodiment of the present invention only controls acquisition target and presses by keeping image collecting device motionless during Image Acquisition
It is moved according to desired guiding trajectory, to obtain the surface image information of acquisition target, simplifies the motion process of Image Acquisition.This
Outside, while the actual position information and preset target position for detecting acquisition target match, light source and bat are carried out
The triggering of device is taken the photograph, so that whole image collection process is carried out continuously, further improves the efficiency of Image Acquisition.
Detailed description of the invention
Fig. 1 is a kind of flow chart for image-pickup method that the embodiment of the present invention one provides；
Fig. 2 is the acquisition target target position information schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow chart of image-pickup method provided by Embodiment 2 of the present invention；
Fig. 4 A is the motion track schematic diagram of acquisition target provided by Embodiment 2 of the present invention；
Fig. 4 B is another motion track schematic diagram of acquisition target provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of structural schematic diagram for image collecting device that the embodiment of the present invention three provides；
Fig. 6 is the structural schematic diagram for the image capture device that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for image-pickup method that the embodiment of the present invention one provides.The present embodiment is applicable to pair
Body surface carries out the case where Image Acquisition.This method is applied to image capture device, is configured with shooting on image capture device
Device, light source and rotary shaft are provided with displacement sensor in the rotary shaft, and acquisition target is placed in the rotary shaft, this is adopted
Collecting object has at least one irregular surface.This method can be executed by image collecting device, which can be by software
And/or the mode of hardware is realized, and is configured in image capture device.As shown in Figure 1, Image Acquisition provided in this embodiment
Method can specifically include following steps:
Step 110, control rotary shaft are mobile according to desired guiding trajectory.
Wherein, rotary shaft is to place the telecontrol equipment of acquisition target, for the clamping acquisition pair during Image Acquisition
As mobile according to desired guiding trajectory.The telecontrol equipment can be the Multi-axis movement device comprising linear motor, rotating electric machine composition.It can
Choosing, which can also be the movement mechanisms such as manipulator, the hydraulic and air pressure being made of multi-axle motor.
Desired guiding trajectory is the motion track of acquisition target rotary shaft when carrying out surface image acquisition, according to acquisition target table
Each camera site in face determines the motion profile of rotary shaft.
Specifically, can fix image capture device when carrying out Image Acquisition, control rotary shaft is moved and is revolved
Turn, so that image capture device acquires image information in each shot location.
Step 120, the real time position that rotary shaft is obtained by displacement sensor, and according to the real time position of rotary shaft and adopt
The shape for collecting object, calculates the real-time position information of acquisition target.
Wherein, displacement sensor is used to obtain the real time position of rotary shaft, specifically, grating scale linear sensing can be selected
Device detects the real time position of rotary shaft.Illustratively, the every 1us of command displacement sensor or 1ms reads the reality of a rotary shaft
Border position calculates the real-time position information of acquisition target by the real time position of rotary shaft and the shape of acquisition target.Specifically
, the real time position letter on each boundary of acquisition target according to the relative position on acquisition target each boundary and rotary shaft, can be calculated
Breath, the real-time position information as acquisition target.
Grating scale linear transducer detection accuracy height, strong antijamming capability, can accurately obtain the real-time position of rotary shaft
It sets.Optionally, the acquisition that the sensing technologies such as inductosyn, capacitive grating, magnetic grid carry out rotary shaft real time position can also be chosen.
If step 130, the real-time position information of acquisition target match with preset target position information, light source is triggered
Image is acquired with filming apparatus.
Wherein, target position information is location information corresponding to acquisition target when shooting each tested surface, is used for from difference
Angle carries out Image Acquisition at least two tested surfaces of each irregular surface.
Further, at least two tested surfaces are to divide to obtain to irregular surface according to the first preset step-length in advance.
Wherein, irregular surface may include that arc surface, curved surface etc. are non-planar, since irregular surface is in same level
It is upper that there is different depth informations, and filming apparatus can only once obtain the figure in certain imaging depth range within sweep of the eye
Picture can not disposably collect the clear image information of irregular surface in same position, thus need concave plane
It is divided.
Wherein, the first preset step-length is true according to the shape information of irregular surface and the attribute information of filming apparatus
It is fixed, specifically, the attribute information of filming apparatus includes depth of view information and shooting field of view information.
Illustratively, if irregular surface is arc surface, the radian information according to arc surface, the depth of field of filming apparatus are needed
Information integrates the first preset step-length for determining to divide each tested surface of arc surface with shooting field of view information, so that is divided is each to be measured
It face within sweep of the eye being capable of blur-free imaging filming apparatus.
The real-time position information of acquisition target and preset target position information are compared, if acquisition target is real-time
Location information matches with preset target position information, then triggers light source and filming apparatus acquisition image.
Specifically, by taking two axial coordinate system as an example, referring to Fig. 2, using the initial position in rotary shaft moving process as coordinate
The displacement origin of system, if coordinate points (Tx, Ty) are preset target position information, Mx and My are that target position information is sat at two
Error amount on parameter direction, the real-time position information for the acquisition target that will test and preset target position information are compared
It is right, if the real-time position information of acquisition target within the error range of target position information, is filled by triggering light source and shooting
Set acquisition image.
In the motion process of rotary shaft, it is all made of origin of the movement starting point of rotary shaft as rotary shaft kinetic coordinate system
Position, entire motion process only need to establish a coordinate system, the positioning to the motion profile of rotary shaft can be realized, simplify
The solution procedure of rotary shaft movement.In addition, during detecting the real time position of acquisition target, while triggering light source and shooting
Device, entire detection process are carried out continuously, no pause, Image Acquisition it is high-efficient.
The embodiment of the present invention is mobile according to desired guiding trajectory by control rotary shaft, and obtains rotary shaft by displacement sensor
Real time position, to calculate the real time position of acquisition target according to the shape of the real time position of rotary shaft and acquisition target,
If the real-time position information of acquisition target and preset target position information match, while triggering light source and filming apparatus acquisition
Image.The embodiment of the present invention is motionless by image collecting device, and control determinand is moved according to desired guiding trajectory to acquire figure
As information, the motion process of Image Acquisition is simplified.In addition, in the actual position information and preset mesh that detect acquisition target
When cursor position matches, while carrying out the triggering of light source and filming apparatus so that whole image collection process be it is continuous, into
One step improves the efficiency of Image Acquisition.
Embodiment two
Fig. 3 is a kind of flow chart of image-pickup method provided by Embodiment 2 of the present invention.The present embodiment is in above-mentioned reality
On the basis of applying example, step 110 is further refined.As shown in figure 3, image-pickup method provided in this embodiment is specific
It may include steps of:
Step 310, control rotary shaft move in three axis directions of rotation axis coordinate system according to the second preset step-length.
Wherein, the second preset step-length is during rotary shaft is moved according to desired guiding trajectory, respectively in three axis of coordinate system
Moving step length on direction.
Referring to Fig. 4 A and 4B, by taking the acquisition target comprising plane and arc surface as an example.Wherein 41 be filming apparatus, and 42 are
Acquisition target, 43 be the centre coordinate position of rotary shaft.In Figure 4 A, filming apparatus 41 to the plane domain of acquisition target 42 into
Row is taken pictures, and each tested surface of horizontal plane is divided according to the visual field width of camera.Specifically, when carrying out the shooting of flat image,
Rotary shaft remains unchanged in the vertical direction of reference axis and vertical direction, in the horizontal direction according to the field of view information of camera
Equidistant target tested surface is divided, control rotary shaft clamps acquisition target according to the step-length progress translational motion divided, and according to
The target detection location information of each target tested surface is determined according to above-mentioned target tested surface.
The arc surface is integrated when detecting the irregular arc surface to be measured in acquisition target with further reference to Fig. 4 B
Arc surface to be measured is divided into different tested surfaces by the field of view information of length information, filming apparatus, and then according to the to be measured of division
Face determines moving step length of the rotary shaft in three axis directions of coordinate system.
Further, moving step length of the rotary shaft foundation in three axis directions of coordinate system is into movement, in rotary shaft
In moving process, when the real-time position information of acquisition target matches with preset target position information, current goal position
The corresponding tested surface to be acquired of information is located in the shooting area of filming apparatus.Wherein, shooting area position is shooting camera
Blur-free imaging region determines that filming apparatus is to the object in shooting area by the imaging focal length and depth of view information of filming apparatus
It can be realized blur-free imaging.
Movement by controlling rotary shaft is realized in each tested surface shooting area for being moved to filming apparatus successively
The acquisition of acquisition target overall surface image.
Further, the irregular surface of above-mentioned acquisition target can be made of arbitrary surface.
Step 320, the real time position that rotary shaft is obtained by displacement sensor, and according to the real time position of rotary shaft and adopt
The shape for collecting object, calculates the real-time position information of acquisition target.
If step 330, the real-time position information of acquisition target match with preset target position information, light source is triggered
Image is acquired with filming apparatus.
The technical solution of the present embodiment, by control rotary shaft according to the second preset step-length in rotation three of axis coordinate system
It moves in axis direction, divides irregular surface according to the shape information of irregular surface and the attribute information of camera,
Since filming apparatus has the depth of field, the image-pickup method is not deep to the required precision of rotary shaft motion profile, by right
The acquisition to irregular face image can be realized in the acquisition of each tested surface image, had both ensured the quality of Image Acquisition or had simplified
The process of Image Acquisition.
Embodiment three
Fig. 5 is a kind of structure chart of image collecting device provided by the embodiment of the present invention three.The device is configured at image
It acquires in equipment, filming apparatus, light source and rotary shaft is also configured on image capture device, displacement is provided in the rotary shaft and is passed
Sensor, acquisition target are placed on the rotary shaft, which has at least one irregular surface.This hair can be performed in the device
A kind of image-pickup method provided by bright any embodiment, referring to Fig. 5, a kind of image collector provided in an embodiment of the present invention
Set includes: desired guiding trajectory mobile module 510, real-time position information computing module 520 and filming apparatus trigger module 530.
Wherein, desired guiding trajectory mobile module 510, it is mobile according to desired guiding trajectory for controlling rotary shaft.
Real-time position information computing module 520, for the real time position by displacement sensor acquisition rotary shaft, and according to
The real time position of rotary shaft and the shape of acquisition target calculate the real-time position information of acquisition target.
Filming apparatus trigger module 530, if real-time position information and preset target position information for acquisition target
Match, then triggers light source and filming apparatus acquisition image.
Wherein, target position information is for carrying out figure at least two tested surfaces of each irregular surface from different perspectives
As acquisition, at least two tested surfaces are to divide to obtain to irregular surface according to the first preset step-length in advance.
The present invention is mobile according to desired guiding trajectory by control rotary shaft, and obtains the real-time of rotary shaft by displacement sensor
Position, so that the real time position of acquisition target is calculated according to the shape of the real time position of rotary shaft and acquisition target, if acquisition
The real-time position information of object and preset target position information match, while triggering light source and filming apparatus acquisition image.
The embodiment of the present invention is motionless by image collecting device, and control determinand is moved to acquire image letter according to desired guiding trajectory
Breath, simplifies the motion process of Image Acquisition, in addition, in the actual position information and preset target position that detect acquisition target
It sets when matching, while carrying out the triggering of light source and filming apparatus, so that whole image collection process is not paused, into
One step improves the efficiency of Image Acquisition.
On the basis of above-mentioned the present embodiment, desired guiding trajectory mobile module 510 is specifically used for, and control rotary shaft is according to second
Preset step-length moves in three axis directions of rotation axis coordinate system.
First preset step-length is determined according to the shape information of irregular surface and the attribute information of filming apparatus；Its
In, the attribute information of filming apparatus includes depth of view information and shooting field of view information.
Desired guiding trajectory mobile module 510 is also used to, and during control rotary shaft is according to desired guiding trajectory movement, determines acquisition
When the real-time position information of object and preset target position information match, current goal location information correspondence to be acquired
Tested surface is located in the shooting area of filming apparatus, wherein shooting area is determined according to the depth of view information of filming apparatus.
A kind of image collecting device provided by the embodiment of the present invention can be performed provided by any embodiment of the invention one
Kind image-pickup method, has the corresponding functional module of execution method and beneficial effect.
Example IV
Fig. 6 is a kind of structural schematic diagram for image capture device that the embodiment of the present invention four provides.Fig. 6, which is shown, to be suitable for using
Come realize embodiment of the present invention example devices 612 block diagram.The equipment 612 that Fig. 6 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in fig. 6, equipment 612 is showed in the form of universal computing device.The component of equipment 612 may include but unlimited
In one or more processor 616 or processing unit, system memory device 628, connecting different system components (including is
Unite storage device 628 and processor 616) bus 618, filming apparatus 644, light source 646 and rotary shaft 648.
Filming apparatus 644 is used for shooting, collecting object, and light source 646 is for illuminating acquisition target, and rotary shaft 648 is for placing
Acquisition target, and it is mobile according to desired guiding trajectory, and which has at least one irregular surface.
Bus 618 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) are total
Line.
Equipment 612 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
The usable medium of 612 access, including volatile and non-volatile media, moveable and immovable medium.
Storage device 628 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 630 and/or cache memory 632.Equipment 612 may further include other removable/nonremovable
, volatile/non-volatile computer system storage medium.Only as an example, storage system 634 can be used for reading and writing not removable
Dynamic, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 6, can provide
Disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 618.Storage device 628 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 640 with one group of (at least one) program module 642 can store in such as storage dress
It sets in 628, such program module 642 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
642 usually execute function and/or method in embodiment described in the invention.
Equipment 612 can also be logical with one or more external equipment 614 (such as keyboard, sensing equipment) displays 624 etc.
Letter, can also be enabled a user to one or more equipment interact with the equipment 612 communicate, and/or with make the equipment 612
Any equipment (such as network interface card, modem etc.) that can be communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 622.Also, equipment 612 can also by network adapter 620 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as
Shown in figure, network adapter 620 is communicated by bus 618 with other modules of equipment 612.It should be understood that although not showing in figure
Out, other hardware and/or software module can be used with bonding apparatus 612, including but not limited to: microcode, device driver, superfluous
Remaining processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 616 by the program that is stored in system storage 628 of operation, thereby executing various function application and
Data processing, such as realize a kind of image-pickup method provided by the embodiment of the present invention:
It is mobile according to desired guiding trajectory to control the rotary shaft；
The real time position of the rotary shaft is obtained by institute's displacement sensors, and according to the real time position of the rotary shaft
With the shape of acquisition target, the real-time position information of the acquisition target is calculated；
If the real-time position information of the acquisition target matches with preset target position information, the light source is triggered
Image is acquired with filming apparatus；
Wherein, the target position information for from different perspectives at least two tested surfaces of each irregular surface into
Row Image Acquisition, at least two tested surface are to divide to obtain to irregular surface according to the first preset step-length in advance.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium comprising computer executable instructions, and computer is executable to be referred to
It enables when being executed by computer processor for executing a kind of image-pickup method, is applied to image capture device, described image
It acquires and is configured with filming apparatus, light source and rotary shaft in equipment, displacement sensor is provided in the rotary shaft, acquisition target is placed
In the rotary shaft, which has at least one irregular surface；This method comprises:
It is mobile according to desired guiding trajectory to control rotary shaft；
The real time position of rotary shaft is obtained by displacement sensor, and according to the real time position of rotary shaft and acquisition target
Shape calculates the real-time position information of acquisition target；
If the real-time position information of acquisition target matches with preset target position information, light source and shooting dress are triggered
Set acquisition image；
Wherein, target position information is for carrying out figure at least two tested surfaces of each irregular surface from different perspectives
As acquisition, at least two tested surfaces are to divide to obtain to irregular surface according to the first preset step-length in advance.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
Executable instruction is not limited to method operation as above, and a kind of Image Acquisition provided by any embodiment of the invention can also be performed
Relevant operation in method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
The method that standby (can be personal computer, terminal or the network equipment etc.) executes each embodiment of the present invention.
It is worth noting that, included each unit and module are only in a kind of embodiment of above-mentioned image collecting device
It is to be divided according to the functional logic, but be not limited to the above division, as long as corresponding functions can be realized；Separately
Outside, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments here, be able to carry out for a person skilled in the art it is various it is apparent variation, again
Adjustment and substitution are without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention carried out compared with
For detailed description, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, can be with
Including more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of image-pickup method, which is characterized in that be applied to image capture device, be configured in described image acquisition equipment
Filming apparatus, light source and rotary shaft are provided with displacement sensor in the rotary shaft, and acquisition target is placed in the rotary shaft,
The acquisition target has at least one irregular surface；
Wherein, which comprises
It is mobile according to desired guiding trajectory to control the rotary shaft；
The real time position of the rotary shaft is obtained by institute's displacement sensors, and according to the real time position of the rotary shaft and is adopted
The shape for collecting object, calculates the real-time position information of the acquisition target；
If the real-time position information of the acquisition target matches with preset target position information, the light source and bat are triggered
Take the photograph device acquisition image；
Wherein, the target position information is for carrying out figure at least two tested surfaces of each irregular surface from different perspectives
As acquisition, at least two tested surface is to divide to obtain to irregular surface according to the first preset step-length in advance.
2. the method according to claim 1, wherein the control rotary shaft is wrapped according to desired guiding trajectory is mobile
It includes: controlling the rotary shaft and moved in three axis directions of rotation axis coordinate system according to the second preset step-length.
3. method according to claim 1 or 2, which is characterized in that first preset step-length is according to irregular surface
Shape information and filming apparatus attribute information determine；Wherein, the attribute information of the filming apparatus includes depth of view information
With shooting field of view information.
4. method according to claim 1 or 2, which is characterized in that the method also includes: control the rotary shaft according to
During desired guiding trajectory is mobile, determine that the real-time position information of the acquisition target matches with preset target position information
When, the corresponding tested surface to be acquired of current goal location information is located in the shooting area of the filming apparatus, wherein described
Shooting area is determined according to the depth of view information of filming apparatus.
5. a kind of image collecting device, which is characterized in that be configured in image capture device, also match in described image acquisition equipment
It is equipped with filming apparatus, light source and rotary shaft, displacement sensor is provided in the rotary shaft, acquisition target is placed on the rotary shaft
On, which has at least one irregular surface；
Wherein, described device includes:
Desired guiding trajectory mobile module, it is mobile according to desired guiding trajectory for controlling the rotary shaft；
Real-time position information computing module, for obtaining the real time position of the rotary shaft, and root by institute's displacement sensors
According to the real time position of the rotary shaft and the shape of acquisition target, the real-time position information of the acquisition target is calculated；
Filming apparatus trigger module, if real-time position information and preset target position information phase for the acquisition target
Match, then triggers the light source and filming apparatus acquisition image；
Wherein, the target position information is for carrying out figure at least two tested surfaces of each irregular surface from different perspectives
As acquisition, at least two tested surface is to divide to obtain to irregular surface according to the first preset step-length in advance.
6. device according to claim 5, which is characterized in that the desired guiding trajectory mobile module is specifically used for: control institute
It states rotary shaft and is moved in three axis directions of rotation axis coordinate system according to the second preset step-length.
7. device according to claim 5 or 6, which is characterized in that first preset step-length is according to irregular surface
Shape information and filming apparatus attribute information determine；Wherein, the attribute information of the filming apparatus includes depth of view information
With shooting field of view information.
8. device according to claim 5 or 6, which is characterized in that the desired guiding trajectory mobile module is also used to:
Control the rotary shaft according to desired guiding trajectory it is mobile during, determine the real-time position information of the acquisition target and pre-
If target position information when matching, the corresponding tested surface to be acquired of current goal location information is located at the filming apparatus
Shooting area in, wherein the shooting area be according to the depth of view information of filming apparatus determine.
9. a kind of image capture device, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
Filming apparatus is used for shooting, collecting object；
Light source, for illuminating acquisition target；
Rotary shaft, for placing acquisition target, and it is mobile according to desired guiding trajectory, which has at least one irregular table
Face；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now image-pickup method as described in any in claim 1-4.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The image-pickup method as described in any in claim 1-4 is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319681.0A CN110049243B (en) | 2019-04-19 | 2019-04-19 | Image acquisition method, apparatus, device, and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319681.0A CN110049243B (en) | 2019-04-19 | 2019-04-19 | Image acquisition method, apparatus, device, and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110049243A true CN110049243A (en) | 2019-07-23 |
| CN110049243B CN110049243B (en) | 2021-09-10 |
Family
ID=67278053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910319681.0A Active CN110049243B (en) | 2019-04-19 | 2019-04-19 | Image acquisition method, apparatus, device, and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110049243B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102633114A (en) * | 2012-04-26 | 2012-08-15 | 济南大学 | Visual worktable for workpiece conveying on catenary |
| US20130024158A1 (en) * | 2011-07-22 | 2013-01-24 | Canon Kabushiki Kaisha | Measurement method, measurement apparatus, non-transitory computer-readable storage medium, and optical element fabrication method |
| CN203163729U (en) * | 2013-04-01 | 2013-08-28 | 江苏科思机电工程有限公司 | Positioning system based on machine vision |
| CN103453848A (en) * | 2012-05-08 | 2013-12-18 | 业纳工业测量德国有限公司 | Device and method for measuring shape, position and dimension features of machine elements |
| CN104931502A (en) * | 2015-07-03 | 2015-09-23 | 深圳市希帝澳工业自动化设备有限公司 | Multidimensional detection robot and detection method |
| CN105072343A (en) * | 2015-08-13 | 2015-11-18 | 广东申义实业投资有限公司 | Object appearance panorama shooting method and portable shooting system |
| CN105102923A (en) * | 2013-01-25 | 2015-11-25 | 沃思测量技术股份有限公司 | Method and device for determining the geometry of structures by means of computer tomography |
| JP2016007422A (en) * | 2014-06-25 | 2016-01-18 | 株式会社島津製作所 | X-ray imaging apparatus |
| CN106017325A (en) * | 2014-07-16 | 2016-10-12 | 佛山科学技术学院 | Improved non-contact optical measurement method for complex surface and irregular object volume |
| CN106645203A (en) * | 2017-02-13 | 2017-05-10 | 广州视源电子科技股份有限公司 | Image capturing method and device |
| CN106949848A (en) * | 2017-03-15 | 2017-07-14 | 深圳市深视智能科技有限公司 | A kind of high-precision laser 3D profiles phone structural detection method |
| CN206550755U (en) * | 2017-03-07 | 2017-10-13 | 华侨大学 | A kind of on-line measurement device of contactless turner |
| JP2018032825A (en) * | 2016-08-26 | 2018-03-01 | 株式会社ディスコ | Alignment method for work piece |
| CN207964667U (en) * | 2017-12-29 | 2018-10-12 | 东莞勤德五金制品有限公司 | A kind of appearance automatic checkout equipment |
| CN108918540A (en) * | 2018-09-20 | 2018-11-30 | 苏州华维诺智能科技有限公司 | Capture and detection device and method based on mechanical arm camera shooting vision to product parts |
-
2019
- 2019-04-19 CN CN201910319681.0A patent/CN110049243B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130024158A1 (en) * | 2011-07-22 | 2013-01-24 | Canon Kabushiki Kaisha | Measurement method, measurement apparatus, non-transitory computer-readable storage medium, and optical element fabrication method |
| CN102633114A (en) * | 2012-04-26 | 2012-08-15 | 济南大学 | Visual worktable for workpiece conveying on catenary |
| CN103453848A (en) * | 2012-05-08 | 2013-12-18 | 业纳工业测量德国有限公司 | Device and method for measuring shape, position and dimension features of machine elements |
| CN105102923A (en) * | 2013-01-25 | 2015-11-25 | 沃思测量技术股份有限公司 | Method and device for determining the geometry of structures by means of computer tomography |
| CN203163729U (en) * | 2013-04-01 | 2013-08-28 | 江苏科思机电工程有限公司 | Positioning system based on machine vision |
| JP2016007422A (en) * | 2014-06-25 | 2016-01-18 | 株式会社島津製作所 | X-ray imaging apparatus |
| CN106017325A (en) * | 2014-07-16 | 2016-10-12 | 佛山科学技术学院 | Improved non-contact optical measurement method for complex surface and irregular object volume |
| CN104931502A (en) * | 2015-07-03 | 2015-09-23 | 深圳市希帝澳工业自动化设备有限公司 | Multidimensional detection robot and detection method |
| CN105072343A (en) * | 2015-08-13 | 2015-11-18 | 广东申义实业投资有限公司 | Object appearance panorama shooting method and portable shooting system |
| JP2018032825A (en) * | 2016-08-26 | 2018-03-01 | 株式会社ディスコ | Alignment method for work piece |
| CN106645203A (en) * | 2017-02-13 | 2017-05-10 | 广州视源电子科技股份有限公司 | Image capturing method and device |
| CN206550755U (en) * | 2017-03-07 | 2017-10-13 | 华侨大学 | A kind of on-line measurement device of contactless turner |
| CN106949848A (en) * | 2017-03-15 | 2017-07-14 | 深圳市深视智能科技有限公司 | A kind of high-precision laser 3D profiles phone structural detection method |
| CN207964667U (en) * | 2017-12-29 | 2018-10-12 | 东莞勤德五金制品有限公司 | A kind of appearance automatic checkout equipment |
| CN108918540A (en) * | 2018-09-20 | 2018-11-30 | 苏州华维诺智能科技有限公司 | Capture and detection device and method based on mechanical arm camera shooting vision to product parts |
Non-Patent Citations (1)
| Title |
|---|
| 郭吉昌 等: "基于视觉的焊枪空间位姿实时检测技术", 《电焊机》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110049243B (en) | 2021-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2961921C (en) | Camera calibration method using a calibration target | |
| JP4010753B2 (en) | Shape measuring system, imaging device, shape measuring method, and recording medium | |
| CN110570477B (en) | Method, device and storage medium for calibrating relative attitude of camera and rotating shaft | |
| CN104574267B (en) | Bootstrap technique and information processing equipment | |
| CN111292239B (en) | Three-dimensional model splicing equipment and method | |
| CN106296598B (en) | 3 d pose processing method, system and camera terminal | |
| JP2016527478A (en) | 3D imaging device, 3D image creation method, and 3D imaging device setting method | |
| JPH07286837A (en) | Instrument and method for measuring rotational amount of spherical body | |
| CN104469170B (en) | Binocular camera shooting device, image processing method and device | |
| CN110419208B (en) | Imaging system, imaging control method, image processing apparatus, and computer readable medium | |
| CN108830906A (en) | A kind of camera parameters automatic calibration method based on virtual Binocular Vision Principle | |
| CN106210507A (en) | Image adjusting method and electronic equipment | |
| CN109587475B (en) | Method for measuring dynamic resolution of digital camera | |
| CN109819169A (en) | Panorama shooting method, device, equipment and medium | |
| CN110544278B (en) | Rigid body motion capture method and device and AGV pose capture system | |
| CN111627070A (en) | Method and device for calibrating rotating shaft and storage medium | |
| CN111627071A (en) | Method and device for measuring rotation precision of motor and storage medium | |
| CN111340959A (en) | Three-dimensional model seamless texture mapping method based on histogram matching | |
| CN111445528A (en) | Multi-camera common calibration method in 3D modeling | |
| CN110049243A (en) | Image-pickup method, device, equipment and medium | |
| JP2003006618A (en) | Method and device for generating three-dimensional model and computer program | |
| WO2021145304A1 (en) | Image processing system | |
| Kohut et al. | Application of modal analysis supported by 3D vision-based measurements | |
| JPH09138850A (en) | Surface shape reconstitution device | |
| KR101741501B1 (en) | Apparatus and Method for Estimation of Distance between Camera and Object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |