CN110049243B - Image acquisition method, apparatus, device, and medium - Google Patents

Image acquisition method, apparatus, device, and medium Download PDF

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Publication number
CN110049243B
CN110049243B CN201910319681.0A CN201910319681A CN110049243B CN 110049243 B CN110049243 B CN 110049243B CN 201910319681 A CN201910319681 A CN 201910319681A CN 110049243 B CN110049243 B CN 110049243B
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rotating shaft
position information
real
image acquisition
preset
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CN110049243A (en
Inventor
李朋辉
李金才
常浩
卢亚宾
刘文静
牛广升
徐小武
丁旺
金麟
赵栋涛
朱江兵
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Bozhon Precision Industry Technology Co Ltd
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Bozhon Precision Industry Technology Co Ltd
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    • 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 an image acquisition method, an image acquisition device, image acquisition equipment and an image acquisition medium. The method is applied to image acquisition equipment, wherein a shooting device, a light source and a rotating shaft are arranged on the image acquisition equipment, a displacement sensor is arranged on the rotating shaft, an acquisition object is placed on the rotating shaft, and the acquisition object is provided with at least one irregular surface; the method comprises the following steps: controlling the rotating shaft to move according to a preset track; acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object; and if the real-time position information of the acquisition object is matched with preset target position information, triggering the light source and the shooting device to acquire images. The embodiment of the invention simplifies the motion process of image acquisition, and the whole image acquisition process is continuously carried out, thereby improving the efficiency of image acquisition.

Description

Image acquisition method, apparatus, device, and medium
Technical Field
The embodiment of the invention relates to the technical field of machine vision, in particular to an image acquisition method, an image acquisition device, image acquisition equipment and an image acquisition medium.
Background
The design that all contains the irregular surface in a large amount of products, for example the arc surface that contains in the cell-phone side is detecting this type of product, and how quick and effectual acquisition irregular surface's image information is very important.
At present, when an image of a surface containing an irregular object is acquired, the relative position relationship between a shooting mechanism and the surface of a piece to be acquired is continuously adjusted by respectively controlling the shooting mechanism and the object to which the surface to be acquired belongs to move, so that the image information of the surface of the piece to be acquired is acquired.
However, in the existing image acquisition method, the position of the shooting mechanism needs to be continuously adjusted according to the motion of the object to which the surface to be acquired belongs in the image acquisition process, and the operation is complicated and the time consumption is long.
Disclosure of Invention
The invention provides an image acquisition method, an image acquisition device, image acquisition equipment and a medium, which are used for simplifying the motion process of image acquisition and improving the efficiency of image acquisition.
In a first aspect, an embodiment of the present invention provides an image capturing method, which is applied to an image capturing device, where the image capturing device is configured with a shooting device, a light source, and a rotating shaft, the rotating shaft is provided with a displacement sensor, a captured object is placed on the rotating shaft, and the captured object has at least one irregular surface;
wherein the method comprises the following steps:
controlling the rotating shaft to move according to a preset track;
acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
if the real-time position information of the acquisition object is matched with preset target position information, triggering the light source and the shooting device to acquire images;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
In a second aspect, an embodiment of the present invention further provides an image capturing device configured in an image capturing apparatus, the image capturing apparatus is further configured with a shooting device, a light source, and a rotating shaft, the rotating shaft is provided with a displacement sensor, a capturing object is placed on the rotating shaft, and the capturing object has at least one irregular surface;
wherein the apparatus comprises:
the preset track moving module is used for controlling the rotating shaft to move according to a preset track;
the real-time position information calculation module is used for acquiring the real-time position of the rotating shaft through the displacement sensor and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
the shooting device triggering module is used for triggering the light source and the shooting device to collect images if the real-time position information of the collected object is matched with preset target position information;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
In a third aspect, an embodiment of the present invention further provides an image capturing apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
the shooting device is used for shooting the acquisition object;
a light source for illuminating an acquisition object;
the rotating shaft is used for placing a collection object and moving according to a preset track, and the collection object is provided with at least one irregular surface;
when executed by the one or more processors, cause the one or more processors to implement an image acquisition method as described in any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the image capturing method according to any embodiment of the present invention.
According to the embodiment of the invention, the rotating shaft is controlled to move according to the preset track, the real-time position of the rotating shaft is obtained through the displacement sensor, so that the real-time position of the acquisition object is calculated according to the real-time position of the rotating shaft and the shape of the acquisition object, and if the real-time position information of the acquisition object is matched with the preset target position information, the light source and the shooting device are triggered to acquire the image. According to the embodiment of the invention, the image acquisition device is kept still in the image acquisition process, and the acquisition object is only controlled to move according to the preset track to acquire the surface image information of the acquisition object, so that the image acquisition motion process is simplified. In addition, when the actual position information of the acquisition object is matched with the preset target position, the light source and the shooting device are triggered, so that the whole image acquisition process is continuously carried out, and the image acquisition efficiency is further improved.
Drawings
Fig. 1 is a flowchart of an image acquisition method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of collecting object target position information according to an embodiment of the present invention;
fig. 3 is a flowchart of an image acquisition method according to a second embodiment of the present invention;
fig. 4A is a schematic diagram of a moving track of an acquisition object according to a second embodiment of the present invention;
fig. 4B is a schematic diagram of another moving track of the object to be acquired according to the second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an image capturing device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an image capturing apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an image acquisition method according to an embodiment of the present invention. The embodiment is applicable to the condition of image acquisition of the surface of the object. The method is applied to image acquisition equipment, a shooting device, a light source and a rotating shaft are arranged on the image acquisition equipment, a displacement sensor is arranged on the rotating shaft, an acquisition object is placed on the rotating shaft, and the acquisition object is provided with at least one irregular surface. The method may be performed by an image acquisition apparatus, which may be implemented by software and/or hardware, and may be configured in an image acquisition device. As shown in fig. 1, the image capturing method provided in this embodiment may specifically include the following steps:
and step 110, controlling the rotating shaft to move according to a preset track.
The rotating shaft is a moving device for placing a collection object and is used for clamping the collection object to move according to a preset track in the image collection process. The motion device can be a multi-axis motion device consisting of a linear motor and a rotating motor. Optionally, the operation device may also be a manipulator composed of multi-axis motors, a hydraulic and pneumatic movement mechanism, and the like.
The preset track is a moving track of the rotating shaft when the surface image of the acquisition object is acquired, and the moving track of the rotating shaft is determined according to each shooting position of the surface of the acquisition object.
Specifically, when image acquisition is performed, the image acquisition device can be fixed, and the rotating shaft is controlled to move and rotate, so that the image acquisition device acquires image information at each shooting position.
And 120, acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object.
Wherein, displacement sensor is used for acquireing the real-time position of rotation axis, and is concrete, can select for use grating chi linear transducer to detect the real-time position of rotation axis. Illustratively, the displacement sensor is controlled to read the actual position of the rotating shaft every 1us or 1ms, and the real-time position information of the acquisition object is calculated according to the real-time position of the rotating shaft and the shape of the acquisition object. Specifically, the real-time position information of each boundary of the acquisition object may be calculated as the real-time position information of the acquisition object according to the relative position of each boundary of the acquisition object and the rotation axis.
The linear sensor of the grating ruler has high detection precision and strong anti-interference capability, and can accurately acquire the real-time position of the rotating shaft. Optionally, sensing technologies such as an induction synchronizer, a capacitive grating, a magnetic grating and the like can be selected to obtain the real-time position of the rotating shaft.
And step 130, if the real-time position information of the acquired object is matched with preset target position information, triggering the light source and the shooting device to acquire images.
The target position information is position information corresponding to the collected object when shooting each surface to be measured, and is used for collecting images of at least two surfaces to be measured of each irregular surface from different angles.
Furthermore, at least two surfaces to be measured are obtained by dividing the irregular surface in advance according to a first preset step length.
The irregular surface can comprise non-planes such as an arc surface and a curved surface, and because the irregular surface has different depth information on the same horizontal plane, the shooting device can only acquire images within a certain imaging depth range within a visual field range at a time, and clear image information of the irregular surface cannot be acquired at the same position at a time, the irregular surface needs to be divided.
The first preset step length is determined according to shape information of the irregular surface and attribute information of the shooting device, and specifically, the attribute information of the shooting device comprises depth information and shooting view information.
For example, if the irregular surface is an arc surface, a first preset step length for dividing each surface to be measured of the arc surface is determined comprehensively according to radian information of the arc surface, depth of field information of the photographing device, and photographing field of view information, so that each divided surface to be measured can be imaged clearly within a field of view of the photographing device.
And comparing the real-time position information of the acquired object with preset target position information, and triggering the light source and the shooting device to acquire images if the real-time position information of the acquired object is matched with the preset target position information.
Specifically, taking a two-axis coordinate system as an example, referring to fig. 2, taking an initial position in a moving process of a rotating shaft as a displacement origin of the coordinate system, setting coordinate points (Tx, Ty) as preset target position information, setting Mx and My as error values of the target position information in two coordinate axis directions, comparing detected real-time position information of an acquisition object with the preset target position information, and acquiring an image by triggering a light source and a shooting device if the real-time position information of the acquisition object is within an error range of the target position information.
In the moving process of the rotating shaft, the moving starting point of the rotating shaft is used as the original point position of the rotating shaft moving coordinate system, and the positioning of the moving track of the rotating shaft can be realized only by establishing a coordinate system once in the whole moving process, so that the solving process of the rotating shaft movement is simplified. In addition, in the process of detecting the real-time position of the acquisition object, the light source and the shooting device are triggered simultaneously, the whole detection process is carried out continuously, no pause exists, and the image acquisition efficiency is high.
According to the embodiment of the invention, the rotating shaft is controlled to move according to the preset track, the real-time position of the rotating shaft is obtained through the displacement sensor, so that the real-time position of the acquisition object is calculated according to the real-time position of the rotating shaft and the shape of the acquisition object, and if the real-time position information of the acquisition object is matched with the preset target position information, the light source and the shooting device are triggered to acquire the image. According to the embodiment of the invention, the image acquisition device is fixed, and the object to be detected is controlled to move according to the preset track to acquire the image information, so that the movement process of image acquisition is simplified. In addition, when the fact that the actual position information of the collected object is matched with the preset target position is detected, the light source and the shooting device are triggered simultaneously, the whole image collecting process is continuous, and the image collecting efficiency is further improved.
Example two
Fig. 3 is a flowchart of an image acquisition method according to a second embodiment of the present invention. This embodiment is based on the above embodiment, and further refines step 110. As shown in fig. 3, the image capturing method provided in this embodiment may specifically include the following steps:
and step 310, controlling the rotating shaft to move in three axial directions of the rotating shaft coordinate system according to a second preset step length.
And the second preset step length is the moving step length of the rotating shaft in the three-axis direction of the coordinate system respectively in the process of moving according to the preset track.
Referring to fig. 4A and 4B, an acquisition target including a plane and a circular arc surface is taken as an example. Wherein 41 is a shooting device, 42 is a collecting object, and 43 is the central coordinate position of the rotating shaft. In fig. 4A, the imaging device 41 images a planar area of the acquisition target 42, and divides each surface to be measured of the horizontal plane according to the field width of the camera. Specifically, when a planar image is shot, the rotating shaft is kept unchanged in the vertical direction and the vertical direction of the coordinate axis, target surfaces to be detected at equal intervals are divided in the horizontal direction according to the visual field information of the camera, the rotating shaft is controlled to clamp the acquisition object to perform translational motion according to the divided step length, and the target detection position information of each target surface to be detected is determined according to the target surfaces to be detected.
With further reference to fig. 4B, when detecting an irregular arc surface to be measured in the acquisition object, the length information of the arc surface and the visual field information of the shooting device are integrated, the arc surface to be measured is divided into different surfaces to be measured, and then the moving step length of the rotating shaft in the three axis directions of the coordinate system is determined according to the divided surfaces to be measured.
Furthermore, the rotating shaft moves further according to the moving step length in the three-axis direction of the coordinate system, and in the moving process of the rotating shaft, when the real-time position information of the collected object is matched with the preset target position information, the current target position information corresponds to the to-be-collected surface to be measured and is located in the shooting area of the shooting device. The shooting area is a clear imaging area of the shooting camera, and is determined by the imaging focal length and the depth of field information of the shooting device, and the shooting device can achieve clear imaging on objects in the shooting area.
And each surface to be measured is sequentially moved to a shooting area of the shooting device by controlling the movement of the rotating shaft, so that the acquisition of the whole surface image of the acquisition object is realized.
Further, the irregular surface of the acquisition object may be formed by any curved surface.
And 320, acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object.
And step 330, triggering the light source and the shooting device to acquire the image if the real-time position information of the acquisition object is matched with the preset target position information.
According to the technical scheme, the rotating shaft is controlled to move in the three axial directions of the rotating shaft coordinate system according to the second preset step length, the irregular surface is divided according to the shape information of the irregular surface and the attribute information of the camera, the image acquisition method has low requirement on the precision of the motion track of the rotating shaft due to the fact that the shooting device has the depth of field, the acquisition of the irregular surface image can be achieved through the acquisition of the image of each surface to be detected, the quality of the image acquisition is guaranteed, and the image acquisition process is simplified.
EXAMPLE III
Fig. 5 is a structural diagram of an image capturing device according to a third embodiment of the present invention. The device is configured in the image acquisition equipment, the image acquisition equipment is also configured with a shooting device, a light source and a rotating shaft, the rotating shaft is provided with a displacement sensor, an acquisition object is placed on the rotating shaft, and the acquisition object is provided with at least one irregular surface. The apparatus may execute an image capturing method provided in any embodiment of the present invention, and referring to fig. 5, an image capturing apparatus provided in an embodiment of the present invention includes: a preset track moving module 510, a real-time position information calculating module 520 and a photographing device triggering module 530.
The preset track moving module 510 is configured to control the rotation axis to move according to a preset track.
And a real-time position information calculating module 520, configured to acquire a real-time position of the rotation axis through the displacement sensor, and calculate real-time position information of the acquisition object according to the real-time position of the rotation axis and the shape of the acquisition object.
And a camera triggering module 530, configured to trigger the light source and the camera to acquire an image if the real-time position information of the acquired object matches a preset target position information.
The target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
The invention controls the rotating shaft to move according to the preset track, and acquires the real-time position of the rotating shaft through the displacement sensor, thereby calculating the real-time position of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object, and simultaneously triggering the light source and the shooting device to acquire images if the real-time position information of the acquisition object is matched with the preset target position information. In the embodiment of the invention, the image acquisition device is fixed, and the object to be detected is controlled to move according to the preset track to acquire the image information, so that the movement process of image acquisition is simplified.
On the basis of the above embodiment, the preset track moving module 510 is specifically configured to control the rotation axis to move in three axis directions of the rotation axis coordinate system according to a second preset step length.
The first preset step length is determined according to the shape information of the irregular surface and the attribute information of the shooting device; the attribute information of the shooting device comprises depth information and shooting view information.
The preset track moving module 510 is further configured to, when determining that the real-time position information of the collected object matches the preset target position information in the process of controlling the rotating shaft to move according to the preset track, determine that the current target position information corresponds to the to-be-collected surface to be located in a shooting area of the shooting device, where the shooting area is determined according to the depth of field information of the shooting device.
The image acquisition device provided by the embodiment of the invention can execute the image acquisition method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 6 is a schematic structural diagram of an image capturing device according to a fourth embodiment of the present invention. Fig. 6 illustrates a block diagram of an exemplary device 612 suitable for use in implementing embodiments of the present invention. The device 612 shown in fig. 6 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.
As shown in FIG. 6, device 612 is in the form of a general purpose computing device. Components of device 612 may include, but are not limited to: one or more processors 616 or processing units, a system memory device 628, a bus 618 that connects the various system components (including the system memory device 628 and the processors 616), a camera 644, a light source 646, and a rotational axis 648.
The photographing device 644 is used to photograph a subject, the light source 646 is used to illuminate the subject, and the rotation axis 648 is used to place the subject and move the subject according to a predetermined trajectory, the subject having at least one irregular surface.
Bus 618 represents one or more of any of several types of bus structures, including a memory device bus or memory device controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 612 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by device 612 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage 628 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)630 and/or cache memory 632. The device 612 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 634 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be connected to bus 618 by one or more data media interfaces. Storage device 628 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 640 having a set (at least one) of program modules 642 may be stored, for example, in storage 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 642 generally perform the functions and/or methods of the described embodiments of the present invention.
Device 612 may also communicate with one or more external devices 614 (e.g., keyboard, pointing device), display 624, etc., as well as with one or more devices that enable a user to interact with device 612, and/or any devices (e.g., network card, modem, etc.) that enable device 612 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 622. Also, the device 612 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through the network adapter 620. As shown, the network adapter 620 communicates with the other modules of the device 612 via the bus 618. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the device 612, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 616 executes various functional applications and data processing by running programs stored in the system memory 628, for example, implementing an image capturing method provided by the embodiment of the present invention:
controlling the rotating shaft to move according to a preset track;
acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
if the real-time position information of the acquisition object is matched with preset target position information, triggering the light source and the shooting device to acquire images;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
EXAMPLE five
The fifth embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform an image capturing method, and the image capturing method is applied to an image capturing device, where the image capturing device is configured with a shooting device, a light source, and a rotating shaft, the rotating shaft is provided with a displacement sensor, a captured object is placed on the rotating shaft, and the captured object has at least one irregular surface; the method comprises the following steps:
controlling the rotating shaft to move according to a preset track;
acquiring the real-time position of a rotating shaft through a displacement sensor, and calculating the real-time position information of an acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
if the real-time position information of the acquired object is matched with preset target position information, triggering a light source and a shooting device to acquire an image;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
Of course, the storage medium provided by the embodiments of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the above method operations, and may also perform related operations in an image capturing method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a terminal, or a network device) to execute the methods of the embodiments of the present invention.
It should be noted that, in the embodiment of the image capturing apparatus, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (8)

1. An image acquisition method is characterized in that the method is applied to image acquisition equipment, wherein the image acquisition equipment is provided with a shooting device, a light source and a rotating shaft, the rotating shaft is provided with a displacement sensor, an acquisition object is placed on the rotating shaft, and the acquisition object is provided with at least one irregular surface;
wherein the method comprises the following steps:
controlling the rotating shaft to move according to a preset track;
the controlling the rotating shaft to move according to a preset track comprises: controlling the rotating shaft to move in three axial directions of a rotating shaft coordinate system according to a second preset step length;
the second preset step length is the moving step length of the rotating shaft in the three axis directions of the coordinate system respectively in the process of moving according to the preset track;
acquiring the real-time position of the rotating shaft through the displacement sensor, and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
if the real-time position information of the acquisition object is matched with preset target position information, triggering the light source and the shooting device to acquire images;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
2. The method according to claim 1, wherein the first preset step is determined according to shape information of the irregular surface and attribute information of a photographing device; the attribute information of the shooting device comprises depth information and shooting view information.
3. The method of claim 1, further comprising: and in the process of controlling the rotating shaft to move according to a preset track, when the real-time position information of the collected object is determined to be matched with the preset target position information, the current target position information is positioned in a shooting area of the shooting device corresponding to the to-be-collected surface, wherein the shooting area is determined according to the depth of field information of the shooting device.
4. An image acquisition device is characterized in that the image acquisition device is arranged in an image acquisition device, the image acquisition device is also provided with a shooting device, a light source and a rotating shaft, the rotating shaft is provided with a displacement sensor, an acquisition object is placed on the rotating shaft, and the acquisition object is provided with at least one irregular surface;
wherein the apparatus comprises:
a preset track moving module for controlling the rotating shaft to move according to a preset track, specifically,
controlling the rotating shaft to move in three axial directions of a rotating shaft coordinate system according to a second preset step length;
the second preset step length is the moving step length of the rotating shaft in the three axis directions of the coordinate system respectively in the process of moving according to the preset track;
the real-time position information calculation module is used for acquiring the real-time position of the rotating shaft through the displacement sensor and calculating the real-time position information of the acquisition object according to the real-time position of the rotating shaft and the shape of the acquisition object;
the shooting device triggering module is used for triggering the light source and the shooting device to collect images if the real-time position information of the collected object is matched with preset target position information;
the target position information is used for carrying out image acquisition on at least two surfaces to be measured of each irregular surface from different angles, and the at least two surfaces to be measured are obtained by dividing the irregular surfaces in advance according to a first preset step length.
5. The apparatus of claim 4, wherein the first preset step is determined according to shape information of the irregular surface and attribute information of the photographing apparatus; the attribute information of the shooting device comprises depth information and shooting view information.
6. The apparatus of claim 4, wherein the preset trajectory moving module is further configured to:
and in the process of controlling the rotating shaft to move according to a preset track, when the real-time position information of the collected object is determined to be matched with the preset target position information, the current target position information is positioned in a shooting area of the shooting device corresponding to the to-be-collected surface, wherein the shooting area is determined according to the depth of field information of the shooting device.
7. An image acquisition apparatus, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
the shooting device is used for shooting the acquisition object;
a light source for illuminating an acquisition object;
the rotating shaft is used for placing a collection object and moving according to a preset track, and the collection object is provided with at least one irregular surface;
when executed by the one or more processors, cause the one or more processors to implement the image acquisition method of any one of claims 1-3.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the image acquisition method as set forth in any one of claims 1-3.
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