CN110445987A - A kind of polyphaser exposure sync control system and its method and unmanned plane - Google Patents
A kind of polyphaser exposure sync control system and its method and unmanned plane Download PDFInfo
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- CN110445987A CN110445987A CN201910715584.3A CN201910715584A CN110445987A CN 110445987 A CN110445987 A CN 110445987A CN 201910715584 A CN201910715584 A CN 201910715584A CN 110445987 A CN110445987 A CN 110445987A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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Abstract
The present invention discloses a kind of polyphaser exposure sync control system and its method and unmanned plane.System includes: shutter signal conversion module and the image capture device control assembly including processor, driving signal module and imaging sensor；If shutter signal conversion module detects the failing edge of Image Acquisition trigger signal, the corresponding image pick-up signal of Image Acquisition trigger signal is sent to processor；If the idle control unit of each processor detects the failing edge of image pick-up signal, control driving signal module stops sending synchronization signal；Control unit control imaging sensor is resetted to reset；Initialization control unit controls image sensor initializing；It sends control unit control driving signal module and retransmits synchronization signal, exposure when control imaging sensor receives the rising edge of specified synchronization signal；If receiving unit detects the rising edge of next synchronization signal of specified synchronization signal, image data is received, to realize that control multiple images sensor exposes simultaneously.
Description
Technical field
The present invention relates to technical field of mapping, in particular to a kind of polyphaser exposure sync control system and its side
Method and unmanned plane.
Background technique
In aerial survey field, when measuring target scene, usually: hanging storehouse using the oblique photograph that unmanned plane carries
Oblique photograph is carried out to target scene, obtains oblique photograph data；And then target is carried out using obtained oblique photograph data
The 3-dimensional image of scene models, and then realizes the measurement to target scene, wherein storehouse is hung in above-mentioned oblique photograph are as follows: is schemed by more
As the camera system of acquisition equipment composition, which can be camera or camera, each image capture device pair
There should be imaging sensor, for acquiring image data.
Theoretically, for the accuracy that the 3-dimensional image guaranteed to target scene models, need to obtain accurate corresponding nothing
GPS (the Global that storehouse shoots the positioning device measurement of resulting image data and unmanned plane is hung in the oblique photograph of man-machine carrying
Positioning System, global positioning system) positioning position, it is in turn, fixed based on accurate corresponding image data and GPS
The location information of the position of position carries out the 3-dimensional image modeling of target scene.Correspondingly, being taken the photograph in the inclination carried using unmanned plane
During shadow hangs storehouse progress oblique photograph, since unmanned plane is constantly in sporting flying state, it is fixed in each GPS to need
On the position of position, while the imaging sensor acquisition image data of more image capture devices is triggered, to guarantee in unmanned plane
At the time of positioning device measurement obtains a GPS position information, oblique photograph is hung each image capture device in storehouse and is collected
Image data is one-to-one to guarantee to shoot the position of resulting image data and GPS positioning at this time.
In the related technology, during storehouse progress oblique photograph is hung in the oblique photograph carried using unmanned plane, unmanned plane
Control equipment directly transmit the shutter control that every image capture device in storehouse is hung in Image Acquisition trigger signal to oblique photograph
On, so that the synchronization of the image sensor exposure of every image capture device in storehouse is hung in oblique photograph, depend entirely on every
The exposure time series of image capture device oneself.However, when being originated due to the exposure of the imaging sensor of every image capture device
Between and it is asynchronous, that is, there are problems that exposure initial time between the imaging sensor of image capture device there are the time difference, should
Every image capture device that time difference causes oblique photograph to hang storehouse shoots the position of resulting image data with corresponding GPS positioning
It sets there are deviation, this deviation is affected to the 3-dimensional image modeling in later period.So, more image capture devices how to be controlled
It is most important that imaging sensor exposes acquisition image data simultaneously.
Summary of the invention
The present invention provides a kind of polyphaser exposure sync control system and its method and unmanned planes, to realize more of control
The imaging sensor of image capture device exposes simultaneously.Specific technical solution is as follows.
In a first aspect, the embodiment of the invention provides a kind of polyphaser exposure sync control system, which includes:
Shutter signal conversion module and multiple images acquire equipment control assembly, wherein each image capture device control
Component processed includes: processor, driving signal module and imaging sensor, the driving signal of each image capture device control assembly
Module is connect with processor and imaging sensor respectively, the shutter signal conversion module and each image capture device control group
The processor of part connects；
The shutter signal conversion module is based on institute if being configured as detecting the failing edge of Image Acquisition trigger signal
Image Acquisition trigger signal is stated, sends described image trigger collection signal to the processor of each image capture device control assembly
Corresponding image pick-up signal；
Each processor, comprising:
Idle control unit, if be configured as detecting received image pick-up signal failing edge, control the drive
Dynamic signaling module stops sending synchronization signal to described image sensor, so that described image sensor is in idle condition；
Control unit is resetted, the imaging sensor that control is in idle condition is configured as and resets；
Initialization control unit is configured as the described image sensor initialization after control resets；
Control unit is sent, is configured as controlling the driving signal module again to the imaging sensor hair after initialization
Synchronization signal is sent, and controls described image sensor and receives the specified synchronization signal that the driving signal module retransmits
Rising edge when start to expose；
Receiving unit, if being configured as detecting the rising edge of next synchronization signal of the specified synchronization signal,
Receive the image data of described image sensor acquisition.
Optionally, the specified synchronization signal is first synchronization signal that the driving signal module exports again.
Optionally, the synchronization signal includes frame synchronizing signal and line synchronising signal.
Optionally, the idle control unit is specifically configured to the first instruction of output, wherein first instruction are as follows:
Stop the instruction that synchronization signal is sent to described image sensor for controlling the driving signal module；
The driving signal module is configured as after receiving first instruction, stops to described image sensor
Send synchronization signal.
Optionally, it is initial to be specifically configured to the described image sensor after control resets for the initialization control unit
Change register and time for exposure.
Second aspect, the embodiment of the invention provides a kind of polyphaser exposure sync control methods, this method comprises:
The processor of each image capture device control assembly applied to polyphaser exposure sync control system is described more
Camera exposure synchronous control system further includes shutter signal conversion module, each image capture device control assembly further include: is driven
Dynamic signaling module and imaging sensor, the driving signal module of each image capture device control assembly respectively with processor and figure
As sensor connection, the shutter signal conversion module is connect with the processor of each image capture device control assembly；It is described
Method includes:
If detect received image pick-up signal failing edge, control the driving signal module and stop to the figure
As sensor transmission synchronization signal, so that described image sensor is in idle condition；Wherein, described image acquisition signal is institute
Shutter signal conversion module is stated in the case where detecting the failing edge of Image Acquisition trigger signal, based on described image acquisition touching
It signals, the signal sent to the processor of each image capture device control assembly；
The imaging sensor being in idle condition is controlled to reset；
Described image sensor after control resets initializes；
It controls the driving signal module and sends synchronization signal to the imaging sensor after initialization again, and described in control
Imaging sensor starts to expose when receiving the rising edge for the specified synchronization signal that the driving signal module retransmits；
If detecting the rising edge of next synchronization signal of the specified synchronization signal, described image sensor is received
The image data of acquisition.
Optionally, the specified synchronization signal is first synchronization signal that the driving signal module exports again.
Optionally, the synchronization signal includes frame synchronizing signal and line synchronising signal.
Optionally, the control driving signal module stops the step that synchronization signal is sent to described image sensor
Suddenly, comprising:
The first instruction of output, so as to stop after the driving signal module receives first instruction to the figure
As sensor sends synchronization signal, wherein first instruction are as follows: stop for controlling the driving signal module to the figure
As sensor sends the instruction of synchronization signal.
Optionally, the step of described image sensor after the control resets initializes, comprising:
Described image sensor initialization register and time for exposure after control reset.
The third aspect, the embodiment of the invention provides a kind of unmanned plane, the unmanned plane is provided with polyphaser exposure sync
Control system and GPS positioning module；The polyphaser exposure sync control system includes: shutter signal conversion module and multiple
Image capture device control assembly, wherein each image capture device control assembly include: processor, driving signal module and
Imaging sensor, the driving signal module of each image capture device control assembly connect with processor and imaging sensor respectively
It connects, the shutter signal conversion module is connect with the processor of each image capture device control assembly；
The shutter signal conversion module is based on institute if being configured as detecting the failing edge of Image Acquisition trigger signal
Image Acquisition trigger signal is stated, sends described image trigger collection signal to the processor of each image capture device control assembly
Corresponding image pick-up signal；
Each processor, comprising:
Idle control unit, if be configured as detecting received image pick-up signal failing edge, control the drive
Dynamic signaling module stops sending synchronization signal to described image sensor, so that described image sensor is in idle condition；
Control unit is resetted, the imaging sensor that control is in idle condition is configured as and resets；
Initialization control unit is configured as the described image sensor initialization after control resets；
Control unit is sent, is configured as controlling the driving signal module again to the imaging sensor hair after initialization
Synchronization signal is sent, and controls described image sensor and receives the specified synchronization signal that the driving signal module retransmits
Rising edge when start to expose；And send feedback signal to GPS positioning module so that GPS positioning module receive it is described anti-
When feedback signal, measurement obtains GPS positioning information, wherein the feedback signal is for prompting GPS positioning module imaging sensor to open
Begin to expose；
Receiving unit, if being configured as detecting the rising edge of next synchronization signal of the specified synchronization signal,
Receive the image data of described image sensor acquisition.
Optionally, the specified synchronization signal is first synchronization signal that the driving signal module exports again.
Optionally, the synchronization signal includes frame synchronizing signal and line synchronising signal.
Optionally, the idle control unit is specifically configured to the first instruction of output, wherein first instruction are as follows:
Stop the instruction that synchronization signal is sent to described image sensor for controlling the driving signal module；
The driving signal module is configured as after receiving first instruction, stops to described image sensor
Send synchronization signal.
Optionally, it is initial to be specifically configured to the described image sensor after control resets for the initialization control unit
Change register and time for exposure.
As shown in the above, a kind of polyphaser exposure sync control system and its method provided in an embodiment of the present invention and
Unmanned plane, comprising: shutter signal conversion module and multiple images acquire equipment control assembly, wherein each Image Acquisition is set
Standby control assembly includes: processor, driving signal module and imaging sensor, the driving of each image capture device control assembly
Signaling module is connect with processor and imaging sensor respectively, shutter signal conversion module and each image capture device control group
The processor of part connects；Shutter signal conversion module is based on if being configured as detecting the failing edge of Image Acquisition trigger signal
It is corresponding to send Image Acquisition trigger signal to the processor of each image capture device control assembly for Image Acquisition trigger signal
Image pick-up signal；Each processor, comprising: idle control unit, if being configured as detecting the received Image Acquisition letter of institute
Number failing edge, control driving signal module stop to imaging sensor send synchronization signal so that imaging sensor be in sky
Not busy state；Control unit is resetted, the imaging sensor that control is in idle condition is configured as and resets；Initialization control unit,
It is configured as the imaging sensor initialization after control resets；Control unit is sent, control driving signal module weight is configured as
Synchronization signal newly is sent to the imaging sensor after initialization, and controls imaging sensor and receives driving signal module and send out again
Start to expose when the rising edge for the specified synchronization signal sent；Receiving unit, if being configured as detecting specified synchronization signal
Next synchronization signal rising edge, receive imaging sensor acquisition image data.
In the embodiment of the present invention, shutter signal conversion module is simultaneously to the processor of each image capture device control assembly
Image pick-up signal is sent, each processor is performed simultaneously correspondingly Image Acquisition and prepares to operate and control imaging sensor simultaneously
Start to expose when receiving the rising edge of the specified synchronization signal of driving signal module retransmission, and receives image biography simultaneously
The image data of sensor acquisition realizes the imaging sensor in control multiple images acquisition equipment control assembly while exposing.
Certainly, it implements any of the products of the present invention or method does not necessarily require achieving all the advantages described above at the same time.
The innovative point of the embodiment of the present invention includes:
1, shutter signal conversion module sends Image Acquisition to the processor of each image capture device control assembly simultaneously
Signal, each processor are performed simultaneously correspondingly Image Acquisition and prepare to operate and control simultaneously imaging sensor and receive to drive to believe
Start to expose when the rising edge for the specified synchronization signal that number module retransmits, and receives the figure of imaging sensor acquisition simultaneously
As data, realizes the imaging sensor in control multiple images acquisition equipment control assembly while exposing.
2, the transmission control unit of the processor in polyphaser exposure sync control system starts in control imaging sensor
While exposure, feedback signal is sent to the GPS positioning module of unmanned plane, to notify the GPS positioning module imaging sensor to open
Begin exposure, when which receives the feedback signal, can measure to obtain GPS positioning information, so that unmanned plane can be with
GPS positioning information is recorded in the true time of exposure of imaging sensor, to obtain relatively accurate corresponding image data and GPS positioning
Information.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this hair
Bright some embodiments.It for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of polyphaser exposure sync control system provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the signal sequence of polyphaser exposure sync control system；
Fig. 3 is a kind of flow diagram of polyphaser exposure sync control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art under that premise of not paying creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any change in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as comprising the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes other step or units intrinsic for these process, methods, product or equipment.
The present invention provides a kind of polyphaser exposure sync control system and its method and unmanned planes, to realize more of control
The imaging sensor of image capture device exposes simultaneously.The embodiment of the present invention is described in detail below.
Fig. 1 is a kind of structural schematic diagram of polyphaser exposure sync control system provided in an embodiment of the present invention.The multiphase
Machine exposure sync control system includes: that shutter signal conversion module 110 and multiple images acquire equipment control assembly 120,
In, each image capture device control assembly 120 includes: processor 121, driving signal module 122 and imaging sensor 123,
The driving signal module 122 of each image capture device control assembly 120 connects with processor 121 and imaging sensor 123 respectively
It connects, shutter signal conversion module 110 is connect with the processor 121 of each image capture device control assembly 120；
Shutter signal conversion module 110 is based on image if being configured as detecting the failing edge of Image Acquisition trigger signal
It is corresponding to send Image Acquisition trigger signal to the processor 121 of each image capture device control assembly 120 for trigger collection signal
Image pick-up signal；
Each processor 121, comprising: idle control unit 1211, if being configured as detecting the received Image Acquisition of institute
The failing edge of signal, control driving signal module 122 stops sending synchronization signal to imaging sensor 123, so that image sensing
Device 123 is in idle condition；
Control unit 1212 is resetted, the imaging sensor 123 that control is in idle condition is configured as and resets；
Initialization control unit 1213 is configured as the imaging sensor 123 after control resets and initializes；
Control unit 1214 is sent, is configured as control driving signal module 122 again to the image sensing after initialization
Device 123 sends synchronization signal, and controls imaging sensor 123 and receive the specified same of the retransmission of driving signal module 122
Start to expose when walking the rising edge of signal；
Receiving unit 1215, if being configured as detecting the rising edge of next synchronization signal of specified synchronization signal,
Receive the image data that imaging sensor 123 acquires.
Wherein, above-mentioned processor 110 can ((Field-Programmable Gate Array, scene can by FPGA
Program gate array) technology, DSP (Digital Signal Processing, Digital Signal Processing) technology and ISP (Image
Signal Processing, image signal process) realizations such as technology processor.The processor can for it is any type of can
Program main control chip.
In the embodiment of the present invention, which can be the extraneous triggering preset function key that passes through and generates,
The preset function key can be tripper.Shutter signal conversion module 110 can receive the Image Acquisition trigger signal, if
It detects the failing edge of Image Acquisition trigger signal, is based on Image Acquisition trigger signal no-delayly, is set to each Image Acquisition
The processor 121 of standby control assembly 120 sends the corresponding image pick-up signal of Image Acquisition trigger signal.Each processor 121
It receives image pick-up signal and generates interruption quick response immediately, executed during interruption provided in an embodiment of the present invention as follows
Polyphaser exposure sync control flow.
In oneainstance, which can be directly the Image Acquisition trigger signal, be also possible to the figure
As the signal that trigger collection signal generates after predetermined process, which can be the adjustment Image Acquisition trigger signal
Frequency and/or amplitude etc..
The processor 121 of each image capture device control assembly 120 receives the figure by its idle control unit 1211
As acquisition signal, and if detect institute received image pick-up signal failing edge, control driving signal module 122 stop to figure
As the transmission synchronization signal of sensor 123, so that imaging sensor 123 is in idle condition.As shown in Fig. 2, being exposed for polyphaser
A kind of schematic diagram of the signal sequence of synchronous control system, idle control unit 1211 detect the failing edge of image pick-up signal
Characterization triggering starts.Wherein, each image capture device control assembly can be used as an image capture device, such as camera.
In one implementation, idle control unit 1211 can be to driving signal module 122 and send the first instruction,
Wherein, first instruction are as follows: stop the finger that synchronization signal is sent to imaging sensor 123 for controlling driving signal module 122
It enables；Correspondingly, after driving signal module 122 receives first instruction, stop sending synchronous letter to imaging sensor 123
Number；After the imaging sensor 130 no longer receives synchronization signal, it can stop exposing, be in idle condition.
Wherein, which can be generated synchronization signal, and be sent to imaging sensor 123, to drive figure
As the work of sensor 123, that is, expose.The synchronization signal may include two kinds of signals, respectively line synchronising signal and frame synchronization letter
Number, wherein the line synchronising signal is used to control the synchronous exposure of at least a line of each imaging sensor in multiple images sensor
Light, the frame synchronizing signal are used to control the frame synchronization exposure between multiple images sensor.
A kind of situation, the imaging sensor 130 can be CMOS (Complementary Metal Oxide
Semiconductor), complementary metal oxide semiconductor) (Charge Coupled Device is electricity by imaging sensor or CCD
Lotus coupled apparatus) imaging sensor, this is all possible.In the embodiment of the present invention, the operating mode of imaging sensor is Slave
Mode.
In turn, it is multiple to control the imaging sensor 123 being in idle condition for the reset control unit 1212 of each processor 121
Position.Wherein, as shown in Fig. 2, the process that the imaging sensor 123 that above-mentioned control is in idle condition resets, may is that and drag down figure
As the reset signal of sensor is drawn high again, as " sensor reset " the pointed location characterization imaging sensor in Fig. 2 is resetted.
Also, the imaging sensor 123 after the control of initialization control unit 1213 of each processor 121 resets carries out just
Beginningization, i.e., send initialization directive to the imaging sensor 123 after reset, and the imaging sensor 123 after reset receives initially
After changing instruction, initialized.As " sensor initializing and setting exposure value " pointed location in Fig. 2 characterizes imaging sensor
123 are initialized.A kind of situation, imaging sensor, which carries out initialization, can be the register of initialisation image sensor 123
And the time for exposure.Wherein, which exposes acquired image data for storing imaging sensor 123, when the exposure
Between be limited the duration that imaged sensor 123 exposes.When the register of above-mentioned initialisation image sensor 123 and exposure
Between, it may is that the data for emptying and storing in register, and set the time for exposure.
Subsequent, the transmission control unit 1214 of each processor 121 controls driving signal module 122 again to initialization
Imaging sensor 123 afterwards sends synchronization signal, and controls imaging sensor and receive the retransmission of driving signal module 122
Start to expose when the rising edge of specified synchronization signal；If the receiving unit 1215 of each processor 121 detects specified same
The rising edge of next synchronization signal of signal is walked, the image data of imaging sensor acquisition is received.As shown in Fig. 2, driving
The rising edge of the next synchronization signal for first synchronization signal that signaling module 122 exports again receives imaging sensor and adopts
The image data of collection, that is, data of taking pictures.
In turn, a kind of situation, processor 121 can continue to handle the received image data of institute, obtain image.Or
Person can send the received image data of institute to image processing system, so that image processing system carries out the image data
Processing, obtains image.
A kind of situation, in order to guarantee the timeliness of image data acquiring, which is driving signal module
123 first synchronization signal exported again.As shown in Fig. 2, the first synchronous letter retransmitted in driving signal module 122
Number rising edge, imaging sensor 123 exposure starts.
Wherein, the fast speed that the initialization of imaging sensor 123 is completed controls driving signal sending control unit 1214
Module 122 exports synchronization signal again, and when being sent to imaging sensor 123, which is completed initialization.
In one implementation, the polyphaser exposure sync set-up of control system is in unmanned plane, which can be with
Including GPS positioning module, driving signal module 122 is controlled again to first in the transmission control unit 1214 of each processor 121
Imaging sensor 123 after beginningization sends synchronization signal, and controls imaging sensor and receive driving signal module 122 and send out again
When starting exposure when the rising edge for the specified synchronization signal sent, it can send and feed back to the GPS positioning module of unmanned plane simultaneously
It is fixed to indicate that the GPS positioning module measurement obtains GPS to notify the GPS positioning module imaging sensor 123 to start to expose for signal
Position information, which includes the location information of unmanned plane present position.To realize that unmanned plane can collect accurately
Corresponding GPS positioning information and image data, to guarantee the subsequent utilization accurate corresponding GPS positioning information and picture number
According to the accuracy of constructed 3-dimensional image.
In oneainstance, above-mentioned driving signal module 122 can be built by any type of signal generator chip
It forms, the embodiment of the present invention is not defined the type of signal generator chip.Alternatively, above-mentioned driving signal module 122
It is also possible to through software realization, this is all possible.
In the embodiment of the present invention, shutter signal conversion module is simultaneously to the processor of each image capture device control assembly
Image pick-up signal is sent, each processor is performed simultaneously correspondingly Image Acquisition and prepares to operate and control imaging sensor simultaneously
Start to expose when receiving the rising edge of the specified synchronization signal of driving signal module retransmission, and receives image biography simultaneously
The image data of sensor acquisition realizes the imaging sensor in control multiple images acquisition equipment control assembly while exposing.
Corresponding to the above system embodiment, the embodiment of the invention provides a kind of polyphaser exposure sync control methods, should
Method can be applied to the processor of each image capture device control assembly of polyphaser exposure sync control system, polyphaser
Exposure sync control system can also include shutter signal conversion module, and each image capture device control assembly can also wrap
Include: driving signal module and imaging sensor, the driving signal module of each image capture device control assembly respectively with processing
Device is connected with imaging sensor, and shutter signal conversion module is connect with the processor of each image capture device control assembly.Such as
Shown in Fig. 3, the method may include following steps:
S301: if detect received image pick-up signal failing edge, control driving signal module stop to image
Sensor sends synchronization signal, so that imaging sensor is in idle condition.
Wherein, image pick-up signal is that shutter signal conversion module is detecting the failing edge of Image Acquisition trigger signal
In the case of, it is based on Image Acquisition trigger signal, the signal sent to the processor of each image capture device control assembly.
S302: it controls the imaging sensor being in idle condition and resets.
S303: the imaging sensor after control resets initializes.
S304: control driving signal module sends synchronization signal, and control figure to the imaging sensor after initialization again
Start to expose when receiving the rising edge of the specified synchronization signal of driving signal module retransmission as sensor.
S305: it if detecting the rising edge of next synchronization signal of specified synchronization signal, receives imaging sensor and adopts
The image data of collection.
Wherein, above-mentioned processor can pass through FPGA ((Field-Programmable Gate Array, field-programmable
Gate array) technology, DSP (Digital Signal Processing, Digital Signal Processing) technology and ISP (Image
Signal Processing, image signal process) realizations such as technology processor.The processor can for it is any type of can
Program main control chip.
In the embodiment of the present invention, which can be the extraneous triggering preset function key that passes through and generates,
The preset function key can be tripper.Shutter signal conversion module can receive the Image Acquisition trigger signal, if inspection
The failing edge of Image Acquisition trigger signal is measured, Image Acquisition trigger signal is based on no-delayly, to each image capture device
The processor of control assembly sends the corresponding image pick-up signal of Image Acquisition trigger signal.
In oneainstance, which can be directly the Image Acquisition trigger signal, be also possible to the figure
As the signal that trigger collection signal generates after predetermined process, which can be the adjustment Image Acquisition trigger signal
Frequency and/or amplitude etc..
Each processor receives the image pick-up signal, and if detect received image pick-up signal decline
Edge, control driving signal module stops sending synchronization signal to imaging sensor, so that imaging sensor is in idle condition.In
In a kind of implementation, each processor sends the first instruction to its corresponding driving signal module, wherein first instruction
Are as follows: stop the instruction that synchronization signal is sent to imaging sensor for controlling corresponding driving signal module, so that driving is believed
After number module receives first instruction, stop sending synchronization signal to imaging sensor.Subsequent, the imaging sensor is not
After receiving synchronization signal again, it can stop exposing, be in idle condition.
Wherein, synchronization signal can be generated in processor, and is sent to imaging sensor, to drive imaging sensor to work,
Expose.The synchronization signal may include two kinds of signals, respectively line synchronising signal and frame synchronizing signal, wherein the row is synchronous
Signal is used to control the synchronous exposure of at least a line of each imaging sensor in multiple images sensor, which uses
Frame synchronization exposure between control multiple images sensor.
A kind of situation, the imaging sensor can be CMOS (Complementary Metal Oxide
Semiconductor), complementary metal oxide semiconductor) (Charge Coupled Device is electricity by imaging sensor or CCD
Lotus coupled apparatus) imaging sensor, this is all possible.In the embodiment of the present invention, the operating mode of imaging sensor is Slave
Mode.
Processor can continue to control after control driving signal module stops sending synchronization signal to imaging sensor
The imaging sensor being in idle condition resets.And the imaging sensor controlled after resetting is initialized, i.e., to after reset
Imaging sensor sends initialization directive and is initialized after the imaging sensor after reset receives initialization directive.
In a kind of implementation, control reset after the process that is initialized of imaging sensor, may is that control resets
Imaging sensor initialization register and time for exposure afterwards.Wherein, the register is for storing the exposure of imaging sensor 123
Acquired image data, the time for exposure are limited the duration that imaged sensor 123 exposes.Above-mentioned initialization register
And the time for exposure, it may is that the data for emptying and storing in register, and set the time for exposure.
Subsequent, processor can continue control driving signal module and send together to the imaging sensor after initialization again
It is opened when walking signal, and controlling the rising edge for the specified synchronization signal that imaging sensor receives the retransmission of driving signal module
Begin to expose；If detecting the rising edge of next synchronization signal of specified synchronization signal, the figure of imaging sensor acquisition is received
As data.A kind of situation, in order to guarantee the timeliness of image data acquiring, which is driving signal module weight
First synchronization signal newly exported.
Wherein, the fast speed that imaging sensor initialization is completed exports again in processor control driving signal module
Synchronization signal, and when being sent to imaging sensor, which is completed initialization.
In a kind of implementation, after processor receives image data, it can continue at the received image data of institute
Reason, obtains image.Alternatively, the received image data of institute can be sent to image processing system, so that image processing system pair
The image data is handled, and image is obtained.
In one implementation, the polyphaser exposure sync set-up of control system is in unmanned plane, which can be with
Including GPS positioning module, sent again to the imaging sensor after initialization in each processor control driving signal module same
It is opened when walking signal, and controlling the rising edge for the specified synchronization signal that imaging sensor receives the retransmission of driving signal module
When beginning to expose, feedback signal can be sent to the GPS positioning module of unmanned plane simultaneously, to notify the GPS positioning module image to pass
Sensor starts to expose, and indicates that the GPS positioning module measurement obtains GPS positioning information, which includes locating for unmanned plane
The location information of position.To realize that unmanned plane can collect accurate corresponding GPS positioning information and image data, to guarantee
It is subsequent to utilize the accurate corresponding GPS positioning information and image data, the accuracy of constructed 3-dimensional image.
In the embodiment of the present invention, shutter signal conversion module is simultaneously to the processor of each image capture device control assembly
Image pick-up signal is sent, each processor is performed simultaneously correspondingly Image Acquisition and prepares to operate and control imaging sensor simultaneously
Start to expose when receiving the rising edge of the specified synchronization signal of driving signal module retransmission, and receives image biography simultaneously
The image data of sensor acquisition realizes the imaging sensor in control multiple images acquisition equipment control assembly while exposing.
Corresponding to the above system embodiment, the embodiment of the invention provides a kind of unmanned planes, as shown in figure 4, unmanned plane is set
It is equipped with polyphaser exposure sync control system 41 and GPS positioning module 42；Polyphaser exposure sync control system 41 includes: shutter
Signal conversion module 410 and multiple images acquire equipment control assembly 420, wherein each image capture device control assembly
420 include: processor 421, driving signal module 422 and imaging sensor 423, each image capture device control assembly 420
Driving signal module 422 connect respectively with 421 and imaging sensor 423, the shutter signal conversion module 410 and each figure
As the processor 421 of acquisition equipment control assembly 420 connects；
The shutter signal conversion module 410 is based on if being configured as detecting the failing edge of Image Acquisition trigger signal
Described image trigger collection signal sends described image acquisition to the processor 421 of each image capture device control assembly 420
The corresponding image pick-up signal of trigger signal；
Each processor 421, comprising:
Idle control unit 4211, if be configured as detecting received image pick-up signal failing edge, control institute
It states driving signal module 422 to stop sending synchronization signal to described image sensor 423, so that at described image sensor 423
In idle state；
Control unit 4212 is resetted, the imaging sensor 423 that control is in idle condition is configured as and resets；
Initialization control unit 4213 is configured as the described image sensor 423 after control resets and initializes；
Control unit 4214 is sent, is configured as controlling the driving signal module 422 again to the image after initialization
Sensor 423 sends synchronization signal, and controls described image sensor 423 and receive the driving signal module 422 and send out again
Start to expose when the rising edge for the specified synchronization signal sent；And feedback signal is sent to GPS positioning module 42, so that GPS is fixed
For position module 42 when receiving the feedback signal, measurement obtains GPS positioning information, wherein the feedback signal is for prompting
42 imaging sensor of GPS positioning module starts to expose；
Receiving unit 4215, if being configured as detecting the rising of next synchronization signal of the specified synchronization signal
Edge receives the image data that described image sensor 423 acquires.
In the embodiment of the present invention, shutter signal conversion module is simultaneously to the processor of each image capture device control assembly
Image pick-up signal is sent, each processor is performed simultaneously correspondingly Image Acquisition and prepares to operate and control imaging sensor simultaneously
Start to expose when receiving the rising edge of the specified synchronization signal of driving signal module retransmission, and receives image biography simultaneously
The image data of sensor acquisition realizes the imaging sensor in control multiple images acquisition equipment control assembly while exposing.
And the transmission control unit of processor is while control imaging sensor starts exposure, to the GPS positioning module of unmanned plane
Feedback signal is sent, to notify the GPS positioning module imaging sensor to start to expose, which receives the feedback
It when signal, can measure to obtain GPS positioning information, unmanned plane is recorded in the true time of exposure of imaging sensor
GPS positioning information, to obtain relatively accurate corresponding image data and GPS positioning information.
In another embodiment of the invention, the specified synchronization signal is that the driving signal module 422 is again defeated
First synchronization signal out.
In another embodiment of the invention, the synchronization signal includes frame synchronizing signal and line synchronising signal.
In another embodiment of the invention, the idle control unit 4211 is specifically configured to the first instruction of output,
Wherein, first instruction are as follows: stop sending together to described image sensor 423 for controlling the driving signal module 422
Walk the instruction of signal；
The driving signal module 422 is configured as after receiving first instruction, stops sensing to described image
Device 423 sends synchronization signal.
In another embodiment of the invention, the initialization control unit 4213, after being specifically configured to control reset
423 initialization register of described image sensor and the time for exposure.
Above method embodiment is corresponding with system embodiment, has same technical effect, tool with the system embodiment
Body illustrates referring to system embodiment.Embodiment of the method is obtained based on system embodiment, and specific description may refer to system
Embodiment part, details are not described herein again.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
Those of ordinary skill in the art will appreciate that: the module in device in embodiment can describe to divide according to embodiment
It is distributed in the device of embodiment, corresponding change can also be carried out and be located in one or more devices different from the present embodiment.On
The module for stating embodiment can be merged into a module, can also be further split into multiple submodule.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
1. a kind of polyphaser exposure sync control system characterized by comprising shutter signal conversion module and multiple images
Acquire equipment control assembly, wherein each image capture device control assembly includes: processor, driving signal module and image
The driving signal module of sensor, each image capture device control assembly is connect with processor and imaging sensor respectively, institute
Shutter signal conversion module is stated to connect with the processor of each image capture device control assembly；
The shutter signal conversion module is based on the figure if being configured as detecting the failing edge of Image Acquisition trigger signal
As trigger collection signal, it is corresponding that described image trigger collection signal is sent to the processor of each image capture device control assembly
Image pick-up signal；
Each processor, comprising:
Idle control unit, if be configured as detecting received image pick-up signal failing edge, control the driving and believe
Number module stops sending synchronization signal to described image sensor, so that described image sensor is in idle condition；
Control unit is resetted, the imaging sensor that control is in idle condition is configured as and resets；
Initialization control unit is configured as the described image sensor after control resets and is initialized；
Send control unit, be configured as controlling the driving signal module sent again to the imaging sensor after initialization it is same
Signal is walked, and controls described image sensor and receives the upper of specified synchronization signal that the driving signal module retransmits
Rise along when start to expose；
Receiving unit receives if being configured as detecting the rising edge of next synchronization signal of the specified synchronization signal
The image data of described image sensor acquisition.
2. the system as claimed in claim 1, which is characterized in that the specified synchronization signal is the driving signal module weight
First synchronization signal newly exported.
3. the system as claimed in claim 1, which is characterized in that the synchronization signal includes frame synchronizing signal letter synchronous with row
Number.
4. system as described in any one of claims 1-3, which is characterized in that the free time control unit is specifically configured to
The first instruction of output, wherein first instruction are as follows: stop for controlling the driving signal module to described image sensor
Send the instruction of synchronization signal；
The driving signal module is configured as after receiving first instruction, stops sending to described image sensor
Synchronization signal.
5. system according to any one of claims 1-4, which is characterized in that the initialization control unit is configured specifically
Described image sensor initialization register and time for exposure after being resetted for control.
6. a kind of polyphaser exposure sync control method, which is characterized in that applied to the every of polyphaser exposure sync control system
The processor of one image capture device control assembly, the polyphaser exposure sync control system further include shutter signal modulus of conversion
Block, each image capture device control assembly further include: driving signal module and imaging sensor, each image capture device control
The driving signal module of component processed is connect with processor and imaging sensor respectively, the shutter signal conversion module and each figure
As the processor connection of acquisition equipment control assembly；The described method includes:
If detect received image pick-up signal failing edge, control the driving signal module stop to described image pass
Sensor sends synchronization signal, so that described image sensor is in idle condition；Wherein, described image acquisition signal is described fast
Gate signal conversion module is believed in the case where detecting the failing edge of Image Acquisition trigger signal based on described image trigger collection
Number, the signal sent to the processor of each image capture device control assembly；
The imaging sensor being in idle condition is controlled to reset；
Described image sensor after control resets initializes；
It controls the driving signal module and sends synchronization signal to the imaging sensor after initialization again, and control described image
Sensor starts to expose when receiving the rising edge for the specified synchronization signal that the driving signal module retransmits；
If detecting the rising edge of next synchronization signal of the specified synchronization signal, described image sensor acquisition is received
Image data.
7. method as claimed in claim 6, which is characterized in that the specified synchronization signal is the driving signal module weight
First synchronization signal newly exported.
8. method according to claim 6 or 7, which is characterized in that the control driving signal module stops to described
Imaging sensor sends the step of synchronization signal, comprising:
The first instruction of output, so as to stop passing to described image after the driving signal module receives first instruction
Sensor sends synchronization signal, wherein first instruction are as follows: stops passing to described image for controlling the driving signal module
The instruction of sensor transmission synchronization signal.
9. such as the described in any item methods of claim 6-8, which is characterized in that the described image sensor after the control reset
The step of initialization, comprising:
Described image sensor initialization register and time for exposure after control reset.
10. a kind of unmanned plane, which is characterized in that the unmanned plane is provided with polyphaser exposure sync control system and GPS positioning
Module；The polyphaser exposure sync control system includes: shutter signal conversion module and multiple images acquisition equipment control
Component, wherein each image capture device control assembly includes: processor, driving signal module and imaging sensor, Mei Yitu
Driving signal module as acquiring equipment control assembly is connect with processor and imaging sensor respectively, the shutter signal conversion
Module is connect with the processor of each image capture device control assembly；
The shutter signal conversion module is based on the figure if being configured as detecting the failing edge of Image Acquisition trigger signal
As trigger collection signal, it is corresponding that described image trigger collection signal is sent to the processor of each image capture device control assembly
Image pick-up signal；
Each processor, comprising:
Idle control unit, if be configured as detecting received image pick-up signal failing edge, control the driving and believe
Number module stops sending synchronization signal to described image sensor, so that described image sensor is in idle condition；
Control unit is resetted, the imaging sensor that control is in idle condition is configured as and resets；
Initialization control unit is configured as the described image sensor initialization after control resets；
Send control unit, be configured as controlling the driving signal module sent again to the imaging sensor after initialization it is same
Signal is walked, and controls described image sensor and receives the upper of specified synchronization signal that the driving signal module retransmits
Rise along when start to expose；And feedback signal is sent to GPS positioning module, so that GPS positioning module is receiving the feedback letter
Number when, measurement obtains GPS positioning information, wherein the feedback signal is for prompting GPS positioning module imaging sensor to start to expose
Light；
Receiving unit receives if being configured as detecting the rising edge of next synchronization signal of the specified synchronization signal
The image data of described image sensor acquisition.
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