CN111770269B - Parallel acquisition management and control method and system based on multiple high-speed cameras - Google Patents
Parallel acquisition management and control method and system based on multiple high-speed cameras Download PDFInfo
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- CN111770269B CN111770269B CN202010584939.2A CN202010584939A CN111770269B CN 111770269 B CN111770269 B CN 111770269B CN 202010584939 A CN202010584939 A CN 202010584939A CN 111770269 B CN111770269 B CN 111770269B
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
The invention discloses a parallel acquisition management and control method and a system based on multiple high-speed cameras, which switch to a time synchronization acquisition mode or a time alternation acquisition mode according to whether the shooting angles of multiple cameras on the same scene are the same, increase corresponding synchronization correction values on the basis of the line delay of pulse signal transmission between a first-level synchronization controller and each camera by performing time synchronization correction in the time synchronization acquisition mode, enable pulse signals sent by the first-level synchronization controller to simultaneously reach each camera, realize multi-angle simultaneous shooting, increase corresponding alternation acquisition correction values on the basis of the line delay of pulse signal transmission between the first-level synchronization controller and each camera by performing time alternation correction in the time alternation acquisition mode, enable the first-level synchronization controller to have the function of switching the working modes, and high-precision synchronous shooting control of multi-angle shooting and high sampling rate of shooting at the same angle are realized.
Description
Technical Field
The invention relates to the field of image acquisition, in particular to a parallel acquisition management and control method and a system based on multiple high-speed cameras.
Background
At present, with the rapid development and progress of science and technology, data and information bring convenience to us everywhere, wherein, image data is widely applied and most intuitive, so that the research on image data acquisition and transmission is increasingly deep. In the field of image research, the research on the high-speed motion process of an object is an important part, the application field of high-speed shooting is very wide, a high-speed camera can completely record the transient process of a high-speed moving object, then a target is converted into an image signal through a special digital image shooting system, and finally the image signal is sent to a special image processing system.
In addition, when a plurality of cameras are used for shooting, the shooting mode is single, and the shooting mode of the plurality of cameras is difficult to control to meet the shooting of a plurality of using scenes.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides a parallel acquisition management and control method based on multiple high-speed cameras, wherein the multiple high-speed cameras are controlled by a multi-stage synchronous controller, and the method comprises:
when the shooting angles of a plurality of cameras to the same scene are different, entering a time synchronization acquisition mode to realize that the images acquired by the plurality of cameras are at the same moment;
when the shooting angles of a plurality of cameras on the same scene are the same, entering a time alternating acquisition mode to realize that the sampling rate of the same picture acquisition is n times of that of a single high-speed camera, wherein n is the total number of the cameras;
and under the time synchronization acquisition mode, time synchronization correction is carried out before image acquisition, and the time synchronization correction adds corresponding synchronization correction values on the basis of line delay of pulse signal transmission between the first-stage synchronization controller and each camera, so that pulse signals sent by the first-stage synchronization controller simultaneously reach each camera.
And under the time alternating acquisition mode, time alternating correction is carried out before image acquisition, and the time alternating correction increases corresponding alternating acquisition correction values on the basis of the line delay of pulse signal transmission between the first-stage synchronous controller and each camera, so that pulse signals sent by the first-stage synchronous controller circularly and alternately reach each camera.
As a further optimization of the above scheme, the line delay obtaining method for pulse signal transmission between the first-stage synchronous controller and each camera includes:
judging whether all the high-speed cameras and the synchronous controller equipment are internally provided with a Beidou/GPS satellite receiver for high-precision time service;
if yes, triggering the first-stage synchronous controller to send a pulse signal and sending timet0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0；
Otherwise, the high-speed camera is configured to return the pulse signal immediately after receiving the pulse signal, and the first-stage synchronous controller is triggered to start at the first moment t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
As a further optimization of the above scheme, the method for acquiring the synchronization correction amount includes:
taking the maximum value of the delay of each line as a delay reference delta t;
obtaining a synchronization correction amount t to be allocated for each high-speed cameraadd(i)＝Δt-ti。
As a further optimization of the above scheme, the method for acquiring the alternate acquisition correction amount includes:
obtaining the synchronization correction t to be allocated for each high-speed cameraadd(i) Adding a second correction amount as follows:
n is the total number of the high-speed cameras, i is 1,2, and n and f are the acquisition frequency of a single high-speed camera;
alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
As a further optimization of the above scheme, after the PC obtains the synchronization correction amount and the alternate acquisition correction amount, it configures the pulse multiplex transmission time in the first synchronization controller, and delays the time for transmitting the pulse signal to each camera according to the corresponding synchronization correction amount and alternate acquisition correction amount.
The invention also provides a parallel acquisition management and control system based on multiple high-speed cameras, which comprises:
the working mode judging module is used for entering a time synchronous acquisition mode when the shooting angles of the plurality of cameras to the same scene are different, and entering a time alternative acquisition mode when the shooting angles of the plurality of cameras to the same scene are the same;
the time synchronization correction module is used for increasing a corresponding synchronization correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronization controller and each camera so that the pulse signals sent by the first-stage synchronization controller can reach each camera at the same time;
and the time alternation correction module is used for increasing a corresponding alternation acquisition correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronous controller and each camera so that the pulse signal sent by the first-stage synchronous controller circularly and alternately reaches each camera.
As a further optimization of the above scheme, the method further comprises:
the line delay obtaining module specifically includes:
the acquisition method selection unit is used for judging whether all the high-speed cameras and the synchronous controller equipment have Beidou/GPS satellite receivers for high-precision time service, if so, the first acquisition method unit is entered, and if not, the second acquisition method unit is entered;
a first obtaining method unit for triggering the first-stage synchronous controller to send pulse signals and sending time t0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0；
A second acquisition method unit for configuring the high-speed camera to return the pulse signal immediately after receiving the pulse signal and triggering the first-stage synchronous controller at a first time t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
As a further optimization of the above scheme, the method further comprises: the synchronous correction value acquisition module is used for taking the maximum value of the delay of each line as a delay reference delta t; obtaining a synchronization correction amount t to be allocated for each high-speed cameraadd(i)＝Δt-ti。
As a further optimization of the above scheme, the method further comprises: an alternative acquisition correction value acquisition module for calling the synchronization correction value acquisition module to acquire the synchronization correction value tadd(i) And adding a second correction amount as:
n is the total number of the high-speed cameras, i is 1,2, and n and f are the acquisition frequency of a single high-speed camera; alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
As a further optimization of the above scheme, the system further comprises a time correction module, which is used for delaying the time of sending the pulse signal to each camera according to the received synchronous correction amount or the alternate acquisition correction amount.
The parallel acquisition management and control method based on the multiple high-speed cameras has the following beneficial effects:
1. according to the parallel acquisition management and control method based on the multiple high-speed cameras, different working modes can be switched according to the shooting angle relation of the multiple high-speed cameras.
2. According to the parallel acquisition management and control method based on multiple high-speed cameras, when the same scene is shot from different angles, through time synchronization correction, line time delay caused by different equipment placement positions and different total lengths of transmission cables between the first-stage synchronous controllers is avoided, synchronization among the multiple high-speed cameras is achieved, pictures shot by the multiple cameras are recorded at the same time, and excellent acquisition data are provided for subsequent image processing steps such as three-dimensional reconstruction.
3. According to the parallel acquisition management and control method based on multiple high-speed cameras, when the same scene is shot from the same angle, the sampling rate of the parallel acquisition of the multiple cameras is n times that of a single high-speed camera through time alternate correction.
Drawings
FIG. 1 is an overall flow chart of a parallel acquisition management and control method based on multiple high-speed cameras according to the present invention;
FIG. 2 is a block diagram of a process of acquiring a synchronization correction value in a time synchronization acquisition mode according to a parallel acquisition management and control method based on multiple high-speed cameras of the present invention;
FIG. 3 is a block diagram of a process of acquiring a synchronization correction value in a time-interleaved acquisition mode according to a parallel acquisition management and control method based on multiple high-speed cameras of the present invention;
FIG. 4 is a block diagram of a parallel acquisition management and control system based on multiple high-speed cameras according to the present invention;
Detailed Description
The technical solution of the present invention is further explained below with reference to the specific embodiments and the accompanying drawings.
The invention discloses a parallel acquisition management and control method based on multiple high-speed cameras, which is applied to a system consisting of the multiple high-speed cameras and a multistage synchronous controller, and realizes management and control of shooting time of the multiple high-speed cameras by the cooperation of all the high-speed cameras and the synchronous controller in the system when switching to different working modes, and specifically comprises the following steps:
calling a working mode judging module, and switching the working modes according to whether the shooting angles of the plurality of cameras are the same:
when the shooting angles of a plurality of cameras to the same scene are different, entering a time synchronization acquisition mode to realize that the images acquired by the plurality of cameras are at the same moment;
when the shooting angles of a plurality of cameras on the same scene are the same, entering a time alternating acquisition mode to realize that the sampling rate of the same picture acquisition is n times of that of a single high-speed camera, wherein n is the total number of the cameras;
in the time synchronization acquisition mode, before image acquisition, a time synchronization correction module is called to perform time synchronization correction, and the time synchronization correction adds corresponding synchronization correction values on the basis of the line delay of pulse signal transmission between the first-stage synchronization controller and each camera, so that pulse signals sent by the first-stage synchronization controller simultaneously reach each camera.
Specifically, after entering the time synchronization acquisition mode, a time synchronization correction process is performed, and the process includes:
after entering a time synchronization correction module, calling a line delay acquisition module, and judging whether all high-speed cameras and synchronous controller equipment have Beidou/GPS satellite receivers for high-precision time service through an acquisition method selection unit; in the present embodiment, the timing accuracy is preferably within 1 s;
if yes, calling a first obtaining method unit, triggering a first-stage synchronous controller to send a pulse signal and sending time t0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0(ii) a In the embodiment, the precision of a timing system in the synchronous controller reaches 40 ns;
otherwise, calling a second acquisition method unit, configuring the high-speed camera to immediately return a pulse signal after receiving the pulse signal, and triggering the first-stage synchronous controller at the first time t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
In the embodiment, an FPGA is used as a main control chip in the synchronous controller, the FPGA outputs a pulse with the duration of 1-10 μ s through a logic IO, the level standard is 3.3V when the IO is output, the pulse is converted into 5V and then output through a BNC interface, and a schematic diagram of an output end is shown in FIG. 3;
the signal receiving end also uses the FPGA for receiving, and before the FPGA receives, a 5V-to-3.3V conversion circuit is arranged, as shown in FIG. 4; the FPGA uses a clock as a driving source, the clock frequency is 100MHz, after a clock edge detects a pulse signal, the next clock immediately outputs the pulse signal through a register, and the signal return time is only one clock period, namely 10ns, which can be ignored or added when calculating a circuit.
On the basis, a corresponding synchronization correction value is added to a signal transmission line of each high-speed camera, and the method for acquiring the synchronization correction value comprises the following steps:
calling a synchronous correction value acquisition module, and taking the maximum value of the delay of each line as a delay reference delta t, namely, the delta t is equal to max (t)i-t0) Or
Then, a synchronization correction amount t to be allocated for each high-speed camera is obtainedadd(i)＝Δt-ti。
After the PC obtains the synchronous correction value or the alternate acquisition correction value, the pulse multiplex transmission time in the first synchronous controller is configured, the time for transmitting pulse signals to each camera is delayed according to the corresponding synchronous correction value or the alternate acquisition correction value, and the parallel shooting process of the multiple high-speed cameras is started, wherein the delay method is that the PC transmits the synchronous correction value or the alternate acquisition correction value to a synchronous control device, a counter is arranged in each line in the synchronizer to be used as delay, and the PC sets the total counting value, such as M1, M2 and M3. The most delayed line sends the sync signal first, then the counter starts counting, when it counts to M1, the second most delayed line sends the sync signal, and so on.
In the time alternating acquisition mode, time alternating correction is carried out before image acquisition, and the time alternating correction increases corresponding alternating acquisition correction values on the basis of the line delay of pulse signal transmission between the first-stage synchronous controller and each camera, so that pulse signals sent by the first-stage synchronous controller circularly and alternately reach each camera;
specifically, after entering the time alternation acquisition mode, the time synchronization correction module is called first to perform the time alternation correction process, which includes: obtaining the line delay of each high-speed camera by an obtaining method selecting unit or a first obtaining method unit or a second obtaining method unit;
then, a synchronization correction value acquisition module is called to acquire a synchronization correction value t needed for compensating the line delayadd(i) Then, an alternate acquisition correction value acquisition module is called to acquire the synchronization correction value t which should be configured for each high-speed cameraadd(i) Adding a second correction amount as follows:
the second correction amount is staggered acquisition delay which is required to be added after each camera compensates line delay, wherein n is the total number of the high-speed cameras, and i is 1,2, n and f are acquisition frequency of a single high-speed camera;
alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
And finally, after obtaining the synchronous correction value and the alternate acquisition correction value, the PC transmits the synchronous correction value and the alternate acquisition correction value to a time correction module of the first-stage synchronous controller, and the time correction module delays the time for sending the pulse signals to each path of camera according to the corresponding synchronous correction value and the alternate acquisition correction value.
In the time alternation acquisition mode, assuming that the number of high-speed cameras is 4 and the sampling rate of each high-speed camera is 1000Hz, a synchronization correction value t is configured for each high-speed cameraadd(i) Compensating the line delay of different high-speed cameras to make the time when all the high-speed cameras receive the pulse signals consistent, and on the basis, adding a second correction quantity to the transmission line of each high-speed camera as follows:
i.e. the second correction amount of the first high-speed camera is
tadd2(3)＝0.5ms,tadd2(4) 0.75ms, which increases the sampling rate of the whole system to 4000 Hz.
Based on the above parallel acquisition management and control method based on multiple high-speed cameras, the invention also provides a parallel acquisition management and control system based on multiple high-speed cameras, which comprises:
the working mode judging module is used for entering a time synchronous acquisition mode when the shooting angles of the plurality of cameras to the same scene are different, and entering a time alternative acquisition mode when the shooting angles of the plurality of cameras to the same scene are the same;
the time synchronization correction module is used for increasing a corresponding synchronization correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronization controller and each camera so that the pulse signals sent by the first-stage synchronization controller can reach each camera at the same time;
and the time alternation correction module is used for increasing a corresponding alternation acquisition correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronous controller and each camera so that the pulse signal sent by the first-stage synchronous controller circularly and alternately reaches each camera.
Still include the circuit time delay and acquire the module, specifically include:
the acquisition method selection unit is used for judging whether all the high-speed cameras and the synchronous controller equipment have Beidou/GPS satellite receivers for high-precision time service, if so, the first acquisition method unit is entered, and if not, the second acquisition method unit is entered;
a first obtaining method unit for triggering the first-stage synchronous controller to send pulse signals and sending time t0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0；
A second acquisition method unit for configuring the high-speed camera to return the pulse signal immediately after receiving the pulse signal and triggering the first-stage synchronous controller at a first time t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
The synchronous correction value acquisition module is used for taking the maximum value of the delay of each line as a delay reference delta t; obtaining a synchronization correction amount t to be allocated for each high-speed cameraadd(i)＝Δt-ti。
When the alternate acquisition correction value needs to be acquired, the alternate acquisition correction value acquisition module is called to acquire the synchronous correction value tadd(i) And adding a second correction amount as:
wherein n is the total number of the high-speed cameras, and f is the acquisition frequency of a single high-speed camera; alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
The time correction module is used for delaying the time for sending the pulse signals to each camera according to the received synchronous correction amount or the alternate acquisition correction amount.
The present invention is not limited to the above-described embodiments, and those skilled in the art will be able to make various modifications without creative efforts from the above-described conception, and fall within the scope of the present invention.
Claims (10)
1. A parallel acquisition management and control method based on multiple high-speed cameras, wherein the multiple high-speed cameras are controlled by a multistage synchronous controller, and the method is characterized in that: the method comprises the following steps:
when the shooting angles of a plurality of cameras to the same scene are different, entering a time synchronization acquisition mode to realize that the images acquired by the plurality of cameras are at the same moment;
when the shooting angles of a plurality of cameras on the same scene are the same, entering a time alternating acquisition mode to realize that the sampling rate of the same picture acquisition is n times of that of a single high-speed camera, wherein n is the total number of the cameras;
in the time synchronization acquisition mode, time synchronization correction is carried out before image acquisition, and the time synchronization correction increases corresponding synchronization correction values on the basis of line delay of pulse signal transmission between the first-stage synchronization controller and each camera, so that pulse signals sent by the first-stage synchronization controller simultaneously reach each camera;
and under the time alternating acquisition mode, time alternating correction is carried out before image acquisition, and the time alternating correction increases corresponding alternating acquisition correction values on the basis of the line delay of pulse signal transmission between the first-stage synchronous controller and each camera, so that pulse signals sent by the first-stage synchronous controller circularly and alternately reach each camera.
2. The parallel acquisition management and control method based on multiple high-speed cameras as claimed in claim 1, wherein: the line delay acquisition method for pulse signal transmission between the first-stage synchronous controller and each camera comprises the following steps:
judging whether all the high-speed cameras and the synchronous controller equipment are internally provided with a Beidou/GPS satellite receiver for high-precision time service;
if yes, triggering the first-stage synchronous controller to send a pulse signal and sending time t0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0；
Otherwise, the high-speed camera is configured to return the pulse signal immediately after receiving the pulse signal, and the first-stage synchronous controller is triggered to start at the first moment t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
3. The parallel acquisition management and control method based on multiple high-speed cameras as claimed in claim 2, wherein: the method for acquiring the synchronization correction value comprises the following steps:
taking the maximum value of the delay of each line as a delay reference delta t;
obtaining a synchronization correction amount t to be allocated for each high-speed cameraadd(i)＝Δt-ti。
4. The parallel acquisition management and control method based on multiple high-speed cameras as claimed in claim 3, wherein: the method for acquiring the alternate acquisition correction value comprises the following steps:
obtaining the synchronization correction t to be allocated for each high-speed cameraadd(i) Adding a second correction amount as follows:
n is the total number of the high-speed cameras, i is 1,2, and n and f are the acquisition frequency of a single high-speed camera;
alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
5. The parallel acquisition control management method based on multiple high-speed cameras as claimed in claim 4, characterized in that: after the PC obtains the synchronous correction value and the alternate acquisition correction value, the pulse multi-channel transmission time in the first synchronous controller is configured, and the time for transmitting the pulse signals to each channel of camera is delayed according to the corresponding synchronous correction value and the alternate acquisition correction value.
6. The utility model provides a parallel acquisition management and control system based on many high-speed cameras which characterized in that: the method comprises the following steps:
the working mode judging module is used for entering a time synchronous acquisition mode when the shooting angles of the plurality of cameras to the same scene are different, and entering a time alternative acquisition mode when the shooting angles of the plurality of cameras to the same scene are the same;
the time synchronization correction module is used for increasing a corresponding synchronization correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronization controller and each camera so that the pulse signals sent by the first-stage synchronization controller can reach each camera at the same time;
and the time alternation correction module is used for increasing a corresponding alternation acquisition correction value on the basis of the line delay of the pulse signal transmission between the first-stage synchronous controller and each camera so that the pulse signal sent by the first-stage synchronous controller circularly and alternately reaches each camera.
7. The parallel acquisition management and control system based on multiple high-speed cameras as claimed in claim 6, wherein: further comprising:
the line delay obtaining module specifically includes:
the acquisition method selection unit is used for judging whether all the high-speed cameras and the synchronous controller equipment have Beidou/GPS satellite receivers for high-precision time service, if so, the first acquisition method unit is entered, and if not, the second acquisition method unit is entered;
a first obtaining method unit for triggering the first-stage synchronous controller to send pulse signals and sending time t0Transmitted to PC, each high-speed camera receives the pulse signal and transmits the received time tiTransmitting to the PC; PC obtains the delay t of each linei-t0；
A second acquisition method unit for configuring the high-speed camera to return the pulse signal immediately after receiving the pulse signal and triggering the first-stage synchronous controller at a first time t0Sending out pulse signals and obtaining the time t of receiving return pulse signals transmitted by the high-speed cameraiI is the ith high-speed camera; the PC obtains the delay of each line as
8. The system of claim 6, wherein said system comprises a plurality of high-speed cameras for collecting and controlling images in parallelCharacterized in that: further comprising: the synchronous correction value acquisition module is used for taking the maximum value of the delay of each line as a delay reference delta t; obtaining a synchronization correction amount t to be allocated for each high-speed cameraadd(i)＝Δt-ti。
9. The parallel acquisition management and control system based on multiple high-speed cameras as claimed in claim 6, wherein: further comprising: an alternative acquisition correction value acquisition module for calling the synchronization correction value acquisition module to acquire the synchronization correction value tadd(i) And adding a second correction amount as:
n is the total number of the high-speed cameras, i is 1,2, and n and f are the acquisition frequency of a single high-speed camera; alternate acquisition correction t that each high speed camera should be configured withadd3(i)＝tadd(i)+tadd2(i)。
10. The parallel acquisition management and control system based on multiple high-speed cameras as claimed in claim 6, wherein: the time correction module is used for delaying the time for sending the pulse signals to each camera according to the received synchronous correction amount or the alternate acquisition correction amount.
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