CN111787209A - Tunnel image acquisition device, image acquisition system and image acquisition method - Google Patents
Tunnel image acquisition device, image acquisition system and image acquisition method Download PDFInfo
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- CN111787209A CN111787209A CN202010702582.3A CN202010702582A CN111787209A CN 111787209 A CN111787209 A CN 111787209A CN 202010702582 A CN202010702582 A CN 202010702582A CN 111787209 A CN111787209 A CN 111787209A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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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
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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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
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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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
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
Abstract
The utility model provides a tunnel image acquisition device, image acquisition system and image acquisition method, relates to tunnel detection technology field, can improve the trigger synchronism of camera and light source, and then improve the quality of gathering the image. The tunnel image acquisition device comprises a support, a camera and a light source, wherein the camera and the light source are arranged on the support, the light spot range of light emitted by the light source covers the imaging range of the camera, the tunnel image acquisition device further comprises a synchronous trigger which is respectively electrically connected with the camera and the light source and is used for synchronously triggering working signals of the camera and the light source according to control signals, and a power interface is further arranged on the support and is used for connecting an external power supply to supply power for the camera and the light source. Because the facula scope of light source light-emitting covers the formation of image scope of camera, camera and light source pass through synchronous trigger simultaneously and trigger the work moreover for the luminous utilization ratio of light source is higher, when guaranteeing to provide the camera and satisfying the light filling of taking the image definition, the work of make full use of light source reduces the design and the working cost of device.
Description
Technical Field
The disclosure relates to the technical field of tunnel detection, in particular to a tunnel image acquisition device, an image acquisition system and an image acquisition method.
Background
With the rapid development of domestic rail transit, tunnel infrastructures constructed in an early stage gradually enter a maintenance period, and the tunnel needs to be maintained at regular time in order to ensure the healthy service of the tunnel and the driving safety in the tunnel, wherein a visual sensor such as a camera is used for shooting a tunnel surface image and outputting the image for analysis and calculation, so that the service condition and the disease area of the tunnel can be judged. For a newly built tunnel, the risk that the deformation of the tunnel body is induced and diseases occur also exists, so that the normal use of the tunnel is influenced, and the driving safety is threatened.
The tunnel is usually in a dim light or weak light environment with poor illumination conditions, and a shooting device of the tunnel image acquisition device based on machine vision generally adopts an industrial camera and needs a light source matched with the industrial camera so as to continuously shoot the tunnel section in a light supplement state.
Because the basic illumination condition in the tunnel is poor, the sufficient definition will be guaranteed to the tunnel section image of shooting, give sufficient intensity's light filling when just needing the camera to shoot, choose high-power light source (like high-intensity laser) for use and just can satisfy light filling intensity, again because high-power light source considers the heat etc. that luminous while produced factor can not remain luminous state all the time, consequently, just need to make the light source start-up luminous with the camera trigger and cooperate between the sampling frequency, still compromise collection speed isoparametric index, guarantee sufficient light intensity when making the camera shoot, and then improve tunnel image acquisition's quality.
Disclosure of Invention
The present disclosure is directed to a tunnel image collecting device, an image collecting system and an image collecting method, which can improve the triggering synchronization between a camera and a light source, thereby improving the quality of collected images.
The embodiment of the disclosure is realized by the following steps:
the tunnel image acquisition device comprises a support, a camera and a light source, wherein the camera and the light source are arranged on the support, the light spot range of light emitted by the light source covers the imaging range of the camera, the tunnel image acquisition device further comprises a synchronous trigger which is respectively electrically connected with the camera and the light source and is used for synchronously triggering working signals of the camera and the light source according to control signals, and a power interface is further arranged on the support and is used for connecting an external power supply to supply power for the camera and the light source.
Optionally, the tunnel image acquisition device of the embodiment of the present disclosure further includes a controller, where the controller is electrically connected to the synchronization trigger, and is configured to send a control signal to the synchronization trigger.
Optionally, the cameras include a plurality of cameras, the light sources include at least one, each light source is disposed between two adjacent cameras, and a light spot range of light emitted by the light source covers imaging ranges of the two adjacent cameras.
Optionally, the cameras include two, and the two cameras are symmetrically disposed on two sides of the light source.
Optionally, the light source is a linear laser source, the camera is a linear array camera, the linear laser source and the linear array camera are arranged in a first direction, linear light spots emitted by the linear laser source cover a scanning area of the linear array camera, and the first direction is a scanning direction of the linear array camera.
Optionally, the camera is hinged to the support, and the light source is hinged to the support; the hinged rotation direction of the camera and the support is the same as that of the light source and the support.
Optionally, the tunnel image acquisition device of the embodiment of the present disclosure further includes a housing, the support is fixedly connected to the housing, the support, and the camera and the light source disposed on the support are packaged in the housing, and light exit diaphragms are respectively disposed on the housing corresponding to the light exit side of the camera and the light exit side of the light source.
Optionally, the housing is further provided with a data transmission interface and a synchronous trigger interface, the data transmission interface is used for connecting a high-speed transmission data line to transmit image data of the camera, and the synchronous trigger interface is used for connecting the data line and the synchronous trigger.
In another aspect of the disclosed embodiment, an image capturing system is provided, which includes at least one tunnel image capturing device according to any one of the above descriptions, and further includes a mobile platform and a speed sensor disposed on the mobile platform, the tunnel image capturing device is fixedly disposed on the mobile platform, the tunnel image capturing device includes a controller, the speed sensor is electrically connected to the controller, and the speed sensor is configured to acquire a motion speed signal of the mobile platform and transmit the motion speed signal to the controller.
Optionally, the mobile platform comprises a roller, the speed sensor is a wheel shaft encoder arranged on the roller, and the wheel shaft encoder records the rotation speed of the roller and transmits the rotation speed to the controller.
In another aspect of the embodiments of the present disclosure, an image capturing method is provided, including: acquiring a speed signal detected by a speed sensor; and outputting a control signal to the synchronous trigger according to the speed signal so that the synchronous trigger synchronously triggers working signals of the camera and the light source according to the control signal.
Optionally, the mobile platform comprises a roller, and the speed sensor is a wheel shaft encoder arranged on the roller; acquiring a speed signal detected by a speed sensor comprises: acquiring the rotation number of the roller detected by the wheel shaft encoder; calculating the rotating speed of the roller according to the number of the rotating cycles; the rotating speed of the roller is compared with the preset rotating speed and a control signal is correspondingly output.
Optionally, outputting a control signal to the synchronization trigger according to the speed signal, so that the synchronization trigger synchronously triggers the working signals of the camera and the light source according to the control signal further includes: the control signal comprises preset working time of the light source and preset shutter opening time of the camera, and the synchronous trigger sends a closing signal to the camera and the light source according to the preset working time of the light source and the preset shutter opening time of the camera.
The beneficial effects of the disclosed embodiment include:
the embodiment of the disclosure provides a tunnel image acquisition device, including the support and camera and the light source of setting on the support, the facula scope of light source light-emitting covers the imaging range of camera, still includes the synchronous trigger who is connected with camera and light source electricity respectively for according to the operating signal of control signal synchronous trigger camera and light source, still be provided with power source on the support, be used for connecting external power supply and supply power for camera and light source. Under the condition that an external power supply supplies power to the camera and the light source, when the synchronous trigger receives a control signal input from the outside, namely, the synchronous trigger simultaneously sends a working signal to the light source and the camera, the light source is started by receiving the working signal and emits light towards the light emitting direction, the camera is started by receiving the working signal and shoots images in the imaging range, because the light spot range of the light emitted by the light source can cover the imaging range of the camera, the brightness of the light emitted by the light source can provide a high-intensity light supplementing effect for the shooting of the camera, so that the shot images can have enough brightness to ensure the definition of the images, moreover, because the light spot range of the light emitted by the light source covers the imaging range of the camera, and the camera and the light source are simultaneously triggered to work by the synchronous trigger, the light utilization rate of the light source is high, the camera is ensured to meet the requirement, the design and working cost of the device is reduced.
The image acquisition system provided by the embodiment of the disclosure comprises at least one tunnel image acquisition device of any one of the above, a mobile platform and a speed sensor arranged on the mobile platform, wherein the tunnel image acquisition device is fixedly arranged on the mobile platform and comprises a controller, the speed sensor is electrically connected with the controller, and the speed sensor is used for acquiring a movement speed signal of the mobile platform and transmitting the movement speed signal to the controller. The mobile platform can drive the carried tunnel image acquisition device to move according to a preset speed in a tunnel of an image to be acquired according to a preset movement track, the speed sensor arranged on the mobile platform is used for detecting a conveying speed signal of the mobile platform and transmitting the conveying speed signal to the controller, the controller is preset with control signal sending frequency corresponding to the movement speed of the mobile platform, when the movement speed of the corresponding platform changes due to the influence of external environmental conditions or other factors, the controller can correspondingly change the sending frequency of the control signal according to the real-time speed of the detected mobile platform, and therefore even if the speed of the mobile platform changes due to the influence of the external factors, the integrity of the tunnel image acquisition device on image acquisition of each position in the tunnel can be guaranteed as far as possible.
The image acquisition method provided by the embodiment of the disclosure comprises the following steps: acquiring a speed signal detected by a speed sensor; and outputting a control signal to the synchronous trigger according to the speed signal so that the synchronous trigger synchronously triggers working signals of the camera and the light source according to the control signal. The real-time speed of the mobile platform is obtained by acquiring a speed signal detected by the speed sensor, a control signal is sent to the synchronous trigger according to the real-time speed of the mobile platform and a preset sampling frequency, the synchronous trigger synchronously starts a working signal of the camera and the light source according to the control signal to enable the light source to emit high-intensity light, the camera is started to shoot, and the high-intensity light is used for high-intensity light supplement of a camera shooting position, so that the shooting effect of the camera is effectively improved.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings may be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a tunnel image acquisition device according to an embodiment of the present disclosure;
fig. 2 is a second schematic structural diagram of a tunnel image acquisition device according to an embodiment of the present disclosure;
fig. 3 is a third schematic structural diagram of a tunnel image acquisition device according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of the brightness partition of the linear light spot emitted from the linear laser source in the embodiment of the present disclosure;
fig. 5 is a fourth schematic structural diagram of a tunnel image acquisition device according to an embodiment of the present disclosure;
fig. 6 is a fifth schematic structural view of a tunnel image acquisition device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an image acquisition system provided in an embodiment of the present disclosure;
fig. 8 is a flowchart of an image capturing method provided in an embodiment of the present disclosure;
fig. 9 is a second flowchart of an image capturing method according to an embodiment of the disclosure;
fig. 10 is a third flowchart of an image capturing method according to an embodiment of the disclosure.
Icon: 10-a scaffold; 20-a camera; 21-a line camera; 30-a light source; 31-a linear laser source; 40-a synchronization trigger; 50-a power interface; 60-tunnel surface; 70-a controller; 80-a housing; 81-light-emitting diaphragm; 82-a data transmission interface; 83-synchronous trigger interface; 100-automated guided vehicle; 101-a roller; 200-a speed sensor; 210-an axle encoder; a-a central region in the width direction of the linear light spot; b-the peripheral area in the width direction of the linear light spot.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present disclosure, but not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present disclosure, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplicity of description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present disclosure. Moreover, the terms "first," "second," and "third" as appearing are configured for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "disposed," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.
Preferred embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.
The embodiment of the present disclosure provides a tunnel image collecting device, fig. 1 is one of the schematic structural diagrams of the tunnel image collecting device provided by the embodiment of the present disclosure, as shown in fig. 1, the tunnel image collecting device includes a support 10, and a camera 20 and a light source 30 which are arranged on the support 10, a light spot range of light emitted from the light source 30 covers an imaging range of the camera 20, and further includes a synchronous trigger 40 which is electrically connected with the camera 20 and the light source 30 respectively and is used for synchronously triggering working signals of the camera 20 and the light source 30 according to a control signal, and the support 10 is further provided with a power interface 50 for connecting an external power supply to provide a working power supply for the camera 20 and the light source 30.
Taking the structure shown in fig. 1 as an example, the tunnel image capturing device according to the embodiment of the present disclosure includes 3 cameras 20 and 2 light sources 30, and the synchronization trigger 40 is electrically connected to the 3 cameras 20 and the 2 light sources 30, respectively, so as to trigger the working signals of the 3 cameras 20 and the 2 light sources 30 simultaneously according to the control signal to start working. Wherein, the camera 20 shoots an image towards the tunnel surface 60, because the tunnel is usually in a low-light or dark-light environment with poor illuminance, the camera 20 is difficult to shoot a clear surface image under the condition of insufficient illuminance, when the camera 20 starts shooting, the light source 30 synchronously triggered to work by the synchronous trigger 40 starts emitting a light beam towards the tunnel surface 60, the light beam emitted by the light source 30 forms a light spot with a preset shape and size on the tunnel surface 60, the light spot formed by the light beam emitted by the light source 30 on the tunnel surface 60 covers the shooting imaging range of the camera 20, so that the light source 30 can provide a light supplementing effect for the shooting imaging range of the camera 20, the light intensity in the light spot effectively improves the shooting effect of the camera 20, and because the camera 20 and the light source 30 are synchronously triggered by the control of the synchronous trigger 40, the shooting of the camera 20 can fully utilize the light supplement provided by the light source 30, therefore, the shooting effect of the camera 20 is effectively guaranteed, and when the shutter is closed after the camera 20 shoots, the light source 30 is also closed to stop emitting light, so that the waste of light energy is avoided, and the adverse effect of heat generated by long-time light emission of the light source 30 on components in the device is also avoided.
Fig. 2 is a second schematic structural diagram of a tunnel image capturing device according to an embodiment of the disclosure, and as shown in fig. 2, the tunnel image capturing device may also be designed to include 1 light source 30 and 4 cameras 20. In order to ensure that the light source 30 emits light to cover the shooting ranges of the 4 cameras 20, the light source 30 is disposed in the middle of the 4 cameras 20, for example, when the light source 30 is a linear light spot extending along the arrangement direction of the 4 cameras 20, the shooting ranges of the 4 cameras 20 can be covered. When there are a plurality of light sources 30, as shown in fig. 1, the light spot range of the light emitted from the light source 30 covers the imaging range of the camera 20, and the light spot range of the light emitted from one light source 30 only covers the imaging range of the adjacent camera 20, so that the adjacent light sources 30 can also repeatedly cover the imaging range of the camera 20 located between the adjacent light sources 30, and the light intensity of the light source 30 is more fully and efficiently utilized, so as to improve the shooting and imaging effects of the camera 20.
Wherein, due to the image acquisition inside the tunnel, typically the distance between the camera 20 in the image acquisition device and the tunnel surface 60 is above 1.5 meters, even in the daytime with sufficient light source, the natural light in the tunnel is still weak, so that the camera 20 needs to provide high-intensity supplementary lighting for the imaging area of the tunnel surface 60 to achieve high-definition shooting effect, and therefore, usually, the light source 30 needs to select a high-power light source, moreover, in order to improve the utilization efficiency of the light source 30, preferably, a high-power laser light source can be selected, the laser beam emitted by the laser light source has better directivity, and the emitted light beam can be concentrated in a smaller light spot range, that is, the light intensity in the smaller light spot range is larger, therefore, the shot image of the camera 20 with the imaging range in the light spot range has a good shooting effect under the condition of sufficient light supplement intensity. For the specific setting of the optical power of the light source 30, it is necessary to perform corresponding adjustment on the light intensity requirement of the shot and the definition of the image shot by the camera 20 according to the specific space size of the tunnel, the field natural light intensity of the tunnel, the parameter setting of the camera 20 itself, and the like, which is not specifically limited in the embodiment of the present disclosure, and a person skilled in the art may perform specific setting according to the above parameters and relationships as long as the light intensity of the light source 30 can provide the basic requirement of the definition of the shot image, and taking a laser light source as an example, it is usually required to meet the requirement that the basic definition of the shot image can be ensured above 20 watts.
Since the tunnel to be captured has different requirements according to its functions and working scenes, or the terrain, the terrain and the texture of the tunnel, the shape and the structure of the tunnel, and the position to be captured, the tunnel surface image capturing device according to the embodiment of the present disclosure has no specific limitations on the features and types of the camera 20 and the light source 30, and the capturing or light emitting range, for example, the camera 20 may be an industrial camera, and the industrial camera may be a CCD (Charge-coupled Device, or CMOS (Complementary Metal Oxide Semiconductor, or Complementary Metal Oxide Semiconductor), or the like, according to the difference of the photosensitive elements, among them, CMOS is reduced in cost and noise better than CCD, so CMOS is used in a wider range relatively. For example, the light source 30 may output a spot, a line spot, or a planar spot according to the imaging shape of the camera 20. In view of the fact that the imaging scanning speed of the planar light spot and the dot array light spot is relatively slow, and the scanned image also needs to be accurately spliced, for example, in the embodiment of the present disclosure, the scanning is generally imaged by the linear light spot.
In addition, it should be noted that, taking the light source 30 emitting the circular light spot as an example, the central position of the circular light spot generally has the strongest light intensity, and the light intensity is reduced to different degrees due to different degrees of light beam divergence closer to the edge, so that, under the permission of the structure and device conditions, the light spot emitted by the light source 30 covers the shooting range of the camera 20, the shooting range of the camera 20 should be located at the central position of the light spot as much as possible, and even the shooting range of the camera 20 should be adjusted to the geometric center of the light spot. The adjustment of the overlapping relationship between the shooting range of the camera 20 and the light spot range of the light source 30 can be realized by adjusting the installation positions of the camera 20 and the light source 30 on the bracket and the installation angles of the camera 20 and the light source 30 with respect to each other.
The power interface 50 is arranged on the bracket 10, and is used for connecting an external power supply through the power interface 50 to provide a power supply required by work for the cameras 20 and the light source 30, the power interface 50 needs to be connected with each camera 20 and the light source 30 respectively, the arrangement position of the power interface 50 on the bracket 10 is not limited to one side of the bracket 10 as shown in fig. 1, according to the specific structure of the tunnel surface image acquisition device and the arrangement relationship of the devices in the embodiment of the disclosure, the arrangement position of the power interface 50 on the bracket 10 can be adjusted to match with the compact design of the structure, as long as the stable fixation of the power interface 50 and the electric connection between each camera 20 and the light source 30 to ensure the power supply are ensured.
As shown in fig. 1, the synchronization trigger 40 is electrically connected to the camera 20 and the light source 30 respectively, and is configured to perform a synchronous triggering operation on the camera 20 and the light source 30 according to a control signal, so that the synchronization trigger 40 needs to be electrically connected to each camera 20 and each light source 30 in the tunnel image capture device, and the control signal sent to the synchronization trigger 40 may be an external input signal, for example, a signal interface is provided in the tunnel surface image capture device according to the embodiment of the disclosure, and the control signal is sent to the synchronization trigger 40 through the signal interface in a wired and wireless transmission manner, or a control signal is sent to the synchronization trigger 40 according to a preset program limit through a processor or a controller. The tunnel surface image capturing device according to the embodiment of the present disclosure is not particularly limited to the source and the receiving manner of the control signal, and the synchronous trigger 40 correspondingly triggers the start-up operations of the camera 20 and the light source 30 according to the control signal.
The tunnel image acquisition device provided by the embodiment of the present disclosure comprises a support 10, and a camera 20 and a light source 30 which are arranged on the support 10, wherein a light spot range of light emitted from the light source 30 covers an imaging range of the camera 20, and the tunnel image acquisition device further comprises a synchronous trigger 40 which is electrically connected with the camera 20 and the light source 30 respectively, and is used for synchronously triggering working signals of the camera 20 and the light source 30 according to a control signal, and the support 10 is further provided with a power interface 50 which is used for connecting an external power supply to supply power to the camera 20 and the light source 30. Under the condition that an external power supply supplies power to the camera 20 and the light source 30, when the synchronous trigger 40 receives a control signal input from the outside, that is, a working signal is sent to the light source 30 and the camera 20 at the same time, the light source 30 receives the working signal to start and emit light towards the light emitting direction, the camera 20 receives the working signal to start and shoot an image in the imaging range, because the light spot range of the light emitted by the light source 30 can cover the imaging range of the camera 20, and the brightness of the light emitted by the light source 30 can provide a high-intensity light supplement effect for the shooting of the camera 20, the shot image can have sufficient brightness to ensure the definition of the image, and because the light spot range of the light emitted by the light source 30 covers the imaging range of the camera 20, and the camera 20 and the light source 30 are simultaneously triggered to operate by the synchronous trigger 40, the light utilization rate of the light source 30 is high, and the camera 20 is ensured, the work of the light source 30 is fully utilized, and the design and work cost of the device is reduced.
Optionally, the tunnel image capturing apparatus of the embodiment of the present disclosure further includes a controller 70, where the controller 70 is electrically connected to the synchronization trigger 40, and is configured to send a control signal to the synchronization trigger 40.
Fig. 3 is a third schematic structural diagram of a tunnel image capturing device according to an embodiment of the present disclosure, and as shown in fig. 3, the tunnel image capturing device includes a light source 30 and two cameras 20 respectively disposed at two sides of the light source 30, a synchronization trigger 40 is electrically connected to the light source and the two cameras 20, a controller 70 is electrically connected to the synchronization trigger 40, and the controller 70 can send a control signal to the synchronization trigger 40 at a preset frequency according to a preset program to control the synchronization operation of the cameras 20 and the light source 30 in the tunnel image capturing device to shoot a clear image at a corresponding position on the tunnel surface 60. For example, when the tunnel image acquisition device of the embodiment of the present disclosure acquires images on a tunnel surface in a tunnel, a transportation device that needs to carry an automatic operation advances at a certain speed in the tunnel, and the transportation device is considered to advance at a constant speed, and the controller 70 may set a sending frequency of a control signal according to the constant speed of the transportation device, so that when the tunnel image acquisition device of the embodiment of the present disclosure carries a transportation device to move at a constant speed in the tunnel, the synchronous operation of the camera 20 and the light source 30 can ensure continuity of a shooting position for a shot image on the tunnel surface 60, and avoid resource waste caused by shooting at a repeated position.
For example, as shown in fig. 3, in the tunnel image capturing device according to the embodiment of the present disclosure, if the camera 20 can also transmit the captured image data to the external display for displaying in real time through the data transmission line, the controller 70 may also be provided with an external signal receiving terminal, and the tunnel image capture device of the embodiment of the disclosure may further include a signal receiving terminal, during the process of capturing the image of the tunnel surface in the tunnel, the worker can see the image taken by the camera 20 through the external display in real time or with a delay, when it is necessary to highlight the position near the tunnel surface 60 corresponding to the image from the photographed image, the operator can also send a signal to the controller 70 through a signal sending device such as a remote control handle, the controller 70 receives an external control signal, namely, the sending control signal is added on the basis of the preset signal frequency, therefore, the region needing to be shot in a key mode on the surface 60 of the tunnel is shot in real time with increased density and strength.
Optionally, the number of the cameras 20 is multiple, the number of the light sources 30 is at least one, each light source 30 is disposed between two adjacent cameras 20, and a light spot range of light emitted by the light source 30 covers an imaging range of two adjacent cameras 20.
As shown in fig. 1, the tunnel image capturing device includes three cameras 20 and two light sources 30 disposed on a support 10, and a synchronization trigger 40 electrically connected to the three cameras 20 and the two light sources 30, respectively, for simultaneously triggering operation signals of the three cameras 20 and the two light sources 30 according to a control signal to start operation. The light spot ranges of the two light sources 30 can overlap the imaging area of the middle camera 20, and the middle camera 20 can have a superimposed effect of light intensity, so that the shooting effect of the middle camera 20 can be further improved, and on the other hand, the light spot centers of the two light sources 30 can be respectively deviated to two sides by adjusting the light spot centers of the two light sources 30, and the light intensity of the light spot center area of the light source 30 is usually slightly greater than that of the light spot peripheral area, so that the area with higher light intensity in the light spot covers the imaging areas of the two cameras 20 to ensure the brightness required by the imaging of the two cameras 20, and the middle camera 20 meets the brightness required by shooting through the superimposed effect of the area with slightly lower light intensity in the two light sources 30, so that the light utilization rate of the light sources 30 is higher, and the power requirement of the light sources 30 can be reduced to a certain extent under the, the working cost of the system can be reduced on the premise of ensuring the imaging effect.
Alternatively, as shown in fig. 3, the cameras 20 include two, and the two cameras 20 are symmetrically disposed at both sides of the light source 30. That is, two cameras 20 and one light source 30 are arranged in a straight line along the stand 10, and the two cameras 20 are symmetrical with respect to the position of the light source 30. Because the cost of the tunnel image acquisition device is high, the cost of the light source 30 which needs to realize high-power instantaneous light brightness is high, and if one light source 30 corresponds to one camera 20 to provide supplementary lighting, the equipment cost is high, in the embodiment, two cameras 20 correspond to one light source 30 and the two cameras 20 are symmetrical to each other, so that one light source 30 can cover the supplementary lighting for the imaging range of the two cameras 20, and the optimal cost design is realized.
Optionally, the light source 30 is a linear laser source 31, the camera 20 is a line camera 21, the linear laser source 31 and the line camera 21 are arranged in a first direction (as indicated by a double arrow in fig. 3), a linear light spot emitted by the linear laser source 31 covers a scanning area of the line camera 21, and the first direction is a scanning direction of the line camera 21.
As shown in fig. 3, a tunnel image acquisition apparatus having a structure in which two cameras 20 correspond to one light source 30 and two cameras 20 are symmetrical to each other will be described below as an example. When the light source 30 is a linear laser source 31 and the camera 20 is a line camera 21, the linear extending direction (first direction) of the linear light spot formed on the tunnel surface 60 by the linear laser source 31 is shown by the double arrow in fig. 3, and the scanning direction of the line camera 21 is also performed along the first direction.
Fig. 4 is a schematic view of the brightness partition of the linear light spot emitted from the linear laser source 31 in the embodiment of the present disclosure, as shown in fig. 4, for the linear light spot emitted from the linear laser source 31, the brightness at each position along the first direction, that is, the length direction of the linear light spot, may be considered to be relatively uniform, but in the width direction of the linear light spot, the brightness of the central area a in the width direction of the linear light spot is higher than the brightness of the peripheral area B in the width direction of the linear light spot, and therefore, the two line cameras 21 and the linear laser source 31 are installed on the support 10 in a collinear manner along the first direction, so that the scanning area of the line camera 21 is located in the central area in the width direction of the linear light spot emitted from the linear laser source 31, so as.
Optionally, the camera 20 is hinged to the stand 10 and the light source 30 is hinged to the stand 10; the direction of the hinge rotation of the camera 20 with the stand 10 is the same as the direction of the hinge rotation of the light source 30 with the stand 10.
As shown in fig. 3, the line camera 21 is hinged to the support 10 along the first direction and can be adjusted to rotate to a certain extent along the first direction, and the line laser source 31 is hinged to the support 10 along the first direction and can be adjusted to rotate to a certain extent along the first direction, so that when the line camera 21 and the line laser source 31 are installed collinearly along the first direction and the scanning area of the line camera 21 is located in the center area of the width direction of the line spot emitted by the line laser source 31, the scanning position of the tunnel surface 60 of the line camera 21 and the overlapping coverage relation between the line spot formed by the line laser source 31 and the scanning area of the line camera 21 can be further adjusted by adjusting the angles of the line camera 21 and the line laser source 31 in the first direction, respectively, so as to adjust the optimal light supplement and scanning effect.
It should be noted that, in the embodiment of the present disclosure, the hinge connection manner between the light source 30 and the bracket 10 and the hinge connection manner between the camera 20 and the bracket 10 are not particularly limited, and the purpose of providing the light source 30 and the camera 20 to be respectively hinged and rotatable with the bracket 10 is to enable fine adjustment of the angular relationship between the light source 30 and the camera 20 in the first direction, so as long as the hinge connection rotation in the first direction can be achieved, for example, the hinge shaft or hinge, which is commonly used in the prior art for achieving hinge connection, can be selectively used as needed.
Of course, in the tunnel image acquisition device according to the embodiment of the present disclosure, when the line camera 21 is not selected for the camera 20 and the linear laser source 31 is not selected for the light source 30, other hinge directions may be set correspondingly to adjust the angle relationship between the remaining light sources 30 of the camera 20, so as to achieve better light supplement and imaging effects.
Optionally, fig. 5 is a fourth schematic structural diagram of the tunnel image acquisition device according to the embodiment of the present disclosure, as shown in fig. 5, the tunnel image acquisition device according to the embodiment of the present disclosure further includes a housing 80, fig. 6 is a fifth schematic structural diagram of the tunnel image acquisition device according to the embodiment of the present disclosure, as shown in fig. 6, the support 10 is fixedly connected to the housing 80, the support 10, the camera 20 and the light source 30 which are arranged on the support 10 are encapsulated in the housing 80, and light exit diaphragms 81 are respectively arranged on the housing 80 corresponding to the light exit sides of the camera 20 and the light exit sides of the light source 30.
A stop is an entity that acts to limit the light beam in an optical system. It may be the edge of a lens, a frame (such as housing 80 in the disclosed embodiment), or a specially provided screen. The diaphragm is used to limit the beam or the size of the field of view (imaging range). As shown in fig. 5 and 6, by processing an opening with a specific shape and size on the housing 80, or further including providing a lens with a corresponding function on the opening to form the light exit diaphragm 81, the light spot projected to the tunnel surface 60 through the light exit diaphragm 81 can be formed into a specific shape according to the design of the light exit diaphragm 81, and similarly, the image of the tunnel surface 60 captured by the camera 20 through the light exit diaphragm 81 can also be formed into a captured image with a specific size and shape according to the design of the light exit diaphragm 81. For different shooting requirements, for example, the lens of the camera 20 and the light-emitting side of the light source 30 may be attached to the position of the housing 80 corresponding to the light-emitting diaphragm 81 as much as possible, so as to improve the light-emitting efficiency and improve the compactness of the interior of the housing 80.
Moreover, the tunnel image acquisition device of the embodiment of the present disclosure forms a closed compact modular solid structure by the arrangement of the housing 80 and the encapsulation of the housing 80 to the support 10, the camera 20 and the light source 30 arranged on the support 10, and the like, so that the influence of the external environment on the operation of the tunnel image acquisition device is reduced, and the operation stability and the portability of the tunnel image acquisition device are improved.
Corresponding to the tunnel image acquisition device including casing 80, in order to save the inner space of casing 80, make tunnel image acquisition device's compact structure and size miniaturize as far as possible, adopt the direct current power supply mode to tunnel image acquisition device, device to the inside of tunnel image acquisition device's casing 80 provides 5V, 12V, 24V, 36V, 48V's multiple power supply port, connect the internal power line through power source 50, for each device power supply, wherein, the internal power line can be fixed through setting up fixed trough on support 10.
Optionally, as shown in fig. 6, a data transmission interface 82 and a synchronization trigger interface 83 are further disposed on the housing 80, the data transmission interface 82 is used for connecting a high-speed transmission data line to transmit image data of the camera 20, and the synchronization trigger interface 83 is used for connecting an access data line to the synchronization trigger 40.
In order to improve the transmission efficiency of the image data in the camera 20, the data transmission interface 82 is connected to a CameraLink data line, and the CameraLink high-speed transmission protocol is adopted to transmit the image data, and correspondingly, the data transmission interface 82 is also a CameraLink interface, and the data transmission interface 82 can realize the function of quick plugging and unplugging, so that the convenience of the tunnel image acquisition device in the data acquisition and data transmission process is improved.
The synchronous trigger interface 83 is used for connecting a data line to the synchronous trigger 40, and when the controller 70 is not included in the tunnel image capturing device according to the embodiment of the present disclosure, a control signal is transmitted to the synchronous trigger 40 through the data line connected to the synchronous trigger interface 83 to trigger the light source 30 to emit a high-power light beam and trigger the photosensitive electronic shutter of the camera 20 to open for image scanning and shooting.
In another aspect of the disclosed embodiment, an image capturing system is provided, and fig. 7 is a schematic structural diagram of an image capturing system provided by the disclosed embodiment, as shown in fig. 7, the image capturing system includes at least one tunnel image capturing device (which may include a plurality of tunnel image capturing devices, one tunnel image capturing device is indicated in a dashed-line frame in fig. 7, and the image capturing system shown in fig. 7 includes five tunnel image capturing devices connected in sequence), a moving platform, and a speed sensor 200 disposed on the moving platform, the tunnel image capturing device is fixedly disposed on the moving platform, the tunnel image capturing device includes a controller 70 (not shown in fig. 7, when a plurality of tunnel image capturing devices are included as shown in fig. 7, the controller 70 in one of the tunnel image capturing devices may be preset for control, or, a control device is additionally arranged in the image capturing system, and the following description is given by including a tunnel image capturing device, where the controller 70 sends a control signal), the speed sensor 200 is electrically connected to the controller 70, and the speed sensor 200 is used to acquire a motion speed signal of the mobile platform and transmit the motion speed signal to the controller 70.
In the image capturing system according to the embodiment of the present disclosure, the shape and structure of the moving platform and the moving and controlling form thereof are not particularly limited. Hereinafter, the Automated Guided Vehicle 100 (hereinafter, referred to as an "Automated Guided Vehicle") is a Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having various transfer functions, and the Automated Guided Vehicle 100 (hereinafter, referred to as an "AGV") is described as an example of a moving platform. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the vehicle. The travel route and the track of the mobile terminal can be controlled by the control terminal. The shape and structure of the automated guided vehicle 100 and the carrying space may be designed according to the working requirement, and what is shown in fig. 7 of the drawings of the embodiment of the present disclosure is only an example and should not be taken as a limitation to the structural feature of the automated guided vehicle 100. For example, the moving platform may be a variety of existing vehicles such as a train, a construction vehicle, a track inspection vehicle, and a trailer, and may be operated in a tunnel by a tunnel image capturing device mounted on a vehicle having a conventional controllable path and speed and a mounting platform.
Still taking the automated guided vehicle 100 as an example for explanation, the image capturing system according to the embodiment of the disclosure is configured to mount a tunnel image capturing device on the automated guided vehicle 100, so that the tunnel image capturing device can travel along the automated guided vehicle 100 at a predetermined speed and route, the automated guided vehicle 100 is provided with a speed sensor 200, the speed sensor 200 is configured to acquire a movement speed of the automated guided vehicle 100 and transmit the movement speed acquired by the speed sensor 200 to the controller 70, and the controller 70 sets a trigger frequency according to a preset program and correspondingly transmits a control signal to the synchronization trigger 40 of the tunnel image capturing device according to a movement speed signal.
In this embodiment, the speed sensor 200 is not specifically limited to the structural form, the detection mode, and the setting position of the speed sensor 200, the speed sensor 200 detects the movement speed of the automated guided vehicle 100, and if the automated guided vehicle 100 carries the tunnel image capture device and performs image capture in the tunnel, the speed is increased due to, for example, a slope, and in this case, if the tunnel image capture device still maintains the sampling frequency preset in the controller 70, the capturing of the internal position of the tunnel may be missed due to unexpected acceleration of the movement speed. When the controller 70 simultaneously collects the speed signals of the speed sensors 200, the sampling frequency can be correspondingly adjusted or controlled according to the speed signals of the speed sensors 200, so as to ensure the overall shooting of each position in the image collection process of the tunnel surface 60.
Alternatively, as shown in fig. 7, the automated guided vehicle 100 includes rollers 101, the speed sensor 200 is a wheel axle encoder 210 disposed on the rollers 101, and the wheel axle encoder 210 records the rotational speed of the rollers 101 and transmits to the controller 70.
The automated guided vehicle 100 includes rollers 101, and the advance of the automated guided vehicle 100 is achieved by the rotation of the rollers 101. The wheel shaft encoder 210 can record the rolling circles of the roller 101, the wheel shaft encoder 210 transmits the recorded rolling circles of the roller 101 to the controller 70, and the controller 70 can know the rotating speed of the roller according to the rolling circles of the roller 101, so that the moving speed of the automatic guided vehicle 100 is obtained.
For example, in the embodiment of the present disclosure, the scanning frequency of the tunnel image capturing device may be in the form of external triggering, during the operation of the automated guided vehicle 100, the axle encoder 210 is disposed on the axle of the roller 101, and records and outputs the pulse signal along with the rotation of the roller 101, if the moving speed of the automated guided vehicle 100 is increased, the rotating speed of the roller 101 is increased, the pulse signal recorded and output by the axle encoder 210 is increased, and the scanning and shooting of the pulse signal triggered by the controller 70 are increased accordingly. Otherwise, the same principle is applied. In this way, the shooting frequency can be adjusted in accordance with the operating speed change. In addition, a preset constant speed triggering mode can also be adopted, a program which sends out a control signal according to a preset frequency to trigger scanning and shooting is arranged in the controller 70, and in operation, the controller 70 triggers scanning and shooting according to the preset frequency and the constant speed, so that the influence of the outside such as the running speed of the automatic guided vehicle 100 is avoided.
Of course, if the automated guided vehicle 100 is in the form of a crawler, or other form of motion advance, the speed sensor 200 may need to adopt other corresponding structures and forms to obtain the motion speed.
It should be noted that the image capturing system according to the embodiment of the present disclosure may include a plurality of tunnel image capturing devices, as shown in fig. 7, the image capturing system includes an automatic guided vehicle 100 and five tunnel image capturing devices mounted on the automatic guided vehicle 100 and connected in sequence, in fig. 7, one tunnel image capturing device is located in each dashed line frame, and scanning and shooting areas of the five tunnel image capturing devices are connected in sequence, so that the image capturing system can scan and shoot a 270 ° cross section of the whole tunnel surface. Of course, as shown in fig. 7, in order to allow stable connection between a plurality of tunnel image capture devices and stable fixation between five tunnel image capture devices and the automated guided vehicle 100, a uniform mounting frame or mounting case may be provided.
In another aspect of the embodiments of the present disclosure, an image capturing method is provided, and fig. 8 is a flowchart of the image capturing method provided in the embodiments of the present disclosure, and as shown in fig. 8, the image capturing method includes:
s101, a speed signal detected by the speed sensor 200 is acquired.
And S102, outputting a control signal to the synchronous trigger 40 according to the speed signal, so that the synchronous trigger 40 synchronously triggers working signals of the camera 20 and the light source 30 according to the control signal.
The image acquisition method of the embodiment of the disclosure is adopted to acquire the surface image in the tunnel, and the image acquisition system comprises a movement device, such as an automatic guided vehicle 100, which can make the tunnel image acquisition device move at a constant speed or a variable speed to change the current shooting position.
In the collecting process, the automatic guided vehicle 100 carries the tunnel image collecting device at a predetermined speed and track to move in the tunnel, firstly, a movement speed signal detected by the speed sensor 200 is obtained, then, according to the movement speed signal, a control signal is output to the synchronous trigger 40 corresponding to the corresponding relation between the movement speed and the sampling frequency preset in the controller 70, the synchronous trigger 40 synchronously triggers working signals of the camera 20 and the light source 30 according to the received control signal, including controlling the light source 30 to start emitting a high-power laser beam and controlling the camera 20 to start, and a photosensitive electronic shutter of the camera 20 is opened to shoot an image at the current position. For example, the automated guided vehicle 100 moves at a constant speed of 20km/h in the tunnel, and the sampling frequency corresponding to the speed in the controller 70 is 1/s, the controller 70 sends a control signal to the synchronization trigger 40 every 1 s according to the detected speed signal of 20km/h and the corresponding sampling frequency of 1/s, so that the camera 20 and the light source 30 perform high-power light emission and photographing every 1 s. When the moving speed of the automated guided vehicle 100 detected by the speed sensor 200 becomes 40km/h, the controller 70 adjusts the output frequency of the control signal to 0.5 times/second according to the preset correspondence.
Alternatively, as shown in fig. 7, the automated guided vehicle 100 includes a roller 101, and the speed sensor 200 is an axle encoder 210 provided on the roller 101; fig. 9 is a second flowchart of an image capturing method according to the embodiment of the present disclosure, and as shown in fig. 9, the step S101 of acquiring a speed signal detected by the speed sensor 200 includes:
s1011, acquiring the number of the rotation cycles of the roller 101 detected by the wheel shaft encoder 210.
S1012, calculating the rotating speed of the roller 101 according to the number of the rotating cycles; the rotation speed of the roller 101 is compared with a preset rotation speed and a control signal is correspondingly output.
As shown in fig. 7, the automated guided vehicle 100 includes rollers 101, and the advance of the automated guided vehicle 100 is achieved by the rotation of the rollers 101. The wheel shaft encoder 210 can record the rolling circles of the roller 101, the wheel shaft encoder 210 transmits the recorded rolling circles of the roller 101 to the controller 70, and the controller 70 can know the rotating speed of the roller according to the rolling circles of the roller 101, so that the moving speed of the automatic guided vehicle 100 is obtained.
When the speed sensor 200 is the wheel axle encoder 210 disposed on the wheel 101, for the acquisition of the movement speed signal, the number of rotation cycles of the wheel 101 detected by the wheel axle encoder 210 is firstly acquired, and the number of rotation cycles of the wheel 101 can reflect the movement speed of the automated guided vehicle 100. Then, the rotating speed of the roller 101 is calculated according to the number of the rotating cycles, the calculated real-time rotating speed of the roller 101 is compared with the preset rotating speed in the controller 70, the corresponding output frequency of the control signal is obtained, and then the control signal is output to the synchronous trigger 40 according to the corresponding output frequency of the control signal.
Optionally, fig. 10 is a third flowchart of an image capturing method provided in the embodiment of the present disclosure, and as shown in fig. 10, S102 is to output a control signal to the synchronization trigger 40 according to the speed signal, so that the synchronization trigger 40 synchronously triggers the working signals of the camera 20 and the light source 30 according to the control signal, and further includes:
s1021, the control signal includes a preset operation duration of the light source 30 and a preset shutter opening duration of the camera 20, and the synchronization trigger 40 sends a turn-off signal to the camera 20 and the light source 30 according to the preset operation duration of the light source 30 and the preset shutter opening duration of the camera 20.
Taking the image scanning of the line camera 21 as an example, the line camera 21 starts the photosensitive electronic shutter first to scan the image, and closes the photosensitive electronic shutter after the scanning is completed, thereby completing one-time scanning shooting. In the process of opening and closing the photosensitive electronic shutter, the light source 30 is kept open, and when the photosensitive electronic shutter is closed and the scanning and shooting light source 30 is also powered off and closed, the high-power light beam is stopped to emit. Therefore, the control signal includes a preset operating time of the light source 30 and a preset shutter opening time of the camera 20, and the control signal is output to the synchronization trigger 40 according to the speed signal, so that the synchronization trigger 40 synchronously triggers the operating signals of the camera 20 and the light source 30 according to the control signal, and the synchronization trigger 40 sends a closing signal to the camera 20 to close the photosensitive electronic shutter of the camera 20 when the synchronization trigger 40 triggers the camera 20 to reach the preset shutter opening time, thereby completing one-time scanning shooting. Similarly, when the synchronization trigger 40 triggers the light source 30 to reach the preset operation duration, the synchronization trigger 40 sends a turn-off signal to the light source 30 to turn off the light source 30 to stop emitting the high-power light beam.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Industrial applicability
In summary, the present disclosure provides a tunnel image capturing device, an image capturing system and an image capturing method, in the process of collecting images on the inner surface of a tunnel by applying the image collecting system, when the synchronous trigger receives a control signal input from the outside, namely, simultaneously sending working signals to the light source and the camera, the light source is started by receiving the working signals and emits light towards the light emitting direction, the camera is started by receiving the working signals and shoots images in the imaging range, because the light spot range of the light emitted by the light source can cover the imaging range of the camera, the brightness of the light emitted by the light source when the light source is started can provide a high-intensity light supplementing effect for the shooting of the camera, so that the shot image can have enough brightness to ensure the definition of the image, therefore, the accuracy and the effect of image acquisition on the inner surface of the tunnel are improved, and the method can be widely applied to the technical field of tunnel detection and other image acquisition fields.
Claims (13)
1. The tunnel image acquisition device is characterized by comprising a support, a camera and a light source, wherein the camera and the light source are arranged on the support, the light spot range of light emitted by the light source covers the imaging range of the camera, the tunnel image acquisition device further comprises a synchronous trigger, the synchronous trigger is respectively connected with the camera and the light source electrically and used for synchronously triggering the camera and the working signal of the light source according to a control signal, and a power interface is further arranged on the support and used for connecting an external power supply to the camera and the light source for supplying power.
2. The tunnel image acquisition device of claim 1, further comprising a controller electrically connected to the synchronization trigger for sending a control signal to the synchronization trigger.
3. The tunnel image acquisition device according to claim 1, wherein the cameras comprise a plurality of cameras, the light sources comprise at least one, each light source is disposed between two adjacent cameras, and a light spot range of light emitted by the light source covers an imaging range of two adjacent cameras.
4. The tunnel image acquisition device of claim 1, wherein the cameras comprise two cameras, and the two cameras are symmetrically arranged on two sides of the light source.
5. The tunnel image acquisition device according to claim 4, wherein the light source is a linear laser source, the camera is a line camera, the linear laser source and the line camera are arranged in a first direction, a linear light spot emitted from the linear laser source covers a scanning area of the line camera, and the first direction is a scanning direction of the line camera.
6. The tunnel image acquisition device according to any one of claims 1 to 5, wherein the camera is hinged to the bracket, and the light source is hinged to the bracket; the hinged rotation direction of the camera and the support is the same as the hinged rotation direction of the light source and the support.
7. The tunnel image acquisition device according to claim 6, further comprising a housing, wherein the support is fixedly connected with the housing, the support and the camera and the light source arranged on the support are packaged in the housing, and light exit diaphragms are respectively arranged on the housing corresponding to the light exit side of the camera and the light exit side of the light source.
8. The tunnel image acquisition device according to claim 7, wherein the housing is further provided with a data transmission interface and a synchronous trigger interface, the data transmission interface is used for connecting a high-speed transmission data line to transmit image data of the camera, and the synchronous trigger interface is used for connecting a data line and connecting the synchronous trigger.
9. An image acquisition system, comprising at least one tunnel image acquisition device according to any one of claims 1 to 8, further comprising a mobile platform and a speed sensor disposed on the mobile platform, wherein the tunnel image acquisition device is fixedly disposed on the mobile platform, the tunnel image acquisition device comprises a controller, the speed sensor is electrically connected with the controller, and the speed sensor is used for acquiring a motion speed signal of the mobile platform and transmitting the motion speed signal to the controller.
10. The image acquisition system of claim 9, wherein the mobile platform comprises a roller, and the speed sensor is a wheel axle encoder disposed on the roller, the wheel axle encoder recording a rotational speed of the roller and transmitting to the controller.
11. An image acquisition method, comprising:
acquiring a speed signal detected by a speed sensor;
and outputting a control signal to a synchronous trigger according to the speed signal so that the synchronous trigger synchronously triggers working signals of the camera and the light source according to the control signal.
12. The image capturing method of claim 11, wherein the mobile platform comprises a roller, and the speed sensor is a wheel shaft encoder disposed on the roller; the acquiring the speed signal detected by the speed sensor comprises the following steps:
acquiring the rotation number of the roller wheel detected by the wheel shaft encoder;
calculating the rotating speed of the roller according to the number of the rotating cycles;
and the rotating speed of the roller is compared with the preset rotating speed and a control signal is correspondingly output.
13. The image capturing method according to claim 11, wherein the outputting a control signal to a synchronization trigger according to the speed signal, so that the synchronization trigger synchronously triggers the operation signals of the camera and the light source according to the control signal further comprises:
the control signal comprises preset working time of the light source and preset shutter opening time of the camera, and the synchronous trigger sends a closing signal to the camera and the light source according to the preset working time of the light source and the preset shutter opening time of the camera.
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