CN111800587A - Image acquisition equipment and image acquisition method - Google Patents
Image acquisition equipment and image acquisition method Download PDFInfo
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- CN111800587A CN111800587A CN201910270856.3A CN201910270856A CN111800587A CN 111800587 A CN111800587 A CN 111800587A CN 201910270856 A CN201910270856 A CN 201910270856A CN 111800587 A CN111800587 A CN 111800587A
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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
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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Abstract
The application provides an image acquisition device and an image acquisition method, wherein the image acquisition device comprises a conveying device, an acquisition device, an indicating device and a control device; the control devices are respectively electrically connected with other devices, and the conveying device is used for conveying the articles along the conveying direction; the acquisition device comprises a plurality of cameras, the acquisition surfaces of the cameras face to a set area on the conveying path of the articles, each camera is arranged to acquire an image of one sub-area corresponding to the camera in the set area, the indicating device is located in the set area, and the indicating device is arranged to output an image calibration signal; the control device is set to group a plurality of images acquired by a plurality of cameras of the acquisition device by using the image calibration signals output by the indicating device as identifiers, generate a full-width image of a set area according to each group of images, and acquire the information of conveyed articles in the set area according to the full-width image, so that the accuracy of acquiring the information of the articles can be improved.
Description
Technical Field
The present disclosure relates to image processing technologies, and in particular, to an image capturing device and an image capturing method.
Background
In the logistics industry, an express delivery distribution center generally needs to acquire express information in the process of delivering express, for example, an image of the express is acquired through an image acquisition device, information of a barcode pasted on the express is acquired by using the image of the express, and whether the express is delivered in parallel or in an overlapping manner is judged.
The prior art discloses image acquisition equipment, this image acquisition equipment includes controlling means, a conveyor for carrying the express mail and set up a plurality of cameras in the conveyor top, the field of view scope of a plurality of cameras covers the region of setting for on the article conveying route after overlapping, when the express mail is located this and sets for the region, controlling means controls a plurality of cameras and starts to shoot in succession simultaneously, make every camera interval default time gather a frame of image, controlling means divides the image that the frame number of a plurality of cameras is the same into a set of, splice a set of image, obtain the whole width of a frame image of setting for the region on the article conveying route, controlling means acquires the information of express mail according to the whole width of a frame image of a plurality of setting for the region.
In the image acquisition apparatus disclosed in the prior art, the control device controls the plurality of cameras to start continuous photographing at the same time, and divides images with the same frame number of the plurality of cameras into a group to be spliced into one image, that is, the grouping of the images of the plurality of cameras for full-width image splicing is performed depending on the control signal of the control device. However, when the image acquisition device in the prior art acquires information of the express items, the images with the same frame numbers of the multiple cameras are divided into one group and spliced to obtain a full-width image of a set area on an article conveying path, which may not be in accordance with the actual situation, which may cause the acquired information of the express items to be incorrect, such as an error in identification of barcode information of the express items, an error in judgment of the conveying state of the express items, and the like.
Disclosure of Invention
In view of this, embodiments of the present application provide an image capturing apparatus and an image capturing method, which can improve accuracy of image acquisition of a set area on an article conveying path, and when the image capturing apparatus and the image capturing method are used for acquiring information of express mails, the problem that the acquired information of express mails is incorrect in the image capturing apparatus in the prior art can be alleviated, and accuracy of express mail information acquisition is improved.
The embodiment of the application provides image acquisition equipment, which comprises a conveying device, an acquisition device, an indicating device and a control device; the conveying device, the acquisition device and the indicating device are all electrically connected with the control device;
the conveying device is arranged to convey articles in a conveying direction;
the acquisition device comprises a plurality of cameras, acquisition surfaces of the cameras face a set area on a conveying path of the articles, and the overlapped view field ranges of the cameras cover the set area; each camera is arranged to acquire an image of one sub-area of the set area corresponding to the camera and send the acquired image to the control device;
the indicating device is positioned in the setting area and is set to output an image calibration signal;
the control device is arranged to group a plurality of images acquired by the plurality of cameras of the acquisition device by using the image calibration signals output by the indicating device as identifiers, wherein each group of images comprises a plurality of images, the plurality of images in each group of images correspond to the plurality of cameras of the acquisition device in a one-to-one manner, the control device is further arranged to generate a full-width image of the set area according to each group of images, and acquire information of conveyed articles in the set area according to the full-width image.
The embodiment of the application provides an image acquisition method, which is applied to image acquisition equipment, wherein the image acquisition equipment comprises a conveying device, an acquisition device and an indicating device; the conveying device is arranged to convey articles in a conveying direction; the acquisition device comprises a plurality of cameras, the acquisition surfaces of the cameras face a set area on a conveying path of the articles, the overlapped view field ranges of the cameras cover the set area, and each camera corresponds to one sub-area in the set area; the image acquisition method comprises the following steps:
controlling the conveying device to convey the article along the conveying direction;
controlling each camera to acquire images according to a first set time interval, so that when an article is located in the set area, each camera acquires images of a sub-area corresponding to the camera in the set area;
controlling the indicating device to output an image calibration signal;
grouping a plurality of images acquired by the acquisition device by using the image calibration signal as an identifier, wherein each group of images comprises a plurality of images, and the plurality of images in each group of images correspond to the plurality of cameras of the acquisition device one to one;
and generating a full-width image of the set area according to each group of images, and acquiring information of conveyed articles in the set area according to the full-width image.
The image acquisition equipment and the image acquisition method provided by the application group the images acquired by the acquisition device by taking the image calibration signal output by the indicating device as the identifier, acquire the full-width images of the set area according to a group of images, acquire the information of the conveyed articles in the set area according to the full-width images, and divide the images with the closest acquisition time of a plurality of cameras into a group after grouping the images acquired by the acquisition device by taking the image calibration signal as the identifier because the output image calibration signal is used as the identifier to determine the actual acquisition time of the images rather than controlling the time for acquiring the images by the cameras, thereby improving the accuracy of the full-width images of the set area and relieving the problem of abnormal full-width images after splicing caused by different response times of the plurality of cameras in the prior art, when the image acquisition equipment is used for acquiring the image of the express mail, the accuracy of acquiring express mail information can be improved.
In addition, since the indicator lamp has a simple structure and has a response time to the control signal much lower than that of a camera having a complicated imaging system, even in the case where the indicating device includes a plurality of indicator lamps and there is dispersion in the response times of the plurality of indicator lamps, the difference in the response times of the plurality of indicator lamps is much lower than that of the plurality of cameras. Therefore, compared with the prior art that images with the same frame numbers of a plurality of cameras are divided into a group to be spliced into a full-width image, the image acquisition equipment and the image acquisition method provided by the application can reduce the difference of the acquisition time of the plurality of images in the group, so that the accuracy of splicing the full-width image is improved.
Drawings
FIG. 1 is a block diagram of an image capture device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a first configuration of an image capture device according to an embodiment of the present application;
FIG. 3 is a second schematic diagram of an image capture device according to an embodiment of the present application;
FIG. 4 is a flow chart of an image acquisition method according to another embodiment of the present application;
fig. 5 is a detailed flowchart of an image capturing method according to another embodiment of the present application.
11-conveying device, 12-collecting device, 13-indicating device, 14-control device;
15-detection device, 111-conveying component, 112-motor, 121-camera, 131-indicator light,
30-article, 40-defined area.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the prior art, because the cameras have complex imaging systems, the response times of the cameras have discreteness, and even if control signals for starting photographing are sent to the cameras at the same time, the actual times of the cameras for photographing images also have differences, so that in the image acquisition device in the prior art, the acquisition times of the images with the same frame numbers of the cameras may not be the same, and the full-width images of the set area on the article conveying path obtained by dividing the images with the same frame numbers of the cameras into one group and splicing the images may not be in accordance with the actual situation, which may cause incorrect information of the express mail acquired by the full-width images obtained by the image acquisition device. In view of this, the present application proposes the following technical solutions to solve the problem.
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
Fig. 1 is a block diagram of an image capturing apparatus according to an embodiment of the present application, fig. 2 is a schematic diagram of a first structure of the image capturing apparatus according to the embodiment of the present application, fig. 3 is a schematic diagram of a second structure of the image capturing apparatus according to the embodiment of the present application, and the image capturing apparatus according to the embodiment of the present application is described below with reference to fig. 1, fig. 2, and fig. 3.
As shown in fig. 1, 2 and 3, an embodiment of the present application discloses an image capturing apparatus 1, which includes a conveying device 11, a capturing device 12, an indicating device 13 and a control device 14.
The control device 14 is electrically connected with the conveying device 11, the collecting device 12 and the indicating device 13 respectively, and controls the conveying device 11, the collecting device 12 and the indicating device 13 to work. For example, the control device 14 is configured to control the conveying device 11 to convey the article 30 in the set direction, and control the plurality of cameras 121 of the indicating device 13 to continuously acquire images at first set time intervals, so that when the article is located in the set area 40 on the conveying path, each camera 121 acquires an image of a sub-area corresponding to the camera 121 in the set area 40; the control device 14 is further configured to control the indicating device 13 to output an image calibration signal, and analyze an image acquired by each camera 131 from a time when the control indicating device 13 starts to output the image calibration signal, and group a plurality of images acquired by the acquiring device 12 by using the image calibration signal output by the indicating device 13 as an identifier, wherein each group of images includes a plurality of images, and the plurality of images in each group of images correspond to the plurality of cameras 121 of the acquiring device 12 one-to-one, that is, each image corresponds to a sub-region of the set region 40 on the article conveying path, so that the plurality of images in each group of images are spliced to obtain a full-width image of the set region 40 on the article conveying path. Since the actual capturing time of the image can be determined by using the image calibration signal outputted from the pointing device 13 as the indicator, instead of the time for controlling the camera 121 to capture the image, the images captured by the capturing device 12 can be grouped into one group by using the image calibration signal outputted from the pointing device 13 as the indicator, and the images with the closest capturing time of the plurality of cameras 121 can be divided into one group, so that the accuracy of the full-width image of the setting region 40 can be improved.
The conveyor 11 is arranged to convey articles 30 in a conveying direction. Specifically, the conveying device 11 is configured to convey the article 30 along the conveying direction indicated by the arrow 20, the conveying device 11 includes a conveying assembly 111 and a motor 112, the conveying assembly 111 is configured to carry and convey the article 30, and the conveying assembly 111 may be in a belt drive, a roller drive or other structural forms; the motor 112 is in transmission connection with the conveying assembly 111, and the motor 112 is electrically connected with the control device 14, the motor 112 is configured to drive the conveying assembly 111 to move according to a control signal output by the control device 14, and the conveying assembly 111 moves to drive the article 30 carried on the conveying assembly 111 to move along the conveying direction of the article.
The collecting device 12 comprises a plurality of cameras 121, the collecting surfaces of the cameras 121 face the set area 40 on the conveying path of the articles 30, and the overlapped view field ranges of the cameras 121 cover the set area 40; each camera 121 acquires an image of one sub-area corresponding to the camera 121 in the setting area 40, and transmits the acquired image to the control device 14. As shown in fig. 3, in the present embodiment, the collecting device 12 is located above the conveying device 11, the collecting device 12 includes six cameras 121, the six cameras 121 are arranged in an array of two rows and three columns, and the viewing ranges of the six cameras 121 can cover the setting area 40 after being overlapped.
The indicating device 13 is located in the setting area 40, and the indicating device 13 is configured to output an image calibration signal, so that the control device 14 groups a plurality of images acquired by a plurality of cameras of the acquisition device 12 by using the image calibration signal output by the indicating device 13 as an identifier, wherein each group of images includes a plurality of images, the plurality of images in each group of images correspond to the plurality of cameras 121 of the acquisition device 12 one-to-one, that is, each image corresponds to a sub-area of the setting area 40 on the article conveying path, a full-width image of the setting area 40 on the article conveying path can be obtained after the plurality of images in each group of images are spliced, and the control device 14 obtains information of the articles conveyed on the conveying path according to the full-width image.
Specifically, the indicating device 13 includes at least one indicator light 131, each indicator light 131 is located in the setting area 40, each camera 121 of the collecting device 12 can collect an image of the at least one indicator light 131, and each image of the corresponding sub-area collected by each camera 121 includes the corresponding indicator light 131. Each indicator lamp 131 of the indicating device 13 is electrically connected with the control device 14, each indicator lamp 131 can emit light or not emit light at different time under the control of the control device 14, and when the state of the indicating device 13 for setting the light emission or not emitting light of the indicator lamp 131 changes, the signal output by the indicating device 13 also changes, so that the indicating device 13 can output the image calibration signal at the set time according to the control signal output by the control device 14.
In a preferred embodiment, the indicating device 13 comprises an indicator light 131, the indicator light 131 is located in the common field of view of the plurality of cameras 121, and the image calibration signal output by the indicating device 13 is a signal that the indicator light 131 emits light or does not emit light. It should be explained that the state of the indicating device 13 is different from the state of the indicating device 13 when the image calibration signal is output, wherein the normal state refers to the state of the indicating device 13 without outputting the image calibration signal. In this embodiment, when the image calibration signal is a signal indicating that the indicator lamp 131 is lit, the indicator lamp 131 is normally not lit; when the image calibration signal is a signal that the indicator lamp 131 does not emit light, the indicator lamp 131 is normally in a light-emitting state.
In another preferred embodiment, the indicating device 13 comprises a plurality of indicator lights 131, each camera 121 comprises at least one indicator light 131 within the field of view, the plurality of indicator lights 131 are connected in parallel and can emit light or not simultaneously in response to the control signal output by the control device 14, and the image calibration signal output by the indicating device 13 is a signal that the plurality of indicator lights 131 emit light or not simultaneously. In this embodiment, when the image calibration signal is a signal in which the plurality of indicator lamps 131 are simultaneously lit, the state of the indicating device 13 is that none of the plurality of indicator lamps 131 is lit in a normal state; in the case where the image calibration signal is a signal in which the plurality of indicator lamps 131 do not emit light at the same time, the indicating device 13 is normally in a state in which all of the plurality of indicator lamps 131 emit light. Since the plurality of indicator lamps 131 are connected in parallel and can emit light or not simultaneously in response to the control signal output by the control device 14, when one camera 121 acquires that the indicator lamp 131 in the field of view thereof emits light, it indicates that the other indicator lamps 131 of the indicator device 13 also emit light, when one camera 121 acquires that the indicator lamp 131 in the field of view thereof does not emit light, it indicates that the other indicator lamps 131 of the indicator device 13 do not emit light, the control device 14 can determine whether the indicator device 13 is outputting the image calibration signal when the camera 121 acquires the image by analyzing whether the indicator lamp 131 in the field of view thereof emits light in the image acquired by the one camera 121, and perform grouping of the plurality of images based on the determination.
In another preferred embodiment, the indicating device 13 includes a plurality of indicator lamps 131, each indicator lamp 131 is located in the common field of view of the plurality of cameras 121, the plurality of indicator lamps 131 are respectively connected to the control device 14 and can respectively emit light or not emit light in response to the control signal output by the control device 14, and the image calibration signal output by the indicating device 13 can be a signal that a part of the set indicator lamps 131 emit light and another part of the set indicator lamps 131 do not emit light. Optionally, in this embodiment, when the image calibration signal is a signal that the first partial indicator 131 emits light and the second partial indicator 131 does not emit light, the state of the indicating device 13 is that the first partial indicator 131 does not emit light and the second partial indicator 131 emits light in a normal state.
As shown in fig. 3, in this embodiment, the indicating device 13 includes four indicating lamps 131, the four indicating lamps 131 are electrically connected to the control device 14 after being connected in parallel, under the control of the control device 14, the four indicating lamps 131 may emit light or not at the same time, each camera 121 includes at least one indicating lamp 131 within the field of view, and the image calibration signal output by the indicating device 13 is a signal that all the indicating lamps 131 emit light at the same time.
Further, the image capturing device 1 further includes a detecting device 15, the detecting device 15 is electrically connected to the control device 14, and is configured to detect the position of the article 30 on the conveying path, for example, along the conveying direction of the article, the detecting device 15 is disposed at the initial position of the setting area 40, when the article 30 reaches the initial position of the setting area 40, the detecting device 15 outputs a setting signal, so that the control device 14 can determine that the article 30 reaches the initial position of the setting area 40 according to the setting signal. The detection device 15 may be a plurality of photosensors arranged in the width direction of the conveying device 11 (as indicated by an arrow ab in fig. 3) or in the height direction of the conveying device 11 (as indicated by an arrow cd in fig. 2), and may also be a camera.
The control device 14 is also arranged to generate a full image of the set area 40 from each set of images and to obtain information about the transported articles 30 in the set area 40 from the full image. Optionally, the control device 14 splices a plurality of images in each group of images to obtain a full-width image of the setting area 40. Optionally, when the article 30 is an express item, the control device 14 may obtain barcode information pasted on the express item according to the image sent by the collecting device 12, and determine a delivery state of the express item.
The image acquisition equipment provided by the application utilizes the image calibration signal output by the indicating device 13 as a mark to group the images acquired by the acquisition device 12 so as to determine a plurality of images which are output by a plurality of cameras 121 and are used for splicing a full-width image of the set area 40, and the control device 14 acquires the full-width image of the set area 40 according to the grouped images and acquires the information of the conveyed articles 30 in the set area 40 according to the full-width image. Since the actual image acquisition time can be determined by using the image calibration signal output by the indicating device 13 as the identifier instead of the time for controlling the camera 121 to acquire the image, after the plurality of images acquired by the acquiring device 12 are grouped by using the image calibration signal as the identifier, the images with the closest acquisition time output by the plurality of cameras 121 of the acquiring device 12 can be divided into one group, so that the accuracy of the full-width image of the set area 40 can be improved, and further, in the case of acquiring the article information through the full-width image of the set area 40, the accuracy of acquiring the article information can be improved, therefore, the image acquisition device provided by the application can alleviate the problem of abnormal full-width images after splicing caused by different response times of the plurality of cameras in the prior art, and when the image acquisition device is used for acquiring the images of express mails, the accuracy of express information acquisition can be improved. In addition, because the indicator light has a simple structure and the response time to the control signal is far shorter than the response time to the control signal of the camera with a complex imaging system, even if the indicator device 13 includes a plurality of indicator lights 131 and the response times of the plurality of indicator lights 131 have discreteness, the response time difference of the plurality of indicator lights 131 is far shorter than the response time difference of the plurality of cameras, therefore, compared with the image acquisition device of the prior art in which the images with the same frame number of the plurality of cameras are divided into one group to be spliced into a full-width image, the image acquisition device provided by the embodiment can reduce the time difference of the acquisition time of the plurality of images in one group, thereby improving the accuracy of splicing the full-width image and alleviating the problem of abnormal full-width image after splicing caused by the different response times of the plurality of cameras in the prior art, when the image acquisition equipment is used for acquiring the image of the express mail, the accuracy of acquiring express mail information can be improved.
The embodiment also discloses an image acquisition method, which is applied to image acquisition equipment, wherein the image acquisition equipment comprises a conveying device, an acquisition device and an indicating device. The collecting device comprises a plurality of cameras, collecting surfaces of the cameras face a set area on a conveying path of the articles, the superposed view field ranges of the cameras cover the set area, and each camera corresponds to one sub-area in the set area.
Referring to fig. 4, the method includes steps 401 to 405:
Taking the image capturing apparatus 1 of the embodiment of the present application as an example, referring to fig. 2, the control device 14 controls the conveying device 11 to convey the article 30 along the conveying direction 20. The conveyor device 11 comprises a conveyor assembly 111 and a motor 112, the conveyor assembly 111 being arranged to carry and convey the articles 30.
Taking the image capturing apparatus 1 of the embodiment of the present application as an example, the control device 14 controls the plurality of cameras 121 to continuously capture images at first set time intervals, where each image captured by each camera 121 has a unique frame number, for example, the control device 14 controls each camera 121 to capture one image at intervals of 20ms, and the frame numbers of the images captured by each camera are 1, 2, and 3 … … i, respectively.
In a preferred embodiment, the control device 14 starts to control each camera 121 to capture images at a first set time interval from the time when the image capture apparatus 1 is powered on, so that when the article 30 is located in the set area 40, each of the plurality of cameras 121 can continuously capture images at the first set time interval.
In another preferred embodiment, the control device 14 determines whether the article reaches the setting area 40 according to the signal output by the detection device 15, and determines that the article 30 reaches the setting area 40 when the control device 15 detects that the detection device 15 outputs the setting signal, at this time, the control device 14 controls each camera 121 to start capturing images at the first set time interval, so that when the article 30 is located in the setting area 40, the plurality of cameras 121 can continuously capture images at the first set time interval.
In step 403, the control instruction device 13 outputs an image calibration signal.
Taking the image capturing apparatus 1 of the embodiment of the present application as an example, the control device 14 controls the indicating device 13 to output an image calibration signal. Specifically, the indicating device 13 includes at least one indicator light 131, and each indicator light 131 is located in the setting area 40, and each camera 121 may capture an image of at least one indicator light 131. The instructing means 13 to output the image calibration signal includes: the control setting indicator lamp 131 emits light, or the control setting indicator lamp 131 does not emit light.
In a preferred embodiment, the indicating device 13 includes an indicator light 131, the indicator light 131 is located in a common field of view of the plurality of cameras 121, and controlling the indicating device 13 to output the image calibration signal includes: the indicator lamp 131 is controlled to emit light, or the indicator lamp 131 is controlled not to emit light. It should be explained that the state of the indicating device 13 is different from the state of the indicating device 13 when the image calibration signal is sent out, wherein the normal state refers to the state of the indicating device 13 without outputting the image calibration signal. In this embodiment, the image calibration signal is a signal indicating whether the indicator lamp 131 emits light or does not emit light, and when the image calibration signal is indicating that the indicator lamp 131 emits light, the indicator lamp 131 is normally in a non-light state; when the image calibration signal indicates that the indicator lamp 131 does not emit light, the indicator lamp 131 is normally in a light-emitting state.
In another preferred embodiment, the indicating device 13 includes a plurality of indicator lights 131, each camera 121 includes at least one indicator light 131 within the field of view, the plurality of indicator lights 131 are connected in parallel, and controlling the indicating device 13 to output the image calibration signal includes: the plurality of indicator lamps 131 are controlled to emit light at the same time, or the plurality of indicator lamps 131 are controlled not to emit light at the same time. In this embodiment, the image calibration signal is a signal in which the plurality of indicator lamps 131 emit light simultaneously or the plurality of indicator lamps 131 do not emit light simultaneously, and when the image calibration signal is a signal in which the plurality of indicator lamps 131 emit light simultaneously, the indicating device 13 is in a normal state in which none of the plurality of indicator lamps 131 emits light; in the case where the image calibration signal is such that the plurality of indicator lamps 131 do not emit light at the same time, the indicating device 13 is normally in a state where all of the plurality of indicator lamps 131 emit light.
In another preferred embodiment, the indicating device 13 includes a plurality of indicator lights 131, each indicator light 131 is located in a common field of view of the plurality of cameras 121, and controlling the indicating device 13 to output the image calibration signal includes: the indicator lamp 131 of one part of the settings is controlled to emit light and the indicator lamp 131 of the other part of the settings is controlled not to emit light. In this embodiment, the image calibration signal may be a signal that a part of the set indicator lamps 131 emit light and another part of the set indicator lamps 131 do not emit light, and optionally, when the image calibration signal is that the first part indicator lamps 131 emit light and the second part indicator lamps 131 do not emit light, the state of the indicating device 13 is that the first part indicator lamps 131 do not emit light and the second part indicator lamps 131 emit light in a normal state.
In the embodiment of the present application, the start position of the setting area 40 is provided with the detection device 15, the indication device 13 includes four parallel indicator lights 131, the four indicator lights 131 are connected in parallel, and can simultaneously respond to the control signal output by the control device 14 to emit light simultaneously or not, the image calibration signal output by the indication device 13 is a signal that all indicator lights 131 emit light simultaneously, when the control device 14 determines that the article 30 reaches the start position of the setting area 40 through the setting signal output by the detection device 15, the four indicator lights 131 are controlled to emit light simultaneously, so that each camera 121 can acquire an image including the light-emitting indicator lights 131. In this embodiment, the image calibration signal is a signal that all the indicator lights 131 emit light at the same time, but in other embodiments, the image calibration signal may also be a signal that all the indicator lights 131 do not emit light at the same time.
Further, the control device 14 controls the image calibration signal output by the indicating device 13 for a set time, wherein the duration of the image calibration signal is longer than the interval between the two adjacent images captured by each camera 121, so as to ensure that each camera 121 can capture the image including the indicator lamp 131 outputting the image calibration signal. For example, in the present embodiment, the control device 14 controls each camera 121 to acquire an image every 20ms, and controls the time for which each indicator light 131 emits light to be 100ms, so that it is ensured that each camera 121 can acquire an image including the emitted indicator light 131.
And step 404, grouping a plurality of images acquired by the acquisition device by using the image calibration signal as an identifier. Each group of images comprises a plurality of images, and the plurality of images in each group of images correspond to the plurality of cameras of the acquisition device one by one.
Taking the image capturing apparatus of the embodiment of the present application as an example, the control device 14 uses the image calibration signal output last time by the indicating device 13 as an identifier to group the plurality of images captured by the capturing device 12. In this embodiment, all the indicator lamps 131 of the indicator apparatus 13 emit light at the same time as an image calibration signal, the controller 14 analyzes the image output by each camera 121 from the time when all the indicator lamps 131 emit light at the same time, since the plurality of indicator lamps 131 are connected in parallel and can emit light or not at the same time in response to the control signal output by the controller 14, when one camera 121 acquires that the indicator lamp 131 within its field of view is emitting light, it indicates that the other indicator lamps 131 of the indicator apparatus 13 are also emitting light, when one camera 121 acquires that the indicator lamp 131 within its field of view is not emitting light, it indicates that the other indicator lamps 131 of the indicator apparatus 13 are not emitting light, the controller 14 can determine whether the indicator apparatus 13 is outputting the image calibration signal when the camera 121 acquires the image by analyzing whether the indicator lamp 131 within its field of view in the image acquired by each camera 121 is emitting light, and grouping the plurality of images based thereon.
Specifically, referring to fig. 5, step 404 includes:
and step 501, analyzing images collected by each camera from the moment when the control indicating device starts to output the image calibration signal.
In an alternative embodiment, step 503 includes: the reference images of the plurality of cameras 121 are divided into one group.
By taking the first image acquired by each camera 121 from the time when the image calibration signal is output as the reference image of the camera 121 and grouping the images acquired after the reference image is acquired by each camera 121 based on the reference images of the plurality of cameras 121, the images acquired at the closest acquisition times of the plurality of cameras can be divided into one group for acquiring the full-width image of the set area 40 on the article conveying path, thereby improving the accuracy of full-width image stitching. And because the indicator lamp 131 has a simple structure and the response time to the control signal is far shorter than the response time to the control signal of the camera 121 with a complex imaging system, even if the indicator device 13 includes a plurality of indicator lamps 131 and the response times of the plurality of indicator lamps 131 have discreteness, the response time difference values of the plurality of indicator lamps 131 are far shorter than the response time difference values of the plurality of cameras, therefore, compared with the image acquisition apparatus in the prior art in which the images with the same frame number of the plurality of cameras are divided into one group to be spliced into a full-width image, the image acquisition apparatus provided by the present embodiment can reduce the time difference of the acquisition time of the plurality of images in one group, thereby improving the accuracy of splicing the full-width image.
In an alternative embodiment, step 503 includes: determining a first image of each camera 121, dividing the first images of the plurality of cameras 121 into a group; the capturing time of the first image of each camera 121 is later than the capturing time of the reference image of the camera 121, and the difference between the frame number of the first image of each camera 121 and the frame number of the reference image of the camera is m, where m is a positive integer.
For example, in the embodiment of the present application, the image capturing apparatus 1 includes six cameras 121, after an article 30 arrives at the setting area 40, the control device 14 determines that the frame number of the reference image of the first camera is 201, the frame number of the reference image of the second camera is 203, the frame number of the reference image of the third camera is 202, the frame number of the reference image of the fourth camera is 205, the frame number of the reference image of the fifth camera is 201, and the frame number of the reference image of the sixth camera is 202, then the control device 14 determines the image of each camera 121 whose difference from the reference image of the camera 121 is a set value m as the first image, divides the first image of the six cameras into one group, and by setting m to be any positive integer, determines the image of the six cameras whose difference from the corresponding reference image is the same as the group of images whose capturing time is the closest, for example, if the difference m is equal to 1, the control device 14 determines the image with the frame number of 202 of the first camera as the first image of the first camera, determines the image with the frame number of 204 of the second camera as the first image of the second camera, determines the image with the frame number of 203 of the third camera as the first image of the third camera, determines the image with the frame number of 206 of the fourth camera as the first image of the fourth camera, determines the image with the frame number of 202 of the fifth camera as the first image of the fifth camera, determines the image with the frame number of 203 of the sixth camera as the first image of the sixth camera, and then the control device 14 divides the six first images into one group; for another example, if the difference m is equal to 2, the control device 14 determines the image with the frame number 203 of the first camera as the first image of the first camera, determines the image with the frame number 205 of the second camera as the first image of the second camera, determines the image with the frame number 204 of the third camera as the first image of the third camera, determines the image with the frame number 207 of the fourth camera as the first image of the fourth camera, determines the image with the frame number 203 of the fifth camera as the first image of the fifth camera, determines the image with the frame number 204 of the sixth camera as the first image of the sixth camera, and then the control device 14 divides the six first images into one group.
In another alternative embodiment, step 503 includes: determining one camera 121 of the plurality of cameras 121 as a reference camera, calculating a difference value between a frame number of a reference image of each of the other cameras 121 and a frame number of a reference image of the reference camera, determining a second image of each of the other cameras 121 after receiving an nth frame image of the reference camera, and dividing the nth frame image of the reference camera and the second images of the other cameras into a group; the acquisition time of the nth frame image of the reference camera is later than that of the reference image of the reference camera, the acquisition time of the second image of each of the other cameras 121 is later than that of the reference image of the camera 121, and the difference between the frame number of the second image of each of the other cameras and the frame number of the nth frame image of the reference camera is equal to the difference between the frame number of the reference image of the camera and the frame number of the reference image of the reference camera.
For example, in the embodiment of the present application, the image capturing apparatus 1 includes six cameras 121, after an article 30 arrives at the setting area 40, the control device 14 determines that the frame number of the reference image of the first camera is 201, the frame number of the reference image of the second camera is 203, the frame number of the reference image of the third camera is 202, the frame number of the reference image of the fourth camera is 205, the frame number of the reference image of the fifth camera is 201, and the frame number of the reference image of the sixth camera is 202, the control device 14 determines that the first camera is the reference camera, and then the relative difference between the second camera and the reference camera is (+2), the relative difference between the third camera and the reference camera is (+1), the relative difference between the fourth camera and the reference camera is (+4), the relative difference between the fifth camera and the reference camera is 0, and the relative difference between the sixth camera and the reference camera is (+1), after receiving the nth frame image of the reference camera, the control device 14 determines the (n +2) th frame image of the second camera as the second image of the second camera, determines the (n +1) th frame image of the third camera as the second image of the third camera, determines the (n +4) th frame image of the fourth camera as the second image of the fourth camera, determines the nth frame image of the fifth camera as the second image of the second camera, determines the (n +1) th frame image of the sixth camera as the second image of the sixth camera, and then the control device 14 divides the nth frame image of the reference camera and the second image of the second camera, the second image of the third camera, the second image of the fourth camera, the second image of the fifth camera, and the second image of the sixth camera into one group.
Specifically, taking the image capturing apparatus 1 according to the embodiment of the present application as an example, the control device 14 processes and splices each set of images to obtain a full-width image of the setting area 40 on the article conveying path. The image processing before image splicing comprises gray processing, repeated region cutting and the like.
Further, the method further comprises: after controlling each camera 121 to acquire images at first set time intervals, controlling the indicating device 13 to output an image calibration signal once every second set time; grouping the plurality of images acquired by the acquisition device 12 using the image calibration signal as an identifier includes: the plurality of images acquired by the acquisition device 12 are grouped using the image calibration signal most recently output by the pointing device 13 as an identifier. Specifically, the control device 14 re-determines the reference image of each camera 121 each time the control instruction device 13 is controlled to output the image calibration signal, and groups the images captured by the plurality of cameras 121 based on the reference image of each camera 121. In this way, the calibration of the image grouping can be performed once every second set time based on the image calibration signal output by the indicating device 13, thereby improving the accuracy of the full-width image stitching. Taking the image capturing apparatus 1 of the embodiment of the present application as an example, the control device 14 controls the four indicator lights 131 to emit light at the same time every second set time, and controls the four indicator lights 131 not to emit light at the same time when the light emitting time of the four indicator lights 131 reaches the set time.
In the image acquiring method provided by this embodiment, the conveying device is controlled to convey an article in a set direction, each camera is controlled to continuously acquire images at a first set time interval, so that when the article is located in a set area, each camera acquires an image of a sub-area corresponding to the camera in the set area, the indicating device is controlled to output an image calibration signal, and a plurality of images acquired by the plurality of cameras are grouped by using the image calibration signal output by the indicating device as an identifier, so as to obtain a full-width image of the set area on the article conveying path, and information of the article conveyed in the set area is obtained according to the full-width image. The image calibration signal output by the indicating device is used as the identifier to determine the actual image acquisition time rather than the image acquisition time of the control camera, so that after a plurality of images acquired by the acquisition device are grouped by using the image calibration signal as the identifier, the images output by the cameras of the acquisition device and having the closest acquisition time can be divided into a group, the accuracy of the full-width image of the set area can be improved, and the accuracy of the acquisition of the article information can be improved under the condition that the article information is acquired through the full-width image of the set area.
In addition, because the indicator light has a simple structure and the response time of the indicator light to the control signal is far shorter than the response time of the camera with a complex imaging system to the control signal, even if the indicator device comprises a plurality of indicator lights and the response times of the indicator lights have discreteness, the response time difference values of the indicator lights are far lower than the response time difference values of the cameras, therefore, compared with the image acquisition device of the prior art which divides the images with the same frame number of the cameras into one group to be spliced into a full-width image, the image acquisition method provided by the embodiment can reduce the time difference of the acquisition time of the plurality of images in one group, thereby improving the accuracy of splicing the full-width image, relieving the problem of abnormal spliced full-width images caused by the different response times of the cameras in the prior art, and when the image acquisition device is used for acquiring the images of express mails, the accuracy of express information acquisition can be improved.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the application to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An image acquisition device is characterized by comprising a conveying device, an acquisition device, an indicating device and a control device; the conveying device, the acquisition device and the indicating device are all electrically connected with the control device;
the conveying device is arranged to convey articles in a conveying direction;
the acquisition device comprises a plurality of cameras, the acquisition surfaces of the cameras face a set area on a conveying path of an article, the overlapped view field ranges of the cameras cover the set area, each camera is set to acquire an image of a sub-area corresponding to the camera in the set area, and the acquired image is sent to the control device;
the indicating device is positioned in the setting area and is set to output an image calibration signal;
the control device is arranged to group a plurality of images acquired by the plurality of cameras of the acquisition device by using the image calibration signals output by the indicating device as identifiers, wherein each group of images comprises a plurality of images, the plurality of images in each group of images correspond to the plurality of cameras of the acquisition device in a one-to-one manner, the control device is further arranged to generate a full-width image of the set area according to each group of images, and acquire information of conveyed articles in the set area according to the full-width image.
2. The image capturing apparatus according to claim 1, wherein the indicating device includes at least one indicator light, each of the indicator lights is located in the setting area, and each of the cameras captures an image of at least one indicator light;
each indicator light of the indicating device is electrically connected with the control device, and the control device is configured to control each indicator light to emit light or not to emit light, so that the indicating device outputs the image calibration signal according to the control signal output by the control device.
3. The image acquisition device of claim 2,
the indicating device comprises an indicating lamp which is positioned in the common view field range of the plurality of cameras, and the image calibration signal is a signal that the indicating lamp emits light or the indicating lamp does not emit light; alternatively, the first and second electrodes may be,
the indicating device comprises a plurality of indicating lamps, at least one indicating lamp is included in the visual field range of each camera, the indicating lamps are connected in parallel, the indicating lamps simultaneously emit light or do not emit light in response to a control signal output by the control device, and the image calibration signal is a signal that the indicating lamps simultaneously emit light or the indicating lamps do not emit light simultaneously; alternatively, the first and second electrodes may be,
the indicating device comprises a plurality of indicating lamps, each indicating lamp is located in the common view field range of the plurality of cameras, the plurality of indicating lamps respectively emit light or do not emit light in response to the control signals output by the control device, and the image calibration signals are signals that one part of the set indicating lamps emit light and the other part of the set indicating lamps do not emit light.
4. The image acquisition method is characterized by being applied to image acquisition equipment, wherein the image acquisition equipment comprises a conveying device, an acquisition device and an indicating device; the conveying device is arranged to convey articles in a conveying direction; the acquisition device comprises a plurality of cameras, the acquisition surfaces of the cameras face a set area on a conveying path of the articles, the overlapped view field ranges of the cameras cover the set area, and each camera corresponds to one sub-area in the set area; the image acquisition method comprises the following steps:
controlling the conveying device to convey the article along the conveying direction;
controlling each camera to acquire images according to a first set time interval, so that when an article is located in the set area, each camera acquires images of a sub-area corresponding to the camera in the set area;
controlling the indicating device to output an image calibration signal;
grouping a plurality of images acquired by the acquisition device by using the image calibration signal as an identifier, wherein each group of images comprises a plurality of images, and the plurality of images in each group of images correspond to the plurality of cameras of the acquisition device one to one;
and generating a full-width image of the set area according to each group of images, and acquiring information of conveyed articles in the set area according to the full-width image.
5. The image acquisition method according to claim 4, wherein the indicating device comprises at least one indicator light, each indicator light is located in the set area, and each camera acquires an image of at least one indicator light; the controlling the pointing device to output the image calibration signal includes:
and controlling the set indicator lamp to emit light, or controlling the set indicator lamp not to emit light.
6. The image capturing method of claim 5, wherein said indicating means includes an indicator light, said indicator light being located within a common field of view of said plurality of cameras, said controlling said indicating means to output an image calibration signal comprising: controlling the indicator light to emit light or controlling the indicator light not to emit light;
alternatively, the first and second electrodes may be,
the indicating device comprises a plurality of indicating lamps, at least one indicating lamp is included in the field of view range of each camera, the indicating lamps are connected in parallel, and the controlling the indicating device to output an image calibration signal comprises: controlling the plurality of indicator lights to emit light simultaneously, or controlling the plurality of indicator lights not to emit light simultaneously;
alternatively, the first and second electrodes may be,
the pointing device includes a plurality of indicator lights, each of the indicator lights being located within a common field of view of the plurality of cameras, the controlling the pointing device to output an image calibration signal including: and controlling the indicator lights set by one part to emit light and controlling the indicator lights set by the other part not to emit light.
7. The image acquisition method of claim 5, wherein the grouping of the plurality of images acquired by the acquisition device using the image calibration signal as an identification comprises:
analyzing images collected by each camera from the moment when the indicating device is controlled to start outputting the image calibration signal;
determining a first image acquired by each camera from a time when the image calibration signal is output, and determining the image as a reference image of the camera;
grouping a plurality of images acquired by the acquisition device based on the determined reference images of the plurality of cameras.
8. The image acquisition method of claim 7, wherein the grouping of the plurality of images acquired by the acquisition device based on the determined reference images of the plurality of cameras comprises:
dividing the reference images of the plurality of cameras into a group.
9. The image acquisition method of claim 7, wherein the grouping of the plurality of images acquired by the acquisition device based on the determined reference images of the plurality of cameras comprises:
determining a first image of each of the cameras, the first images of the plurality of cameras being divided into a group; the acquisition time of the first image of each camera is later than that of the reference image of the camera, the difference value between the frame number of the first image of each camera and the frame number of the reference image of the camera is m, and m is a positive integer;
alternatively, the first and second electrodes may be,
determining one camera of the cameras as a reference camera, calculating a difference value between a frame number of a reference image of each other camera and a frame number of a reference image of the reference camera, determining a second image of each other camera after receiving an nth frame image of the reference camera, and dividing the nth frame image of the reference camera and the second images of the other cameras into a group; the acquisition time of the nth frame image of the reference camera is later than that of the reference image of the reference camera, the acquisition time of the second image of each of the other cameras is later than that of the reference image of the camera, and the difference value between the frame number of the second image of each of the other cameras and the frame number of the nth frame image of the reference camera is equal to that between the frame number of the reference image of the camera and the frame number of the reference image of the reference camera.
10. The image capturing method according to any one of claims 4 to 9, wherein after controlling each of the cameras to capture images at the first set time interval, the pointing device is controlled to output an image calibration signal once every second set time interval;
the grouping of the plurality of images acquired by the acquisition device using the image calibration signal as an identification comprises: and grouping a plurality of images acquired by the acquisition device by using the image calibration signal output last time by the indicating device as an identifier.
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