CN112351220A - Multi-lens strabismus equal-resolution camera system - Google Patents

Multi-lens strabismus equal-resolution camera system Download PDF

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Publication number
CN112351220A
CN112351220A CN202011192932.2A CN202011192932A CN112351220A CN 112351220 A CN112351220 A CN 112351220A CN 202011192932 A CN202011192932 A CN 202011192932A CN 112351220 A CN112351220 A CN 112351220A
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CN
China
Prior art keywords
lens
camera
strabismus
rotatable
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011192932.2A
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Chinese (zh)
Inventor
汪驰升
王永全
胡忠文
戴可人
朱武
涂伟
周宝定
李清泉
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Shenzhen University
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Shenzhen University
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Filing date
Publication date
Application filed by Shenzhen University filed Critical Shenzhen University
Priority to CN202011192932.2A priority Critical patent/CN112351220A/en
Publication of CN112351220A publication Critical patent/CN112351220A/en
Pending legal-status Critical Current

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • General Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses a multi-lens strabismus equal-resolution camera system which comprises a fixed support, a first rotating rod, a second rotating rod, a camera shell and a lens assembly, wherein the first rotating rod is in the same direction as the fixed support and is in rotating connection with the fixed support, the second rotating rod is in rotating connection with the first rotating rod, the camera shell is in rotating connection with the second rotating rod, the lens assembly is arranged on the camera shell, and the lens assembly comprises a close-range lens, two middle-range lenses and three long-range lenses. The invention can carry out 720-degree omnibearing real-time data acquisition by utilizing a plurality of variable-focus lenses to be matched with the rotating bracket, particularly obtains equal-resolution pictures in an oblique environment, and can be applied to a plurality of fields of oblique photogrammetry, high-definition photography and the like.

Description

Multi-lens strabismus equal-resolution camera system
Technical Field
The invention relates to the technical field of cameras, in particular to a multi-lens strabismus equal-resolution camera system.
Background
Oblique photography differs from normal vertical photography in that the camera often cannot be made to look ahead at the object to be observed because of the limited location of the camera rig. For example, when a picture is taken at a high place at an angle other than a perpendicular angle to the bottom surface, the resolution of the picture to be taken is not uniform due to the presence of the camera tilt angle and the lens field angle, and a problem such as geometric distortion occurs.
In the prior art method and equipment, in order to obtain an equal resolution picture of a region to be detected under an oblique viewing condition, pictures need to be taken for multiple times, certain overlapping degree of the pictures needs to be kept, and splicing processing is carried out through picture splicing software at the later stage; or the aim of reducing the uneven distribution of the resolution of the picture is achieved by adjusting the optical system structure of the camera and reflecting the object light for multiple times. However, these prior devices and methods still suffer from several disadvantages: 1) the workload of early-stage shooting and post-processing can be increased by using a repeated shooting method for many times; 2) changing the internal structure of the camera increases the manufacturing cost of the camera; 3) when the inclination angle is large, the picture effect is poor.
Therefore, existing devices and technical methods are subject to improvement and development.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a multi-lens strabismus and other resolution camera system, which is intended to solve the problems of non-uniform resolution and geometric distortion of the shot pictures due to the existence of the tilt angle and the lens field angle of the camera when the existing camera shoots at an angle other than the perpendicular to the bottom surface.
The technical scheme of the invention is as follows:
the utility model provides a many camera lenses strabismus is equal resolution ratio camera system, wherein, including the fixed bolster, with the fixed bolster syntropy and rotate the first rotary rod of connecting, with first rotary rod rotate the second rotary rod of connecting, with the second rotary rod rotates the camera casing of connecting, and sets up camera lens subassembly on the camera casing, the camera lens subassembly includes a close-up shot, two medium shot and three distant view camera lenses.
The multi-lens strabismus equal-resolution camera system is characterized in that the close shot, the middle shot and the distant shot are distributed in a pyramid shape from top to bottom in sequence.
The multi-lens strabismus equal-resolution camera system is characterized in that a switching module electrically connected with the lens assembly and a processing module electrically connected with the switching module are further arranged in the camera shell; the switching module is used for sending the photographic data shot by the lens assembly to the processing module; the processing module is used for processing the received photographic data to form image data with equal resolution.
The multi-lens strabismus equal-resolution camera system is characterized in that the processing module is developed and manufactured based on opencv.
The multi-lens strabismus equal-resolution camera system is characterized in that a storage module electrically connected with the processing module is further arranged in the camera shell.
The multi-lens strabismus equal-resolution camera system is characterized in that a POS module electrically connected with the storage module is further arranged in the camera shell, and the POS module is used for acquiring posture information and geographical position information of the lens assembly.
Many camera lenses strabismus uniform resolution camera system, wherein, first rotary rod with be provided with first rotatable joint between the fixed bolster, first rotary rod with first rotatable joint is 360 rotations in center.
Many camera lenses strabismus uniform resolution camera system, wherein, the second rotary rod with be provided with the rotatable joint of second between the first rotary rod, the second rotary rod with the rotatable joint of second is 360 rotations in center.
Many camera lenses strabismus uniform resolution camera system, wherein, the camera casing with be provided with third rotatable joint between the second rotary rod, the camera casing with third rotatable joint is 360 rotations in center.
Has the advantages that: compared with the prior art, the multi-lens strabismus equal-resolution camera system provided by the invention can ensure that the acquired images keep the same resolution, can reduce the problem of uneven image resolution caused by the inclination angle of the camera and the field angle of the lens, improve the quality of the photos, reduce the workload of post-processing of the photos, and can meet the functional requirements of acquiring the equal-resolution images under the strabismus scene.
Drawings
Fig. 1 is a schematic diagram of a conventional camera in a tilted view.
FIG. 2 is a schematic structural diagram of a multi-lens strabismus equal resolution camera system according to the present invention.
Fig. 3 is a schematic structural diagram of the lens assembly of the present invention.
FIG. 4 is a schematic diagram of an internal circuit of a multi-lens strabismus equal resolution camera system according to the present invention.
Detailed Description
The present invention provides a multi-lens strabismus equal resolution camera system, and the invention is further described in detail below to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention will be further explained by the description of the embodiments with reference to the drawings.
As shown in fig. 1, the region between a and B is an observed region, and the observation point is point C. The angle between the field of view of point a and the vertical line passing through point C is called the tilt angle. For a camera, a point a is the nearest end point of an observed region, a point B is the farthest end point of the observed region, object distances between the point a and the point B are greatly different, and an object distance between the point a and the point B is greater than that of the point a, so that generally, in an obtained picture, a resolution is higher than that of the point B, the picture resolution is not uniform, and the whole picture also has a certain geometric distortion.
To solve the problems of the prior art, the present invention provides a multi-lens strabismus equal resolution camera system, as shown in fig. 2, which includes a fixed bracket 10, a first rotating rod 20 in the same direction as the fixed bracket 10 and rotatably connected to the fixed bracket, a second rotating rod 30 rotatably connected to the first rotating rod 20, a camera housing 40 rotatably connected to the second rotating rod 30, and a lens assembly 50 disposed on the camera housing 40, where the lens assembly 50 includes a close-up lens 51, two middle-view lenses 52, and three long-view lenses 53.
In the present embodiment, it is ensured that an image of an equal resolution is obtained in an oblique view by mounting 6 lenses on the camera housing 40 and performing a reasonable layout. Specifically, as shown in fig. 3, the 6 shots are distributed in a pyramid shape, wherein one close shot 51 is located at the topmost layer, two middle shots 52 are located at the middle layer, and three far shots 53 are located at the bottommost layer. The close-range lens is used for shooting a close range close to the position of the camera, the middle-range lens is used for shooting a middle distance area, the long-range lens is used for shooting a long distance area, and the inclination angle and the focal length of the lens are required to be adjusted before shooting, so that the areas shot by the close-range lens, the middle-range lens and the long-range lens have overlapping degrees.
In some specific embodiments, as shown in fig. 4, a adaptor module 60 electrically connected to the lens assembly 50, and a processing module 70 electrically connected to the adaptor module 60 are further disposed in the camera housing 40; the switching module 60 is configured to send the photographing data photographed by the lens assembly 50 to the processing module 70; the processing module 70 is configured to process the received photographic data to form image data with equal resolution; a memory module 80 electrically connected to the processing module 60 is also provided in the camera housing.
In this embodiment, the processing module is developed and manufactured based on opencv, and opencv is a cross-platform computer vision and machine learning software library issued based on BSD license (open source), and can run on Linux, Windows, Android, and Mac OS operating systems. The method is light and efficient, is composed of a series of C functions and a small number of C + + classes, provides interfaces of languages such as Python, Ruby, MATLAB and the like, and can realize a plurality of general algorithms in the aspects of image processing and computer vision. The Opencv library has functions for controlling lens components, and may directly call various parameter settings for performing a lens, and the algorithm in the Opencv library is already available and will not be described in detail here. By way of example, internal parameters of the lens component, including focus, exposure, etc., may be controlled by calling a function of opencv.
In this embodiment, parameters of the lens assembly may be set by the processing module, so that the regions photographed by the lenses with different focal lengths have an overlap degree of 30-50%, and the overlap degree is used for splicing and fusing data, thereby finally obtaining image data with equal resolution.
In some embodiments, the adaptor module 60 connects the lens assembly with the processing module 70, controls the camera through the processing module 70 to take a picture, stores the obtained image data in the storage module 80, and exports the data through the USB interface at a later stage. By way of example, the storage module is composed of a 2TB hard disk and is used for storing the image data generated by the processing module.
In some embodiments, a POS module 90 electrically connected to the storage module 80 is further disposed in the camera housing, and the POS module 90 is configured to obtain posture information and geographic position information of the lens assembly.
In some embodiments, as shown in fig. 2, a first rotatable joint is disposed between the first rotating rod 20 and the fixing bracket 10, and the first rotating rod 20 rotates 360 ° around the first rotatable joint. Specifically, the first rotating rod 20 and the fixing bracket 10 are both located in a vertical direction, and the fixing bracket 10 may be a triangular bracket.
In some embodiments, as shown in fig. 2, a second rotatable joint is disposed between the second rotating rod 30 and the first rotating rod 20, and the second rotating rod 30 rotates 360 ° around the second rotatable joint. Specifically, the second rotating rod 30 can rotate around the second rotatable joint to form an arbitrary angle with the first rotating rod 20, and fig. 2 is a schematic diagram showing that the second rotating rod 30 forms 90 ° with the first rotating rod 20, and by rotating, the second rotating rod 30 can form an arbitrary angle of 0-360 ° with the second rotating rod 20.
In some embodiments, as shown in fig. 2, a third rotatable joint is provided between the camera housing 40 and the second rotating rod 30, and the camera housing 40 rotates 360 ° around the third rotatable joint. Set up and be in 6 camera lenses on the camera housing 40 all can carry out 360 rotations, and the cooperation tripod is used, can carry out 720 all-round shootings, can be applied to various strabismus scenes.
In summary, the multi-lens strabismus equal-resolution camera system provided by the invention has a simple structure and is convenient to operate, namely 720-degree omnibearing real-time data acquisition can be carried out by utilizing a plurality of variable-focus lenses and matching with a rotating bracket, especially equal-resolution photos can be acquired in a strabismus environment, and the technology can be applied to a plurality of fields of oblique photogrammetry, high-definition photography and the like. The multi-lens strabismus equal-resolution camera system can effectively reduce the problems of uneven distribution of the resolution of the camera shot pictures under the strabismus condition and the like; meanwhile, the structure is simple, the production is easy, and the application range is wide.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims (9)

1. The utility model provides a many camera lenses strabismus is equal resolution ratio camera system which characterized in that, including the fixed bolster, with the fixed bolster syntropy and rotate the first rotary rod of being connected, with first rotary rod rotate the second rotary rod of being connected, with the second rotary rod rotates the camera casing of being connected, and sets up camera lens subassembly on the camera casing, the camera lens subassembly includes a close-up shot, two medium shot and three distant view camera lenses.
2. The system of claim 1, wherein the close-up, the intermediate and the distant views are arranged in a pyramid from top to bottom.
3. The system of claim 1, further comprising a switch module electrically connected to the lens assembly and a processing module electrically connected to the switch module; the switching module is used for sending the photographic data shot by the lens assembly to the processing module; the processing module is used for processing the received photographic data to form image data with equal resolution.
4. The system of claim 3, wherein the processing module is developed based on opencv.
5. A multi-lens strabismus equal resolution camera system according to claim 3, wherein a memory module is further provided within the camera housing, electrically connected to the processing module.
6. A multi-lens strabismus equal resolution camera system according to claim 3, wherein a POS module electrically connected to the memory module is further provided in the camera housing, the POS module being configured to obtain pose information and geographical position information of the lens assembly.
7. A multi-lens strabismus equal resolution camera system according to claim 1, wherein a first rotatable joint is provided between the first rotatable shaft and the fixed bracket, the first rotatable shaft being rotatable 360 ° around the first rotatable joint.
8. A multi-lens strabismus equal resolution camera system according to claim 1, wherein a second rotatable joint is provided between the second rotatable shaft and the first rotatable shaft, the second rotatable shaft being rotatable 360 ° about the second rotatable joint.
9. A multi-lens strabismus equal resolution camera system according to claim 1, wherein a third rotatable joint is provided between the camera housing and the second rotatable shaft, the camera housing being rotatable 360 ° about the third rotatable joint.
CN202011192932.2A 2020-10-30 2020-10-30 Multi-lens strabismus equal-resolution camera system Pending CN112351220A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113188520A (en) * 2021-04-30 2021-07-30 成都睿铂科技有限责任公司 Planning method and system for regional block surrounding type route and aerial photography method
CN113607138A (en) * 2021-10-09 2021-11-05 南通协同软件科技有限公司 Multi-lens oblique photogrammetry camera based on remote software support

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CN101668115A (en) * 2008-09-03 2010-03-10 中国科学院自动化研究所 Multi-lens multi-resolution camera
CN108513097A (en) * 2017-02-27 2018-09-07 杭州海康威视数字技术股份有限公司 A kind of more mesh photographic devices and monitoring system
US20180332197A1 (en) * 2015-11-06 2018-11-15 MOVR Designs Limited Active stabilisation system
CN209402651U (en) * 2018-12-20 2019-09-17 深圳光启空间技术有限公司 A kind of monitoring device
CN209877958U (en) * 2019-04-11 2019-12-31 广州笨笨网络科技有限公司 Oblique photography system
CN110672111A (en) * 2019-09-24 2020-01-10 广州大学 Vehicle driving path planning method, device, system, medium and equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101668115A (en) * 2008-09-03 2010-03-10 中国科学院自动化研究所 Multi-lens multi-resolution camera
US20180332197A1 (en) * 2015-11-06 2018-11-15 MOVR Designs Limited Active stabilisation system
CN108513097A (en) * 2017-02-27 2018-09-07 杭州海康威视数字技术股份有限公司 A kind of more mesh photographic devices and monitoring system
CN209402651U (en) * 2018-12-20 2019-09-17 深圳光启空间技术有限公司 A kind of monitoring device
CN209877958U (en) * 2019-04-11 2019-12-31 广州笨笨网络科技有限公司 Oblique photography system
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113188520A (en) * 2021-04-30 2021-07-30 成都睿铂科技有限责任公司 Planning method and system for regional block surrounding type route and aerial photography method
CN113607138A (en) * 2021-10-09 2021-11-05 南通协同软件科技有限公司 Multi-lens oblique photogrammetry camera based on remote software support
CN113607138B (en) * 2021-10-09 2021-12-24 南通协同软件科技有限公司 Multi-lens oblique photogrammetry camera based on remote software support

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