CN113519153B - Image acquisition method, image acquisition device, control device, computer equipment, readable storage medium, image acquisition equipment and remote driving system - Google Patents
Image acquisition method, image acquisition device, control device, computer equipment, readable storage medium, image acquisition equipment and remote driving system Download PDFInfo
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Abstract
An image acquisition method, an image acquisition device, a control device, computer equipment, a readable storage medium, image acquisition equipment and a remote driving system, wherein the image acquisition is applied to the image acquisition device, the image acquisition device comprises an image sensor and a main control assembly, and the method comprises the following steps: sending a frame synchronization signal to the image sensor, wherein the frame synchronization signal is used for enabling the image sensor to output image data; and sending an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for interrupting the current processing of the main control assembly and processing the image data, and the frame synchronization signal and the interrupt signal are synchronous. The image acquisition method provided by the application can accurately control the image data output and can accurately acquire the image output time.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to an image capturing method, an image capturing device, a control device, a computer device, a readable storage medium, an image capturing device, and a remote driving system.
Background
The image capturing device refers to a device capable of capturing an image or video. The image capturing device includes, but is not limited to, a camera, a video camera, a scanner, and a device with a photographing function. The image acquisition device comprises an image sensor and a main control assembly connected with the image sensor.
In the conventional art, an image sensor outputs an image at a fixed frame rate. For example, assuming that the frame rate is 10 frames per second, the image sensor outputs images at 0ms, 100ms, 200ms. The main control component receives the image output by the image sensor and takes the time of receiving the image output by the image sensor as the image output time.
However, in some application scenarios, it is necessary to accurately control the image output of the image sensor and acquire the image output time. The traditional image acquisition method has the problem of poor image output real-time performance.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide an image capturing method, an image capturing device, a control device, a computer device, a readable storage medium, an image capturing device, and a remote driving system.
An image acquisition method is applied to an image acquisition device, the image acquisition device comprises an image sensor and a main control assembly, and the method comprises the following steps:
sending a frame synchronization signal to the image sensor, wherein the frame synchronization signal is used for enabling the image sensor to output image data;
and sending an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for enabling the main control assembly to interrupt the current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronous.
A method of image acquisition, the method further comprising:
if an interrupt signal sent by a trigger controller is received, interrupting the current processing;
receiving image data sent by an image sensor, wherein the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronous with the interrupt signal;
and processing the image data.
A control device, the control device comprising:
the frame synchronization signal sending module is used for sending a frame synchronization signal to an image sensor, and the frame synchronization signal is used for enabling the image sensor to output image data;
and the interrupt signal sending module is used for sending an interrupt signal to a main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for enabling the main control assembly to interrupt the current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronous.
An image acquisition device, the device comprising an image sensor and a master control assembly, the master control assembly comprising:
the interrupt module is used for interrupting the current processing if receiving an interrupt signal sent by the trigger controller;
a receiving module, configured to receive image data sent by the image sensor, where the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronized with the interrupt signal;
and the processing module is used for processing the image data.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the image acquisition method described above.
A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions, which when executed by the processor, cause the processor to perform the image acquisition method described above.
An image acquisition apparatus comprising:
the image acquisition device comprises an image sensor and a main control assembly, and the main control assembly is connected with the output end of the image sensor;
and a first output end of the trigger controller is connected with a frame synchronization port of the image sensor device, and a second output end of the trigger controller is connected with an interrupt generation IO port of the main control assembly.
A remote driving system, comprising:
an unmanned vehicle provided with an image capture device as described in any of the above;
and the control equipment is in signal connection with the unmanned vehicle and the trigger controller.
According to the image acquisition method, the image acquisition device, the control device, the computer device, the readable storage medium, the image acquisition device and the remote driving system, the frame synchronization signal is sent to the image sensor, so that the time generated by each frame of picture of the image sensor is synchronized with the time of the trigger signal (namely the frame synchronization signal), the frame output time sequence of the image sensor is changed, the image acquisition device immediately generates an image at the trigger moment, and therefore, the image can be immediately output when a user needs the image acquisition device, the image data can be output in real time, and the image acquisition time control is accurate. In addition, the time of generating the trigger signal can be used as the time of outputting the image data by the image sensor, the output time of each frame of image data can be acquired by the trigger signal, and the acquisition time is very accurate. In addition, according to the image acquisition method, the image acquisition device, the control device, the computer device, the readable storage medium, the image acquisition device and the remote driving system provided by the embodiment, the frame synchronization signal is sent to the image sensor, the interrupt signal is sent to the main control assembly, and the interrupt signal is synchronous with the frame synchronization signal, so that the image data is immediately processed by the main control assembly while the image sensor is triggered to output the image, the time delay of processing the image data does not exist, and the acquired image output time is more accurate.
Drawings
Fig. 1 is a schematic view of an application scenario of an image acquisition method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of an image acquisition method according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a method for image acquisition according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of an image acquisition method according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of an image acquisition method according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of an image acquisition method according to an embodiment of the present application;
FIG. 7 is a block diagram of a control device according to an embodiment of the present disclosure;
FIG. 8 is a block diagram of an image capture device according to an embodiment of the present disclosure;
fig. 9 is a block diagram of a computer device structure provided in an embodiment of the present application.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, the image capturing method provided in the embodiment of the present application may be applied to the image capturing apparatus shown in fig. 1, where the image capturing apparatus includes an image capturing device 102 and a control device 104. The control device 104 is in signal connection with the image capturing device 102, and can perform trigger control, image processing, and the like on the image capturing device. The image capturing device 102 may be, but is not limited to, a camera, a video camera, a scanner, a device with a photographing function, and the like. In some embodiments, image capture device 102 includes an image Sensor (Sensor) 1021 and a master component 1022. The main control component 1022 is in signal connection with the image sensor 1021. The master control component 1022 includes a processing chip capable of executing computer programs. The control device 104 includes a trigger controller 1041 and an image data processor 1042. The trigger controller 1041 is in signal connection with both the image sensor 1042 and the main control component 1022. The trigger controller 1041 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, or one module of these devices. Of course, the triggering controller 1041 may also be a device with triggering and/or controlling functions developed by itself. The image data processor 1042 may be in signal connection with the master control component 1022. The image data processor 1042 is used for processing the image data output by the image acquisition apparatus 102.
In some embodiments, the image capturing apparatus and the image capturing method described above may be applied to an automatic driving system. The image capturing device 102 may be disposed on an unmanned vehicle, and is configured to capture image information during the driving process of the vehicle. The trigger controller 1041 may be provided in the unmanned vehicle, or may be provided in a remote terminal capable of remotely controlling the unmanned vehicle.
Referring to fig. 2, an embodiment of the present application provides an image capturing method. The embodiment takes the method applied to the image capturing device shown in fig. 1, and takes the control device as an execution subject for explanation. The method comprises the following steps:
s110, a frame synchronization signal is transmitted to the image sensor, and the frame synchronization signal is used to enable the image sensor to output image data.
The trigger controller can comprise two signal output ends, wherein the first output end is in signal connection with the image sensor, and the second output end is connected with the main control assembly. The first output end of the trigger controller can be connected with a frame synchronization pin or a port of the image sensor, and the trigger controller sends a frame synchronization signal to the image sensor through the first output end. The frame synchronization signal may be a rectangular signal. When the image sensor receives the frame synchronization signal and the signal is at the rising edge, the image sensor immediately ends the exposure and outputs the image data of the current frame. And image data output by the image sensor is transmitted to the main control assembly. In other words, the frame synchronization signal is a trigger signal for triggering the image sensor to trigger the acquisition.
And S120, sending an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for enabling the main control assembly to interrupt the current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronous.
The second output terminal of the trigger controller may be connected to the interrupt generation IO port of the master control component. And the trigger controller sends an interrupt signal to the main control assembly through the second output end while sending the frame synchronization signal to the image sensor. When the main control assembly receives the interrupt signal and the signal is at the rising edge, the main control assembly immediately interrupts the processing program and starts to process the image data sent by the image sensor. Processing the image data may include receiving the image data, recording information related to the image data, and further transmitting the image to an image data processor or the like.
The frame synchronization signal and the interrupt signal are synchronized, which means that the waveforms, the trigger times, and the like of the two signals are consistent. The frame synchronization signal and the interrupt signal may be understood as inputting the same signal to two different ports.
In the method provided by the embodiment, the frame synchronization signal is sent to the image sensor, so that the time for generating each frame of picture of the image sensor is synchronized with the time of the trigger signal (namely, the frame synchronization signal), the frame output time sequence of the image sensor is changed, and the image acquisition device immediately generates one image at the trigger moment. In addition, the time for generating the trigger signal can be used as the time for outputting the image data by the image sensor, the output time of each frame of image data can be acquired by the trigger signal, and the acquisition time is very accurate. In addition, the method provided by the embodiment sends the frame synchronization signal to the image sensor, and simultaneously sends the interrupt signal to the main control assembly, and the interrupt signal is synchronous with the frame synchronization signal, so that the image data is immediately processed by the main control assembly while the image sensor is triggered to output the image, and the time delay of processing the image data does not exist, so that the acquired image output time is more accurate.
Referring to fig. 3, in an embodiment, the method further includes:
s130, receiving image data sent by the main control assembly;
and S140, receiving image output time corresponding to the image data sent by the main control assembly, wherein the image output time is the time of the first frame of image data received by the main control assembly after the interrupt signal.
And after receiving the interrupt signal, the main control assembly interrupts the current processing, receives the image data sent by the image sensor and records the image output time of the image data. Wherein the image output time may be by recording a time when the first frame image data is received after the interrupt signal. In other embodiments, the image output time may also be the time when the master control component receives the interrupt signal. Since the frame synchronization signal and the interrupt signal are synchronization signals, the time of the first frame of image data after the interrupt signal and the time of receiving the interrupt signal are almost the same, and the resulting image output time is almost the same. The method ensures that the image output time is simple and convenient to determine, and the determined image output time is more accurate.
The main control component further transmits the acquired image data and the image output time to an image data processor in the control device. The image data processor receives image data and an output time of the image data.
In one embodiment, the frame synchronization signal and the interrupt signal are both rectangular wave signals.
Referring to fig. 4, an embodiment of the present application provides an image capturing method, and the embodiment of the present application takes the method applied to an image capturing device, and specifically takes the application to a main control assembly as an example for description. The method comprises the following steps:
s210, if an interrupt signal sent by a trigger controller is received, interrupting the current processing;
s220, receiving image data sent by an image sensor, wherein the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronous with an interrupt signal;
and S230, processing the image data.
The connection mode between the image sensor, the main control module and the trigger controller, and the signal sending mode of the trigger controller are referred to in the above embodiments, and are not described herein again. When the main control assembly receives the interrupt signal, the main control assembly immediately interrupts the program which is currently processed and receives the image data output by the image sensor. The main control assembly processes the received image data, and the processing includes but is not limited to transmitting the image data to the control device, and acquiring the image data time of the image data.
In this embodiment, when receiving an interrupt signal sent by the trigger controller, the current processing is interrupted, and image data sent by the image sensor is received to process the image data. Therefore, after the image data is output from the image sensor, the image data can be immediately received and processed by the main control assembly, waiting is avoided, the efficiency of image output and processing is improved, the output time of the image data does not contain waiting time and delay time, and the accuracy of the obtained image output time is high.
In one embodiment, S30, processing the image data includes:
and determining the output time of the image data to obtain the image data time.
The main control component determines the image data time according to the received image data. There are various methods of determining the image data time of the image data, and in one embodiment, the time when the first frame of image data is received after the interrupt signal may be determined as the image output time. In another embodiment, the time when the interrupt signal is received may also be determined as the image output time. Since the frame synchronization signal and the interrupt signal are synchronization signals, the time of the first frame of image data after the interrupt signal and the time of receiving the interrupt signal are almost the same, and the resulting image output time is almost the same. The method ensures that the image output time is simple and convenient to determine, and the determined image output time is more accurate.
Referring to fig. 5, in an embodiment, the method further includes:
s240, recording image output time;
and S250, sending the image output time to the image data processor.
And the main control assembly records the acquired image output time and further sends the image output time to the image data processor for the next use. Of course, the main control component may also send the image output time to other control devices, which is not limited in this embodiment of the present application.
Continuing to refer to fig. 5, in one embodiment, the method further comprises:
s260, the image data is sent to the image data processor.
And the main control assembly sends the image data to the image data processor for the image data processor to perform the next processing or output.
Referring to fig. 6, in the present embodiment, an image capturing method is applied to an image capturing device as an example, and the whole process of the method is described, where the method includes:
s301, triggering the controller to send a frame synchronization signal to the image sensor;
s302, when sending the frame synchronization signal, triggering the controller to send an interrupt signal to the main control assembly, wherein the interrupt signal is synchronous with the frame synchronization signal;
s303, the image sensor outputs image data according to the frame synchronization signal;
s304, the image sensor sends the image data to the main control assembly;
s305, the main control assembly receives the interrupt signal, interrupts the current processing and receives the image data sent by the image sensor;
s306, the main control assembly determines the output time of the image data to obtain the image output time;
s307, the master control assembly records image output time;
s308, the main control component sends the image output time and the image data to the image data processor;
s309, the image data processor receives the image data and the image output time.
For specific implementation and beneficial effects of the above processes, reference may be made to the above embodiments, which are not described herein again.
It should be understood that, although the steps in the flowchart are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
Referring to fig. 7, an embodiment of the present application provides a control device 104, which includes: a frame synchronization signal transmission module 110 and an interrupt signal transmission module 120. Wherein,
a frame synchronization signal sending module 110, configured to send a frame synchronization signal to the image sensor, where the frame synchronization signal is used to enable the image sensor to output image data;
an interrupt signal sending module 120, configured to send an interrupt signal to a master control component while sending the frame synchronization signal, where the interrupt signal is used to enable the master control component to interrupt current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronized.
In one embodiment, the control device 104 further comprises an image receiving module 130 for receiving the image data sent by the master component.
In one embodiment, the control device 104 further includes a time receiving module 140, which receives an image output time corresponding to the image data sent by the master component, where the image output time is a time of a first frame of image data received by the master component after the interrupt signal.
In one embodiment, the image output time is the time when the master control component receives the interrupt signal.
In one embodiment, the frame synchronization signal and the interrupt signal are both square wave signals.
Referring to fig. 8, an embodiment of the present application further provides an image capturing apparatus 102, where the apparatus image sensor 1021 and a main control component 1022 are provided, where the main control component 1022 includes: an interrupt module 210, a receive module 220, and a processing module 230. Wherein,
an interrupt module 210, configured to interrupt current processing if an interrupt signal sent by the trigger controller is received;
a receiving module 220, configured to receive image data sent by the image sensor, where the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronized with the interrupt signal;
a processing module 230, configured to process the image data.
In an embodiment, the processing module 230 is specifically configured to determine an output time of the image data, and obtain an image output time.
In one embodiment, the processing module 230 is specifically configured to determine a time when the first frame of image data is received after the interrupt signal as the image output time.
In one embodiment, the processing module 230 is further configured to determine a time when the interrupt signal is received as the image output time.
With continued reference to fig. 8, in an embodiment, the main control component 1022 further includes a recording module 240 and an output module 250, where the recording module 240 is configured to record the image output time; the output module 250 is configured to send the image output time to the image data processor.
In one embodiment, the recording module 240 is further configured to send the image data to an image data processor.
The control device 104 and the image capturing device 102 provided in the above embodiments have similar implementation principles and technical effects to those of the above method embodiments, and are not described herein again.
The division of the modules in the control device 104 and the image capturing device 102 is only used for illustration, and in other embodiments, the control device 104 and the image capturing device 102 may be divided into different modules as needed to complete all or part of the functions of the control device 104 and the image capturing device 102.
The modules in the control device 104 and the image capturing device 102 may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 9, in one embodiment, a schematic diagram of an internal structure of a computer device is provided. The computer device includes a processor, a memory, and a display screen connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole computer equipment. The memory is used for storing data, programs, and/or instruction codes, and the like, and the memory stores at least one computer program which can be executed by the processor to realize the image acquisition method suitable for the computer device provided in the embodiment of the application. The Memory may include a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random-Access-Memory (RAM). For example, in one embodiment, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a database, and a computer program. The database stores data related to implementing an image capturing method provided in the above embodiments, for example, information such as a name of each process or application may be stored. The computer program can be executed by a processor for implementing an image acquisition method provided by various embodiments of the present application. The internal memory provides a cached operating environment for the operating system, databases, and computer programs in the non-volatile storage medium. The display screen may be a touch screen, such as a capacitive screen or an electronic screen, and is configured to display interface information of an application corresponding to a foreground process, and also may be configured to detect a touch operation applied to the display screen, and generate a corresponding instruction, such as a switching instruction for performing foreground and background applications.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components. For example, the computer device further includes a network interface connected via the system bus, where the network interface may be an ethernet card or a wireless network card, and the like, and is used for communicating with an external computer device, such as a server.
In an embodiment of the application, the computer device comprises a processor which, when executing the computer program stored on the memory, performs the steps of:
sending a frame synchronization signal to the image sensor, wherein the frame synchronization signal is used for enabling the image sensor to output image data;
and sending an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for interrupting the current processing of the main control assembly and processing the image data, and the frame synchronization signal and the interrupt signal are synchronous.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and receiving the image data sent by the main control assembly.
In one embodiment, the processor when executing the computer program further performs the steps of: and receiving image output time corresponding to the image data sent by the main control assembly, wherein the image output time is the time of the first frame of image data received by the main control assembly after the interrupt signal.
In one embodiment, the image output time is the time when the master control component receives the interrupt signal.
In one embodiment, the frame synchronization signal and the interrupt signal are both rectangular wave signals.
In one embodiment, the computer device comprises a processor that when executing the computer program stored on the memory further performs the steps of:
if an interrupt signal sent by a trigger controller is received, interrupting the current processing;
receiving image data sent by an image sensor, wherein the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronous with the interrupt signal;
and processing the image data.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining the output time of the image data to obtain the image output time.
In one embodiment, the processor when executing the computer program further performs the steps of: and determining the time when the first frame of image data is received after the interrupt signal as the image output time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a time at which the interrupt signal is received as the image output time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: recording the image output time; and sending the image output time to an image data processor.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and sending the image data to an image data processor.
The processor of the computer device provided in the above embodiments implements steps when executing a computer program, and the implementation principle and technical effect thereof are similar to those of the above method embodiments, and are not described herein again.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the image acquisition method of:
sending a frame synchronization signal to the image sensor, wherein the frame synchronization signal is used for enabling the image sensor to output image data;
and sending an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for interrupting the current processing of the main control assembly and processing the image data, and the frame synchronization signal and the interrupt signal are synchronous.
In one embodiment, the computer program when executed by the processor further performs the steps of: and receiving the image data sent by the main control assembly.
In one embodiment, the computer program when executed by the processor further performs the steps of: and receiving image output time corresponding to the image data sent by the main control assembly, wherein the image output time is the time of first frame of image data received by the main control assembly after the interrupt signal. In one embodiment, the image output time is the time when the master control component receives the interrupt signal.
In one embodiment, the frame synchronization signal and the interrupt signal are both rectangular wave signals.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if an interrupt signal sent by a trigger controller is received, interrupting the current processing;
receiving image data sent by an image sensor, wherein the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronous with the interrupt signal;
and processing the image data.
In one embodiment, the computer program when executed by the processor further performs the steps of: and determining the output time of the image data to obtain the image output time.
In one embodiment, the computer program when executed by the processor further performs the steps of: and determining the time when the first frame of image data is received after the interrupt signal as the image output time.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a time at which the interrupt signal is received as the image output time.
In one embodiment, the computer program when executed by the processor further performs the steps of: recording the image output time; and sending the image output time to an image data processor.
In one embodiment, the computer program when executed by the processor further performs the steps of: and sending the image data to an image data processor.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
An embodiment of the present application further provides an image capturing apparatus, which includes an image capturing device and a control device. The image acquisition device comprises an image sensor and a main control assembly, and the output end of the image sensor is connected with the main control assembly. The control device is configured to execute the steps of the method in which any execution subject is the control device in the above embodiments, and the master control assembly is configured to execute the steps of the method in which any execution subject is the master control assembly in the above embodiments.
The control device comprises a trigger controller and an image data processor, wherein a first output end of the trigger controller is connected with a frame synchronization port of the image sensor, and a second output end of the trigger controller is connected with an IO port generated by interruption of the main control assembly. The image data processor is connected with the output end of the main control assembly.
In one embodiment, the number of image capture devices is multiple. Each image acquisition device is connected with the control device. In each image acquisition device, frame synchronization ports of the image sensors are connected with a first output end of the trigger controller, and IO ports generated by interruption of the main control assembly are connected with a second output end of the trigger controller. Therefore, synchronous control of the trigger controller on the plurality of acquisition devices can be realized, and the trigger time and the image output time of each image acquisition device can be ensured to be the same.
It should be noted that the control device and the main control assembly each include a memory and a processor, where the memory stores computer readable instructions, and when the instructions are executed by the processor, the processor executes the steps of the image capturing method in any of the embodiments.
The implementation principle and technical effect of the image acquisition device provided by the embodiment are similar to those of the method embodiment, and are not described again here.
An embodiment of the present application also provides a remote driving system including an unmanned vehicle and a control device. Wherein the unmanned vehicle is provided with an image capturing device as described in the above embodiments. The control equipment is in signal connection with the unmanned vehicle, the trigger controller and the image data processor. The control equipment can realize triggering and control of image acquisition through the trigger controller, realize collection and processing of image data through the image data processor, and control and drive the unmanned vehicle according to the image data.
The remote driving system provided by the embodiment includes the image capturing device, so that all the beneficial effects of the image capturing device are achieved, and the details are not repeated herein.
Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (20)
1. An image acquisition method is applied to an image acquisition device, the image acquisition device comprises an image sensor and a main control assembly, and the method is characterized by comprising the following steps:
the control device sends a frame synchronization signal to the image sensor, wherein the frame synchronization signal is used for enabling the image sensor to output image data;
and the control device sends an interrupt signal to the main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for enabling the main control assembly to interrupt the current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronous.
2. The method of claim 1, further comprising:
and receiving the image data sent by the main control assembly.
3. The method of claim 2, further comprising:
and receiving image output time corresponding to the image data sent by the main control assembly, wherein the image output time is the time of first frame of image data received by the main control assembly after the interrupt signal.
4. The method of claim 3, wherein the image output time is a time when the master component receives the interrupt signal.
5. The method of claim 1, further comprising:
the frame synchronization signal and the interrupt signal are both rectangular wave signals.
6. An image acquisition method, characterized in that the method comprises:
if an interrupt signal sent by a trigger controller in the control device is received, interrupting the current processing;
receiving image data sent by an image sensor, wherein the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronous with the interrupt signal;
and processing the image data.
7. The method of claim 6, wherein the processing the image data comprises:
and determining the output time of the image data to obtain the image output time.
8. The method of claim 7, wherein determining the output time of the image data resulting in an image output time comprises:
and determining the time when the first frame of image data is received after the interrupt signal as the image output time.
9. The method of claim 7, wherein determining the output time of the image data resulting in an image output time comprises:
determining a time at which the interrupt signal is received as the image output time.
10. The method of any of claims 6 to 9, further comprising:
recording the image output time;
and sending the image output time to an image data processor.
11. The method of claim 6, wherein the processing the image data comprises:
and sending the image data to an image data processor.
12. A control device, characterized in that the control device comprises:
the frame synchronization signal sending module is used for sending a frame synchronization signal to an image sensor, and the frame synchronization signal is used for enabling the image sensor to output image data;
and the interrupt signal sending module is used for sending an interrupt signal to a main control assembly while sending the frame synchronization signal, wherein the interrupt signal is used for enabling the main control assembly to interrupt the current processing and process the image data, and the frame synchronization signal and the interrupt signal are synchronous.
13. An image acquisition device, characterized in that the device includes image sensor and main control assembly, main control assembly includes:
the interrupt module is used for interrupting the current processing if an interrupt signal sent by a trigger controller in the control device is received;
a receiving module, configured to receive image data sent by the image sensor, where the image data is output by the image sensor according to a frame synchronization signal, and the frame synchronization signal is synchronized with the interrupt signal;
and the processing module is used for processing the image data.
14. A computer device comprising a memory and a processor, wherein the memory has stored therein computer readable instructions that, when executed by the processor, cause the processor to perform the image acquisition method of any one of claims 1 to 11.
15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the image acquisition method according to any one of claims 1 to 11.
16. An image acquisition apparatus, characterized by comprising:
the image acquisition device comprises an image sensor and a main control assembly, and the main control assembly is connected with the output end of the image sensor;
a first output end of the trigger controller is connected with a frame synchronization port of the image sensor device, a second output end of the trigger controller is connected with an interrupt generation IO port of the main control assembly, and the control device comprises the trigger controller;
the control device is used for sending a frame synchronization signal to the image sensor, and the frame synchronization signal is used for enabling the image sensor to output image data;
the control device is further configured to send an interrupt signal to the master control assembly while sending the frame synchronization signal, where the interrupt signal is used to cause the master control assembly to interrupt current processing and process the image data, where the frame synchronization signal and the interrupt signal are synchronized.
17. The image capturing apparatus according to claim 16, characterized by further comprising:
and the image data processor is connected with the output end of the main control assembly.
18. The image capturing apparatus of claim 16, wherein the number of the image capturing devices is plural.
19. A remote driving system, comprising:
an unmanned vehicle provided with an image capturing device as claimed in any one of claims 16 to 18;
and the control equipment is in signal connection with the unmanned vehicle and the trigger controller.
20. The remote driving system of claim 19, wherein the image capture device further comprises an image data processor connected to an output of the master control assembly, the control device being in signal connection with the image data processor.
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| PCT/CN2020/074934 WO2021159338A1 (en) | 2020-02-12 | 2020-02-12 | Image acquisition method and apparatus, control apparatus, computer device, readable storage medium, image acquisition device, and remote driving system |
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