CN113784048B - Camera imaging method, camera system and unmanned aerial vehicle - Google Patents
Camera imaging method, camera system and unmanned aerial vehicle Download PDFInfo
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- 238000003384 imaging method Methods 0.000 title claims abstract description 216
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000003331 infrared imaging Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000001931 thermography Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- H04N23/665—Control of cameras or camera modules involving internal camera communication with the image sensor, e.g. synchronising or multiplexing SSIS control signals
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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Abstract
The application discloses a camera imaging method, a camera system and an unmanned aerial vehicle, wherein the camera imaging method is applied to the camera system of the unmanned aerial vehicle, the camera system comprises a signal triggering device and a signal receiving device, and the method comprises the following steps: the signal triggering device acquires a shooting instruction; the signal triggering device generates a triggering signal with a preset triggering frame rate according to the shooting instruction; the signal receiving device exposes at a preset trigger frame rate according to the trigger signal; the preset trigger frame rate is larger than the default exposure frame rate of the signal receiving device. The application adjusts the exposure frame rate of the signal receiving device to the preset trigger frame rate, thereby enabling the signal receiving device to expose according to the preset trigger frame rate and realizing double-light synchronous exposure.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a camera imaging method, a camera system and an unmanned aerial vehicle.
Background
At present, an important application of an unmanned aerial vehicle in industry is aerial photography investigation, a load carried by the unmanned aerial vehicle generally carries a camera system combining visible light and infrared thermal imaging, double lights are fused together and output, and if double light exposure is asynchronous, a picture has a smear or a front-back phenomenon, so that a shooting effect is influenced.
Disclosure of Invention
In order to solve the problem of asynchronous double-light exposure in an aerial camera in the prior art, the application aims to provide a camera imaging method, a camera system and an unmanned aerial vehicle.
The application provides a camera imaging method, which is applied to a camera system of an unmanned aerial vehicle, wherein the camera system comprises a signal triggering device and a signal receiving device, and the method comprises the following steps:
the signal triggering device acquires a shooting instruction;
the signal triggering device generates a triggering signal with a preset triggering frame rate according to the shooting instruction;
the signal receiving device exposes according to the trigger signal at the preset trigger frame rate; wherein the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device.
In an embodiment of the present application, the signal triggering device is a first imaging device, the signal receiving device is a second imaging device, the preset triggering frame rate is a default exposure frame rate of the first imaging device, and the default exposure frame rate of the first imaging device is greater than the default exposure frame rate of the second imaging device; then the first time period of the first time period,
the signal receiving device exposes according to the trigger signal at the preset trigger frame rate, and comprises:
the second imaging device exposes at a default exposure frame rate of the first imaging device according to the trigger signal.
In an embodiment of the application, the method further comprises:
and fusing the image generated by the first imaging device according to the default exposure frame rate and the image generated by the second imaging device according to the default exposure frame rate of the first imaging device.
In an embodiment of the present application, the signal triggering device is a main processor, the signal receiving device is a first imaging device and a second imaging device, the preset trigger frame rate is a trigger frame rate of the main processor, and the trigger frame rate of the main processor is greater than a default exposure frame rate of the first imaging device and a default exposure frame rate of the second imaging device; then the first time period of the first time period,
the signal receiving device exposes according to the trigger signal at the preset trigger frame rate, and comprises:
the first imaging device and the second imaging device expose at a trigger frame rate of the main processor according to the trigger signal.
In an embodiment of the application, the method further comprises:
and fusing the image generated by the first imaging device according to the trigger frame rate of the main processor with the image generated by the second imaging device according to the trigger frame rate of the main processor.
In an embodiment of the application, the first imaging device is a visible light imaging lens, and the second imaging device is an infrared imaging lens.
In an embodiment of the application, the first imaging device is an infrared imaging lens, and the second imaging device is a visible light imaging lens.
In an embodiment of the application, the method further comprises:
and performing scaling processing on the image generated by the visible light lens exposure.
The application also provides a camera system, which comprises a signal triggering device and a signal receiving device; wherein,,
the signal triggering device is used for acquiring shooting instructions; and
generating a trigger signal with a preset trigger frame rate according to the shooting instruction;
the signal receiving device is used for exposing at the preset trigger frame rate according to the trigger signal; wherein the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device.
In an embodiment of the present application, the signal triggering device is a first imaging device, the signal receiving device is a second imaging device, the preset triggering frame rate is a default exposure frame rate of the first imaging device, and the default exposure frame rate of the first imaging device is greater than the default exposure frame rate of the second imaging device.
In an embodiment of the present application, the signal triggering device is a main processor, the signal receiving device is a first imaging device and a second imaging device, the preset trigger frame rate is a trigger frame rate of the main processor, and the trigger frame rate of the main processor is greater than a default exposure frame rate of the first imaging device and a default exposure frame rate of the second imaging device.
In an embodiment of the application, the first imaging device is a visible light imaging lens, and the second imaging device is an infrared imaging lens.
In an embodiment of the application, the first imaging device is an infrared imaging lens, and the second imaging device is a visible light imaging lens.
The application also provides an unmanned aerial vehicle, which comprises a fuselage, a horn connected with the fuselage, a power device for providing flight power for the unmanned aerial vehicle and the camera system, wherein the camera system is arranged on the fuselage.
The application has the beneficial effects that: by arranging the signal triggering device and the signal receiving device, the signal triggering device generates a triggering signal with a preset triggering frame rate according to a shooting instruction, and the signal receiving device exposes according to the triggering signal at the preset triggering frame rate, so that synchronous exposure is realized, and the shooting quality is improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a camera system in an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a first imaging device sending a trigger signal to a second imaging device according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a main processor sending a trigger signal to a first imaging device and a second imaging device according to an embodiment of the present application;
FIG. 5 is a flowchart of a method for imaging a camera according to an embodiment of the present application;
fig. 6 is a schematic diagram illustrating signal synchronization between a first imaging device and a second imaging device according to an embodiment of the application.
Detailed Description
The present application will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
As shown in fig. 1, the camera imaging method provided by the embodiment of the present application is applied to a camera system of an unmanned aerial vehicle, where the unmanned aerial vehicle 100 may be a suitable unmanned aerial vehicle, including a fixed-wing unmanned aerial vehicle and a rotary-wing unmanned aerial vehicle, such as a helicopter, a quadrotor, and an aerial vehicle having other numbers of rotors and/or rotor configurations. The unmanned aerial vehicle 100 may also be other movable objects such as manned aircraft, model airplane, unmanned airship, unmanned hot air balloon, etc.
In some embodiments, the drone 100 includes a fuselage 10, a horn 20 coupled to the fuselage 10, a power device 40 disposed on the horn 20, and a camera system 30 disposed on the fuselage 10, wherein the power device 40 is configured to provide flight power to the drone 100. As shown in fig. 2, the camera system 30 includes a signal triggering device 31 and a signal receiving device 32. The signal triggering device 31 is configured to obtain a shooting instruction, and generate a trigger signal with a preset trigger frame rate according to the shooting instruction.
The signal receiving device 32 is configured to perform exposure at the preset trigger frame rate according to the trigger signal; wherein the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device.
As shown in fig. 3, in an embodiment of the present application, the signal triggering device 31 is a first imaging device 310, the signal receiving device 32 is a second imaging device 320, the preset triggering frame rate is a default exposure frame rate of the first imaging device 310, and the default exposure frame rate of the first imaging device 310 is greater than the default exposure frame rate of the second imaging device 320. The first imaging device 310 is exposed according to the default exposure frame rate of the first imaging device, and transmits a trigger signal to the second imaging device 320 before exposure, i.e., the first imaging device 310 transmits the trigger signal to the second imaging device 320 and then immediately exposes. The second imaging device 320 performs exposure at a default exposure frame rate of the first imaging device according to the trigger signal, thereby enabling the first imaging device 310 and the second imaging device 320 to perform synchronous exposure.
As shown in fig. 4, in an embodiment of the present application, the signal triggering device 31 may be a main processor 311 of the camera system 30, and the signal receiving device 32 is a first imaging device 321 and a second imaging device 322. The preset trigger frame rate is the trigger frame rate of the main processor 311, and the trigger frame rate of the main processor 311 is greater than the default exposure frame rate of the first imaging device 321 and the default exposure frame rate of the second imaging device 322. The transmission time of two adjacent trigger signals of the main processor 311 is smaller than the exposure time interval of two adjacent frames of images when the first imaging device 321 is exposed according to the default exposure frame rate, and the transmission time interval of two adjacent trigger signals of the main processor 311 is smaller than the exposure time interval of two adjacent frames of images when the second imaging device 322 is exposed according to the default exposure frame rate. The first imaging device 321 and the second imaging device 322 perform timing after each exposure, perform exposure after receiving the trigger signal, re-time, and receive the trigger signal when the exposure time corresponding to the default frame rate is not reached, re-time after exposure, and sequentially go on, wherein the first imaging device 321 and the second imaging device 322 are both adjusted to perform exposure according to the frame rate of the trigger signal. The first imaging device 321 and the second imaging device 322 perform exposure at a trigger frame rate of the main processor 311 according to the trigger signal, thereby realizing synchronous exposure of the first imaging device 321 and the second imaging device 322.
In the above embodiments, the first imaging device is a visible light imaging lens, and the second imaging device is an infrared imaging lens. Or, the first imaging device is an infrared imaging lens, and the second imaging device is a visible light imaging lens.
As shown in fig. 5, the method for imaging a camera provided by the embodiment of the present application is performed by the camera system 30 of the unmanned aerial vehicle 100, and includes:
step S101: the signal triggering device acquires shooting instructions.
For example, when a user operates a photographing key on a camera, a photographing instruction is generated.
Step S102: the signal triggering device generates a triggering signal with a preset triggering frame rate according to the shooting instruction.
The signal triggering device may be any one of the first imaging device, the second imaging device, or the main processor. The first imaging device and the second imaging device are independently exposed, the first imaging device is exposed according to a default exposure frame rate of the first imaging device when the trigger signal is not received, and the second imaging device is exposed according to a default exposure frame rate of the second imaging device when the trigger signal is not received. The trigger signal may be sent by the first imaging device to the second imaging device according to a default exposure frame rate of the first imaging device, where the preset trigger frame rate is the default exposure frame rate of the first imaging device. The second imaging device may also send the default exposure frame rate of the second imaging device to the first imaging device, where the default trigger frame rate is the default exposure frame rate of the second imaging device. Alternatively, the trigger frame rate is sent by the host processor to the first imaging device and the second imaging device, and the first imaging device or the second imaging device exposes the image at the trigger frame rate of the host processor. At this time, the preset trigger frame rate is the trigger frame rate of the main processor.
Step S103: the signal receiving device exposes according to the trigger signal at the preset trigger frame rate; wherein the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device.
As shown in fig. 3, in the first embodiment, the signal triggering device is a first imaging device, the signal receiving device is a second imaging device, and the preset trigger frame rate is a default exposure frame rate of the first imaging device. The trigger signal is sent to the second imaging device by the first imaging device according to the default exposure frame rate of the first imaging device, the default exposure frame rate of the first imaging device is larger than the default exposure frame rate of the second imaging device, and the time interval of exposure of two adjacent frames of images generated by the first imaging device according to the default exposure frame rate exposure is smaller than the time interval of exposure of two adjacent frames of images generated by the second imaging device according to the default exposure frame rate exposure. The first imaging device is exposed according to the default exposure frame rate of the first imaging device, and a trigger signal is sent to the second imaging device before exposure, namely, the first imaging device sends the trigger signal to the second imaging device and then is exposed immediately. The second imaging device exposes at a default exposure frame rate of the first imaging device according to the trigger signal, so that the first imaging device and the second imaging device realize synchronous exposure. In an embodiment of the present application, the method may further include a step of fusing an image generated by the first imaging device according to the default exposure frame rate thereof with an image generated by the second imaging device according to the default exposure frame rate of the first imaging device, to obtain a photographed image.
Specifically, as shown in fig. 6, the time interval of exposure of two adjacent frames of images of the first imaging device is t1, and the time interval of exposure of two adjacent frames of images of the second imaging device is t2, t2> t1. The first imaging device and the second imaging device are internally provided with timers, and the timers are rechemed after each exposure is completed so as to carry out the next exposure. When receiving the shooting instruction, the first imaging device exposes once after the time t1, and simultaneously sends a trigger signal to the second imaging device. The second imaging device is exposed once after t2 time, namely point A, when the trigger signal reaches the second imaging device, namely point B, the exposure is carried out once again, the time is counted after the exposure, namely point C, the trigger signal reaches the second imaging device, the exposure of the second imaging device is carried out again after t1 time is counted again, and the time is counted again after the exposure, because t2> t1, when the time is not counted up to t2, the second imaging device is exposed, and then the second imaging device is adjusted to carry out exposure once every t1 time, so that the exposure time of the first imaging device and the second imaging device is the same, and the synchronous exposure of the first imaging device and the second imaging device is realized. And fusing the images generated by exposing each frame of the first imaging device and the second imaging device to obtain the shooting image of each frame.
In a first implementation manner, the first imaging device is a visible light lens, the second imaging device is an infrared thermal imaging lens, the visible light lens exposes according to a default frame rate of the infrared imaging lens, and simultaneously, a trigger signal is sent to the infrared imaging lens, and the infrared imaging lens exposes according to the trigger signal.
In another implementation, the first imaging device is an infrared thermal imaging lens, the second imaging device is a visible light lens, that is, the infrared thermal imaging lens exposes according to its default frame rate, and simultaneously sends a trigger signal to the visible light lens, so that the visible light lens can be exposed according to the trigger signal.
In another embodiment of the present application, as shown in fig. 4, the signal triggering device is a main processor, the signal receiving device is a first imaging device and a second imaging device, the triggering signal is sent to the first imaging device and the second imaging device by the main processor, the preset triggering frame rate is the triggering frame rate of the main processor, and the triggering frame rate of the main processor is greater than the default exposure frame rate of the first imaging device and the default exposure frame rate of the second imaging device. The transmission time of the two adjacent trigger signals of the main processor is smaller than the exposure time interval of the two adjacent frames of images when the first imaging device exposes according to the default exposure frame rate, and the transmission time interval of the two adjacent trigger signals of the main processor is smaller than the exposure time interval of the two adjacent frames of images when the second imaging device exposes according to the default exposure frame rate. The first imaging device and the second imaging device are timed after each exposure, are exposed after receiving the trigger signal, are re-timed, and are re-timed after receiving the trigger signal when the exposure time corresponding to the default frame rate is not reached, and are sequentially controlled to be exposed according to the frame rate of the trigger signal. The first imaging device and the second imaging device perform exposure at a trigger frame rate of the main processor according to the trigger signal, thereby realizing synchronous exposure of the first imaging device and the second imaging device. And fusing the images generated by the exposure of the first imaging device and the second imaging device according to the trigger frame rate of the main processor to obtain a shooting image.
The first imaging device is a visible light imaging lens, and the second imaging device is an infrared imaging lens; or the first imaging device is an infrared imaging lens, and the second imaging device is a visible light imaging lens.
In an embodiment of the application, the image generated by the exposure of the visible light lens is fused with the infrared imaging lens after being scaled, so that the resolution of the output image is ensured.
In the above embodiment, the exposure frame rate of the first imaging device or the second imaging device is adjusted by generating the trigger signal, so that synchronous exposure of the first imaging device and the second imaging device is realized, and the definition of the output image of the camera is ensured.
From the above description of embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus a necessary general hardware platform. Based on such an understanding, the solution of the application may be embodied essentially or in part in the form of a software product that contributes to the state of the art. The computer software product is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, the foregoing reference numerals of the embodiments of the present application are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The above embodiments are only preferred embodiments of the present application, and the scope of the present application is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present application are intended to be within the scope of the present application as claimed.
Claims (8)
1. A camera imaging method applied to a camera system including at least two imaging devices, the camera system including a signal triggering device and a signal receiving device, the method comprising:
the signal triggering device acquires a shooting instruction;
the signal triggering device generates a triggering signal with a preset triggering frame rate according to the shooting instruction;
the imaging device controls at least two imaging devices to expose at the preset trigger frame rate according to the trigger signal; wherein the preset trigger frame rate is greater than a default exposure frame rate of the signal receiving device;
the camera system comprises a main processor, a first imaging device and a second imaging device, wherein the main processor is the signal trigger device, the preset trigger frame rate is the trigger frame rate of the main processor, and the trigger frame rate of the main processor is larger than the default exposure frame rate of the first imaging device and the default exposure frame rate of the second imaging device; then the first time period of the first time period,
the transmission interval time of the two adjacent trigger signals of the main processor is smaller than the exposure time interval of the two adjacent frames of images when the first imaging device exposes according to the default exposure frame rate of the first imaging device, and smaller than the exposure time interval of the two adjacent frames of images when the second imaging device exposes according to the default exposure frame rate of the second imaging device;
the signal receiving device exposes according to the trigger signal at the preset trigger frame rate, and comprises:
the first imaging device and the second imaging device expose at a trigger frame rate of the main processor according to the trigger signal.
2. The camera imaging method of claim 1, wherein the method further comprises:
and fusing images generated by controlling at least two imaging devices to expose at the preset trigger frame rate according to the trigger signals.
3. The camera imaging method of claim 1, wherein the imaging device comprises at least one visible light imaging lens and at least one infrared imaging lens.
4. The camera imaging method of claim 1, wherein an image produced by exposure of the imaging device is scaled.
5. A camera system, characterized in that the camera system comprises a signal triggering device and at least two imaging devices; wherein,,
the signal triggering device is used for acquiring shooting instructions; and
generating a trigger signal with a preset trigger frame rate according to the shooting instruction;
the imaging device is used for exposing at the preset trigger frame rate according to the trigger signal; wherein the preset trigger frame rate is greater than a default exposure frame rate of the imaging device;
the camera system signal triggering device is a main processor, the camera system comprises a first imaging device and a second imaging device, the preset triggering frame rate is the triggering frame rate of the main processor, and the triggering frame rate of the main processor is larger than the default exposure frame rate of the first imaging device and the default exposure frame rate of the second imaging device; the transmission interval time of the two adjacent trigger signals of the main processor is smaller than the exposure time interval of the two adjacent frames of images when the first imaging device exposes according to the default exposure frame rate of the first imaging device, and smaller than the exposure time interval of the two adjacent frames of images when the second imaging device exposes according to the default exposure frame rate of the second imaging device.
6. The camera system of claim 5, wherein the imaging device is further configured to fuse images generated by controlling at least two imaging devices to be exposed at the preset trigger frame rate according to the trigger signal, and perform a scaling process on the images generated by the exposure of the imaging devices.
7. The camera system of claim 5, wherein the imaging device comprises at least one visible light imaging lens and at least one infrared imaging lens.
8. An unmanned aerial vehicle comprising a fuselage, a horn connected to the fuselage, a power device for providing flight power to the unmanned aerial vehicle, and a camera system according to any one of claims 5 to 7, the camera system being provided on the fuselage.
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| CN110611765B (en) | 2021-10-15 |
| CN113784048A (en) | 2021-12-10 |
| CN110611765A (en) | 2019-12-24 |
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