CN114710617A - Photographing method, system, device and storage medium for dual-axis linear array camera - Google Patents
Photographing method, system, device and storage medium for dual-axis linear array camera Download PDFInfo
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- CN114710617A CN114710617A CN202210272447.9A CN202210272447A CN114710617A CN 114710617 A CN114710617 A CN 114710617A CN 202210272447 A CN202210272447 A CN 202210272447A CN 114710617 A CN114710617 A CN 114710617A
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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
- H04N23/67—Focus control based on electronic image sensor 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
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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Abstract
The invention discloses a photographing method of a double-axis linear array camera, which is used for a photographing system of the double-axis linear array camera, wherein the photographing system of the double-axis linear array camera comprises a servo motor, a driving shaft, a driven shaft and the linear array camera; the linear array camera is moved to photograph a line each time and then spliced into a picture after photographing for multiple times. The invention also discloses a linear array camera photographing system, linear array camera photographing equipment and a storage medium. According to the technical scheme, the line shooting frequency of the linear array camera can be controlled according to the output pulse signal of the servo motor, so that the shooting of the camera is not influenced by the speed, and the conditions of image stretching, compression abnormity and the like do not occur in the whole acceleration, uniform speed and deceleration processes, so that the image shooting effect is improved; the driven shaft moves along with the driving shaft, so that the moving stroke of the linear array camera is 2 times of that of the driving shaft, the image photographing effect is guaranteed, and the photographing range or area is enlarged.
Description
Technical Field
The invention relates to the technical field of cameras, in particular to a photographing method, a photographing system, photographing equipment and a storage medium of a dual-axis linear array camera.
Background
Line cameras are commonly used to detect continuous materials such as metal, plastic, paper, and fiber, among others. The linear array camera adopts a linear array image sensor to collect images at a high speed, and after the acquisition of one line each time, the linear array image sensor moves to the next unit precision length, and continues the acquisition of the next line, so that a two-dimensional picture is spliced after a period of time. In general, materials are different in size, the shooting range or area of a linear array camera is limited, and a linear array camera with a larger shooting range or area is required to shoot. In addition, a plurality of lines are spliced into an image, the object to be shot (or the line camera) is required to move along the image height direction, the image has high resolution, the shooting frequency of the line camera is required to be matched with the movement speed of the camera, if the shooting frequency is slow or fast, the situation that the shot image is stretched or compressed can be caused, specifically, if the shooting frequency of the camera is lower than the movement speed of the camera, the shot image is compressed, otherwise, the shot image is stretched, and the shot image cannot be deformed only if the shooting frequency of the camera is completely matched with the movement speed of the camera. In addition, in the prior art, the linear array camera only has one driving shaft during movement, the scanning and photographing range is only equal to the stroke of the driving shaft, and the photographing range, the photographing area and the photographing area are limited.
Disclosure of Invention
The invention aims to provide a photographing method of a dual-axis linear array camera to solve the technical problem, so that the photographing frequency of the camera is completely matched with the movement speed of the camera, the situations of image stretching, abnormal compression and the like are avoided, and the image photographing effect is improved.
Another objective of the present invention is to provide a photographing system of a dual-axis line camera, which can realize a 2-fold movement stroke of a driving shaft of the line camera, effectively enlarge a photographing range or area, and ensure an image photographing effect.
Therefore, the invention discloses a double-axis linear array camera photographing method, which is used for a double-axis linear array camera photographing system, wherein the double-axis linear array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a linear array camera, and comprises the following steps:
s1, acquiring the transverse view size of the linear array camera as FOV _ X;
s2, acquiring an output pulse signal P of the servo driver;
s3, acquiring the longitudinal stroke of the linear array camera to be 2L;
s4, calculating a horizontal pixel single-Scale X of the linear array camera, wherein the horizontal pixel single-Scale X is the ratio of a horizontal visual field size FOV _ X to a resolution ratio, and the Scale _ X is FOV _ X/resolution;
s5, calculating a longitudinal pixel single quantity of the linear array camera, wherein the longitudinal pixel single quantity Scale Y is equal to the transverse pixel single quantity Scale X, and the Scale _ Y is equal to the Scale X;
s6, calculating a line photographing frequency F of the linear array camera, wherein the line photographing frequency F is equal to the ratio of the longitudinal stroke 2L to the single-Scale Y of the longitudinal pixel, and F is 2L/Scale Y;
s7, calculating a coefficient k of the linear array camera, wherein the coefficient k is equal to the ratio of the photographing frequency to the pulse output number, and k is equal to F/P;
s8, providing a coefficient k to the dual-axis linear array camera system, and triggering the photographing frequency by the linear array camera;
and S9, moving the linear array camera once every line of shot, and splicing the pictures after multiple times of shooting.
The invention also discloses a photographing system of the double-shaft linear array camera, which comprises a servo motor, a driving shaft, a driven shaft and the linear array camera; the servo motor is used for driving the connected driving shaft to move; the driven shaft is connected with the driving shaft in a sliding manner, and the linear array camera is fixedly connected to the tail end of the driven shaft; the driving shaft comprises a sliding block group, a guide rail group, a first belt, a second belt and a body, the sliding block group is connected to the guide rail group in a sliding mode, and the first belt and the second belt are connected to the body in a sleeved mode; the servo motor is provided with a fixed piece and a first synchronous belt wheel, the fixed piece is fixedly connected with the sliding block group and the second belt, and the first synchronous belt wheel is connected with the first belt in a sliding manner; the servo motor drives the first belt to rotate, and further drives the driving shaft to move; the driven shaft is fixedly connected to the second belt and drives the driven shaft to move along with the second belt moving along with the driving shaft.
Preferably, a second synchronous pulley is arranged at the joint of the second belt and the body.
Preferably, the second belt is fixedly connected with the fixed part through the first positioning structure, and the second belt is fixedly connected with the driven shaft through the second positioning structure.
Preferably, the set of sliders comprises two sets of sliders for balancing the fixing member.
Preferably, the set of guide rails comprises two sets of guide rails for mating with the set of sliders.
Preferably, the double-axis line camera photographing system is further provided with an installation frame, and the line camera is fixedly connected to the driven shaft through the installation frame.
Preferably, the mounting rack is provided with an adjusting structure, and the adjusting structure is used for adjusting the shooting direction of the linear array camera.
In addition, the invention also discloses a double-axis linear array camera photographing device, which comprises: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method of photographing by a two-axis line camera as described above.
Secondly, the invention also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used for enabling a computer to execute the photographing method of the dual-axis linear array camera.
Compared with the prior art, the invention has the following beneficial effects:
the photographing method, the photographing system, the photographing equipment and the storage medium of the double-shaft linear array camera disclosed by the invention can control the line photographing frequency of the linear array camera according to the output pulse signal of the servo motor, so that the photographing of the camera is not influenced by the speed, and the conditions of image stretching, abnormal compression and the like do not occur in the whole process of acceleration, uniform speed and deceleration, so that the image photographing effect is improved; meanwhile, the driven shaft is added and is made to move along with the driving shaft, so that the moving stroke of the linear array camera is 2 times of that of the driving shaft, and the shooting range or area of the linear array camera is enlarged.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments or the related art will be briefly described below.
FIG. 1 is a schematic flow chart of a photographing method of a two-axis line camera according to the present invention;
FIG. 2 is a schematic diagram of the original state structure of the photographing system of the dual-axis line camera according to the present invention;
FIG. 3 is a schematic diagram of a top view structure of a photographing system of a two-axis line camera according to the present invention;
FIG. 4 is a schematic view of the bottom view of the photographing system of the dual-axis line camera according to the present invention;
FIG. 5 is a schematic side view of a photographing system of a two-axis line camera according to the present invention;
fig. 6 is a structural schematic diagram of the two-axis line camera photographing system in an unfolded state.
Reference numerals:
1. a servo motor; 11. a fixing member; 12. a first timing pulley; 2. a drive shaft; 21. a slider group; 22. a guide rail set; 23. a first belt; 24. a second belt; 241. a first positioning structure; 242. a second positioning structure; 25. a body; 26. a second timing pulley; 3. a driven shaft; 4. a line camera; 41. a mounting frame; 411. and adjusting the structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings in combination with the embodiments. It is to be understood that these descriptions are only illustrative and are not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention discloses a photographing method of a dual-axis linear array camera, in the embodiment, the photographing method of the dual-axis linear array camera is used for a photographing system of the linear array camera, the photographing system of the linear array camera comprises a servo motor, a driving shaft, a driven shaft and the linear array camera, and as shown in figure 1, the method comprises the following steps:
s1, acquiring the transverse view dimension of the linear array camera, and determining the transverse view dimension FOV _ X after the installation object distance of the linear array camera is selected.
And S2, acquiring an output pulse signal of each rotation of the servo motor, and determining if the servo motor is selected, such as an output pulse RS422 signal P.
And S3, acquiring the longitudinal stroke of the linear array camera, and determining the longitudinal stroke 2L after the driving shaft and the driven shaft are selected.
And S4, calculating the horizontal pixel single quantity of the linear array camera, and determining the numerical value of the resolution after the focal length of the lens of the linear array camera is selected, wherein the horizontal pixel single quantity Scale X of the linear array camera is the ratio of the horizontal visual field size FOV _ X to the resolution, and the Scale _ X is FOV _ X/resolution.
S5, calculating the longitudinal pixel single quantity of the linear array camera, and when the transverse pixel single quantity is equal to the longitudinal pixel single quantity, correctly reflecting the target size in the shot picture without compression or stretching abnormal conditions; and according to the fact that the longitudinal pixel single Scale Y is equal to the transverse pixel single Scale X, the Scale _ Y is equal to the Scale X.
S6, calculating the line photographing frequency of the linear array camera, and triggering the corresponding line of the camera to photograph once when the photographed target is to be actually restored by moving the distance of Scale X; if the line shooting frequency is fast, the target is compressed in the longitudinal direction in the shot picture; if the line shooting frequency is slow, the target is longitudinally stretched in the shot picture; according to the ratio of the line photographing frequency F equal to the vertical stroke 2L and the single-size Scale Y of the vertical pixels, F is 2L/Scale Y.
And S7, calculating coefficients of the linear array camera, setting the coefficient k to be equal to the ratio of the photographing frequency F to the output pulse signal P, and setting k to be F/P.
And S8, providing the coefficient k to the two-axis line camera system, and triggering the line camera to shoot at a shooting frequency. And controlling the line photographing frequency F of the linear array camera according to the output pulse RS422 signal P of the servo motor, wherein F is k and P, so that the influence of the moving speed of the dual-axis linear array camera system is avoided.
And S9, moving the linear array camera once every line of shot, and splicing the pictures after multiple times of shooting. Therefore, the abnormal conditions of image stretching or compression can not occur in the whole photographing process of the acceleration, uniform speed and deceleration of the dual-axis linear array camera system.
In order to facilitate the implementation of the photographing method, the invention also discloses a photographing system of the dual-axis linear array camera, which comprises a servo motor 1, a driving shaft 2, a driven shaft 3 and a linear array camera 4, wherein as shown in fig. 2 to 5, the servo motor 1 is used for driving the driving shaft 2 connected with the servo motor to move; the driven shaft 3 is connected with the driving shaft 2 in a sliding manner, and the linear array camera 4 is fixedly connected to the tail end of the driven shaft 3; the driving shaft 2 comprises a slider group 21, a guide rail group 22, a first belt 23, a second belt 24 and a body 25, the slider group 21 is connected to the guide rail group 22 in a sliding manner, and the first belt 23 and the second belt 24 are sleeved on the body 25; the servo motor 1 is provided with a fixed piece 11 and a first synchronous belt pulley 12, the fixed piece 11 is fixedly connected with a sliding block group 21 and a second belt 24, and the first synchronous belt pulley 12 is connected with a first belt 23 in a sliding way; the servo motor 1 drives the first belt 23 to rotate, and further drives the driving shaft 2 to move; the driven shaft 3 is fixedly connected to the second belt 24, and the second belt 24 moving along with the driving shaft 2 further drives the movement of the driven shaft 3.
As shown in fig. 2 to 4 and 6, a second synchronous pulley 26 is provided at a connection between the second belt 24 and the main body 25, a first positioning structure 241 is provided at a fixed connection between the second belt 24 and the fixed member 11, and a second positioning structure 242 is provided at a fixed connection between the second belt and the driven shaft 3. So set up, servo motor 1 drives first belt 23 through first synchronous pulley 12 and rotates, and then drives the body 25 of driving shaft 2 and moves forward relative to servo motor 1, because second belt 24 and the mounting 11 fixed connection and the first location structure 241 of servo motor 1, first location structure 241 moves backward relative to body 25 along with mounting 11 together, then second location structure 242 moves forward relative to body 25, driven shaft 3 moves forward relative to body 25 along with second location structure 242, as shown in fig. 6. Thus, the forward movement distance of the driven shaft 3 with respect to the body 25 of the driving shaft 2 is equal to the forward movement distance of the driving shaft 2 itself, superimposing the forward movement distance of the driving shaft 2, the total forward movement distance of the driven shaft 3 is equal to twice the forward movement distance of the driving shaft 2. The double-shaft linear array camera photographing system adopting the structure can effectively enlarge the photographing range or area.
As shown in fig. 2 to 6, the sliding block set 21 includes two sets of sliding blocks, and the two sets of sliding blocks can be used for balancing the fixing member 11, so that the photographing system of the dual-axis line camera is more stable in the photographing process, and abnormal photographing is avoided. Meanwhile, the guide rail set 22 includes two sets of guide rails, and the two sets of guide rails are used as the moving tracks of the slider set 21, so that the photographing range or area of the photographing system of the biaxial linear array camera can be effectively defined.
As shown in fig. 2, 5 and 6, the photographing system of the dual-axis line camera is further provided with an installation frame 41, the line camera 4 is fixedly connected to the driven shaft 3 through the installation frame 41, the line camera 4 can be conveniently disassembled and installed by adopting a structure of the installation frame 41, and different cameras can be selected to be installed according to different pixels according to actual photographing needs. The mounting frame 41 may further be provided with an adjusting structure 411, which can adjust the photographing direction and angle of the linear array camera 4 according to the photographing environment.
The invention also discloses photographing equipment of the double-axis linear array camera, which comprises at least one processor and a memory which is in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method of photographing by a two-axis line camera as described above.
Secondly, the invention also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used for enabling a computer to execute the photographing method of the dual-axis linear array camera.
The photographing method, the photographing equipment and the photographing storage medium of the dual-axis linear array camera provided by the invention can control the line photographing frequency of the linear array camera according to the output pulse signal of the servo motor, so that the photographing of the camera is not influenced by the speed, and the conditions of image stretching, abnormal compression and the like do not occur in the whole process of acceleration, uniform speed and deceleration, so that the image photographing effect is improved, and the application range of the linear array camera is expanded.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A photographing method of a dual-axis linear array camera is used for a photographing system of the dual-axis linear array camera, the photographing system of the dual-axis linear array camera comprises a servo motor, a driving shaft, a driven shaft and the linear array camera, and the photographing method is characterized by comprising the following steps:
s1, acquiring the transverse view size of the line camera, wherein the transverse view size is FOV _ X;
s2, acquiring an output pulse signal of the servo motor, wherein the output pulse signal is P;
s3, acquiring a longitudinal stroke of the linear array camera, wherein the longitudinal stroke is 2L;
s4, calculating a single transverse pixel quantity of the line camera, wherein the single transverse pixel quantity Scale X is the ratio of the size of the transverse view field to the resolution, and Scale _ X is FOV _ X/resolution;
s5, calculating a single longitudinal pixel quantity of the linear array camera, wherein the single longitudinal pixel quantity Scale Y is equal to the single transverse pixel quantity, and Scale _ Y is Scale X;
s6, calculating the line photographing frequency of the linear array camera, wherein the line photographing frequency F is equal to the ratio of the longitudinal stroke to the single longitudinal pixel quantity, and F is 2L/Scale Y;
s7, calculating a coefficient of the linear array camera, wherein the coefficient k is equal to the ratio of the line photographing frequency F to the output pulse P, and k is F/P;
s8, providing a coefficient k to the dual-axis linear array camera system, wherein the linear array camera triggers the line photographing frequency to photograph;
and S9, moving the linear array camera to take a line of pictures each time, and splicing the pictures after taking the pictures for multiple times.
2. The double-shaft linear array camera photographing system comprises a servo motor, a driving shaft, a driven shaft and a linear array camera; the servo motor is used for driving the connected driving shaft to move; the driven shaft is connected with the driving shaft in a sliding mode, and the linear array camera is fixedly connected to the tail end of the driven shaft; the driving shaft comprises a sliding block group, a guide rail group, a first belt, a second belt and a body, wherein the sliding block group is connected to the guide rail group in a sliding mode, and the first belt and the second belt are connected to the body in a sleeved mode; the servo motor is provided with a fixed piece and a first synchronous belt wheel, the fixed piece is fixedly connected with the sliding block group and the second belt, and the first synchronous belt wheel is connected with the first belt in a sliding mode; the servo motor drives the first belt to rotate, and further drives the driving shaft to move; the driven shaft is fixedly connected to the second belt and drives the driven shaft to move along with the second belt moved by the driving shaft.
3. The system of claim 2, wherein a second synchronous pulley is disposed at the connection of the second belt and the body.
4. The photographing system of the dual-axis linear array camera of claim 2, wherein the second belt is fixedly connected with the fixed member through a first positioning structure, and the second belt is fixedly connected with the driven shaft through a second positioning structure.
5. The system of claim 2, wherein the set of sliders comprises two sets of sliders for balancing the fixing members.
6. The system of claim 5, wherein the set of guide rails comprises two sets of guide rails for mating with a set of sliders.
7. The system of claim 2, further comprising a mounting frame, wherein the linear array camera is fixedly connected to the driven shaft through the mounting frame.
8. The system of claim 7, wherein the mounting frame is provided with an adjustment structure for adjusting the direction of the image of the line camera.
9. The utility model provides a biax line array camera equipment of shooing which characterized in that, it includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by at least one processor to enable the at least one processor to perform the method of photographing by a dual-axis line camera of claim 1.
10. A computer-readable storage medium, wherein computer-executable instructions are stored, and the computer-executable instructions are used for causing a computer to execute the photographing method of the dual-axis line camera as claimed in claim 1.
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