CN206004842U - A kind of image acquiring device based on industrial digital camera matrix - Google Patents
A kind of image acquiring device based on industrial digital camera matrix Download PDFInfo
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- CN206004842U CN206004842U CN201621054666.6U CN201621054666U CN206004842U CN 206004842 U CN206004842 U CN 206004842U CN 201621054666 U CN201621054666 U CN 201621054666U CN 206004842 U CN206004842 U CN 206004842U
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Abstract
This utility model provides a kind of image acquiring device based on industrial digital camera matrix, including first substrate arranged in parallel and second substrate；Camera lens matrix is provided with described first substrate, the axis of each camera lens in described camera lens matrix is respectively perpendicular to described first substrate place plane；Described second substrate is provided with photo-sensitive cell matrix towards on the surface of described first substrate, and each photo-sensitive cell in described photo-sensitive cell matrix corresponds setting with each described camera lens.By ensure that three-dimensional image degree of accuracy and the accuracy of later stage process in this utility model based on the image acquiring device of industrial digital camera matrix, improve measurement range and the integrated level of camera, facilitate processing and fabricating, make this device become a set of integrated, miniaturization 3-D view front-end acquisition device.
Description
Technical field
This utility model is related to optical electron product technical field, is based on industrial digital camera in particular to a kind of
The image acquiring device of matrix.
Background technology
In order to obtain the three-dimensional image of subject by the way of image taking, correlation technique provides as follows
Method：Four models, the identical digital camera of camera lens are arranged in photographed scene in the form of 2 × 2 matrixes, this four
The plurality of pictures that digital camera obtains to subject shooting in photographed scene, carries out image procossing to the plurality of pictures obtaining
With computing, obtain the three-dimensional image of subject.
In three-dimensional computing, because camera employs two-way array mode, greatly simplify three-dimensional operand, improve three
The accuracy that maintenance and operation is calculated.But the method needs the horizontal line alignment of the camera of parallel direction, hanging down the camera of vertical direction
Alignment in upright arrangement, that is to say, that requiring the camera composition accurate rectangular configuration of physical dimension, also requires the photo-sensitive cell of camera meanwhile
It is maintained on same horizontal plane.The geometric accuracy of matrix camera structure is higher, and its corresponding certainty of measurement and accuracy are also got over
High.
At present, four existing digital cameras can be arranged in the frame for movement of a set of fixation, rely on the essence to camera
Determine position, meet the requirement of the above positional precision to camera matrix structure, but the method has problems with：
1st, using the camera matrix being formed by four digital cameras, subject is shot in above-mentioned correlation technique,
Because digital camera has shell in itself, and shell tool has the dimensions, and the camera lens of four digital cameras is respectively positioned on digital phase
The centre position of machine, under limiting case, the minimum digital camera of the distance between two adjacent camera lenses of digital camera
Outer casing width.Due in correlation technique when shooting to subject, the camera lens of two adjacent digital cameras it
Between the minimum digital camera of distance outer casing width it is impossible to further reduce, make mechanism size become big, simultaneously related
Image acquisition mode in technology cannot shoot and obtain more in-plant image, lead to the three-dimensional image finally giving to be clapped
Take the photograph and be limited in scope it is impossible to obtain the three-dimensional image of closer object.
2nd, by the way of due to adding mechanical erection structure using existing camera, there is error in mechanical erection structure in itself, meanwhile,
Due to the discordance of processing and manufacturing, between the optical axis of camera, photosurface and shell, there is the discordance of physical dimension, this
Sample, leads to last photo-sensitive cell it cannot be guaranteed that in same level, the optical axis of photo-sensitive cell cannot guarantee that and is parallel to each other, with
When cannot guarantee that composition one standard rectangular configuration.Although above error can be done some by demarcation afterwards and make up,
The presence of error significantly impacts precision and the accuracy of three-dimensional computations.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of dress of the Image Acquisition based on industrial digital camera matrix
Put, wherein, by the way of the photo-sensitive cell of matrix structure being processed on one block of plate, welds or making, and matrix is tied
The camera lens of structure is arranged in one piece of fixed plate being processed and formed at one time it is ensured that the geometric accuracy of photo-sensitive cell mutual alignment, and
The geometric accuracy of the parallel and matrix structure of camera lens optical axis it is also possible to reduce the distance between adjacent camera lens, by more than
It is ensured that three-dimensional image degree of accuracy and accuracy are higher, measurement range is bigger for measure, and the integrated level of camera is higher, conveniently adds
Work makes, and makes this device become the three-dimensional image acquisition apparatus of integrated miniaturization truly.
In a first aspect, this utility model embodiment provides a kind of dress of the Image Acquisition based on industrial digital camera matrix
Put, including first substrate arranged in parallel and second substrate；
Camera lens matrix is provided with described first substrate, the axis of each camera lens in described camera lens matrix is respectively perpendicular to
Described first substrate place plane；
Described second substrate is provided with photo-sensitive cell matrix, described photo-sensitive cell square towards on the surface of described first substrate
Each photo-sensitive cell in battle array corresponds setting with each described camera lens.
In conjunction with a first aspect, this utility model embodiment provides the first possible embodiment of first aspect, wherein,
Each described camera lens in described camera lens matrix is arranged with m × n form, and wherein m is more than or equal to 2, n and is more than or equal to 2.
The first possible embodiment in conjunction with first aspect, this utility model embodiment provides first aspect second
Possible embodiment, wherein, each described camera lens spaced set in horizontal direction in described camera lens matrix, adjacent two
Spacing between individual described camera lens is more than or equal to 10 millimeters；
Each described camera lens spaced set on vertical direction in described camera lens matrix, two adjacent described camera lenses it
Between spacing be more than or equal to 10 millimeters.
In conjunction with a first aspect, this utility model embodiment provides the third possible embodiment of first aspect, wherein,
Each described photo-sensitive cell in described photo-sensitive cell matrix is integrally formed with described second substrate；Or, described photo-sensitive cell
Each described photo-sensitive cell welded and installed in matrix is on described second substrate.
The third possible embodiment in conjunction with first aspect, this utility model embodiment provides the 4th kind of first aspect
Possible embodiment, wherein, each in described photo-sensitive cell matrix described photo-sensitive cell processing or when welding it is desirable to level
Direction respective rows of pixels alignment, vertical direction respective pixel column alignment.
In conjunction with a first aspect, this utility model embodiment provides the 5th kind of possible embodiment of first aspect, wherein,
Also include control board, analog-digital converter that described control board includes being sequentially connected, digital signal processor, control mould
Block and communication module；
Described analog-digital converter, for receiving the analog image that described photo-sensitive cell sends, described analog image is converted
For digital picture；
Described digital signal processor, the system for camera matrix controls, and completes the various control functions of image acquisition,
Including image acquisition, image transmitting, image gain and shutter control, communication protocol interactive maintenance, Interruption, task switching,
Storage management, camera parameter setting, drainage pattern and collection form definition；
Described control module, for receiving and sending shooting trigger signals and adjust when described camera lens is for automatic lens
The acquisition parameters of described camera lens；
Described communication module, under the control of described digital signal processor by several the described digitized maps collecting
As exporting upper terminal by communications protocol.
In conjunction with a first aspect, this utility model embodiment provides the 6th kind of possible embodiment of first aspect, wherein,
Installation through-hole is offered on described first substrate, the described camera lens in described camera lens matrix is arranged on institute by described installation through-hole
State on first substrate.
In conjunction with the 5th kind of possible embodiment of first aspect, this utility model embodiment provides the 7th kind of first aspect
Possible embodiment, wherein, also includes fixing back cover, described fixing back cover is fixedly connected with described first substrate, described control
Circuit board processed is located inside described fixing back cover, is fixedly connected with described second substrate by fixed column.
In conjunction with the 7th kind of possible embodiment of first aspect, this utility model embodiment provides the 8th kind of first aspect
Possible embodiment, wherein, described fixing back cover is provided with power inlet data communication interface；
Described power inlet is used for, and connects power line, is described photo-sensitive cell and described control by described power line
Circuit board is powered；
Described data communication interface is used for, and connects data wire, and described control module and described digital signal processor pass through
Described data wire receives acquisition parameters setting command and described shooting trigger signals, and described communication module passes through described data wire will
Several described digital picture outputs.
In conjunction with the above-mentioned embodiment of first aspect, it is possible that this utility model embodiment provides the 9th kind of first aspect
Embodiment, wherein, described device also includes lens protective cover, and described lens protective cover is used for protecting in described camera lens matrix
Each camera lens.
In this utility model embodiment, the camera lens matrix of multiple camera lenses composition is integrated on same substrate, and will
The photo-sensitive cell matrix of multiple photo-sensitive cell compositions is integrated on same substrate, keeps each photo-sensitive cell and each camera lens one
One is correspondingly arranged.Compared with correlation technique, due to the image based on industrial digital camera matrix in this utility model embodiment
Multiple lens arrangement on same substrate, the photo-sensitive cell matrix of multiple photo-sensitive cells composition are integrated in same by acquisition device
On one piece of substrate, therefore, it is possible to ensure the geometric accuracy of photo-sensitive cell mutual alignment, and the parallel and matrix of camera lens optical axis
The geometric accuracy of structure is it is also possible to reduce the distance between adjacent camera lens as needed.Above measure is it is ensured that 3 D stereo
Pattern accuracy and accuracy are higher, and measurement range is bigger, and the integrated level of camera is higher, facilitates processing and fabricating, so that this device is become
For three-dimensional image acquisition apparatus truly.
For enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be to use required in embodiment
Accompanying drawing be briefly described it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other related accompanying drawings according to these accompanying drawings.
Fig. 1 shows the structural representation of the image acquiring device that this utility model embodiment is provided；
Fig. 2 shows the structural representation of the first substrate that this utility model embodiment is provided；
Fig. 3 shows the assembling schematic diagram of the image acquiring device that this utility model embodiment is provided；
Fig. 4 shows the exploded perspective view of the image acquiring device that this utility model embodiment is provided；
Fig. 5 shows the assembling generalized section of the image acquiring device that this utility model embodiment is provided；
Fig. 6 shows the fixing back cover schematic diagram of the image acquiring device that this utility model embodiment is provided；
Fig. 7 shows the module composition schematic diagram of the control board that this utility model embodiment is provided.
Reference is as follows：
First substrate 100, camera lens 101, installation through-hole 102；
Second substrate 200, photo-sensitive cell 201；
Control board 300, fixed column 301；
Fixing back cover 400, power inlet 401, data communication interface 402.
Specific embodiment
Purpose, technical scheme and advantage for making this utility model embodiment are clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described it is clear that described to the technical scheme in this utility model embodiment
Embodiment be only a part of embodiment of this utility model, rather than whole embodiment.Generally described in accompanying drawing herein
Can be arranged with various different configurations with the assembly of this utility model embodiment illustrating and design.Therefore, below to
The detailed description of the embodiment of the present utility model providing in accompanying drawing is not intended to limit claimed model of the present utility model
Enclose, but be merely representative of selected embodiment of the present utility model.Based on embodiment of the present utility model, those skilled in the art exist
The every other embodiment being obtained on the premise of not making creative work, broadly falls into the scope of this utility model protection.
Cannot shoot in view of the image acquisition mode in correlation technique and obtain geometry site and meet required precision
Image, leads to the three-dimensional image degree of accuracy finally giving and limited accuracy it is impossible to obtain more accurately 3 D stereo
Image, this utility model provides a kind of image acquiring device based on industrial digital camera matrix, enters below by embodiment
Row specifically describes.
Fig. 1 shows the structural representation of the image acquiring device that this utility model embodiment is provided, as shown in figure 1,
Image acquiring device in this utility model embodiment includes first substrate 100 arranged in parallel and second substrate 200；
Camera lens matrix is provided with first substrate 100, the axis of each camera lens 101 in camera lens matrix is respectively perpendicular to
One substrate 100 place plane；
Second substrate 200 is provided with photo-sensitive cell matrix towards on the surface of first substrate 100, in photo-sensitive cell matrix
Each photo-sensitive cell 201 and each camera lens 101 correspond setting.
In this utility model embodiment, the camera lens matrix of multiple camera lenses composition is integrated on same substrate, and will
The photo-sensitive cell matrix of multiple photo-sensitive cell compositions is integrated on same substrate, keeps each photo-sensitive cell and each camera lens one
One is correspondingly arranged.Compared with correlation technique, due to the image based on industrial digital camera matrix in this utility model embodiment
Multiple lens arrangement on same substrate, the photo-sensitive cell matrix of multiple photo-sensitive cells composition are integrated in same by acquisition device
On one piece of substrate, therefore, it is possible to ensure the geometric accuracy of photo-sensitive cell mutual alignment, and the parallel and matrix of camera lens optical axis
The geometric accuracy of structure is it is also possible to reduce the distance between adjacent camera lens as needed.Above measure is it is ensured that 3 D stereo
Pattern accuracy and accuracy are higher, and measurement range is bigger, and the integrated level of camera is higher, facilitates processing and fabricating, so that this device is become
For three-dimensional image acquisition apparatus truly.
In this utility model embodiment, camera lens is industrial lens, and each camera lens forms a work with corresponding photo-sensitive cell
Industry digital camera, thus form the industrial digital camera matrix being formed by multiple industrial digital cameras, wherein, industrial digital camera
Hereinafter referred to as camera, industrial digital camera matrix hereinafter referred to as camera matrix.
Each camera lens 101 model in above-mentioned camera lens matrix, type are identical, its can for tight shot it is also possible to
For zoom lens.The effect of each photo-sensitive cell 201 in above-mentioned photo-sensitive cell matrix is the optical signal capturing camera lens 101
It is changed into the signal of telecommunication, process in order to successive image, it can be CCD (Charge-coupled Device, image sensing
Device) or CMOS (Complementary Metal Oxide Semiconductor, CMOS (Complementary Metal Oxide Semiconductor) is partly led
Body), it is of course also possible to can apply known to other realize the electricity that optical signal is changed into the signal of telecommunication in image acquisition procedures
Device.
Because the optical signal that each camera lens 101 captures needs accurately to enter corresponding photo-sensitive cell 201 it is therefore desirable to protect
Card first substrate 100 and second substrate 200 are parallel to each other, and each photo-sensitive cell 201 is corresponded with each camera lens 101 and sets
Put.
The connection precision of first substrate 100 and second substrate 200 should be able to meet camera lens 101 on first substrate 100
Optical axis each photo-sensitive cell 201 on second substrate 200, and pass through the center of photo-sensitive cell 201, photo-sensitive cell simultaneously
The distance between 201 photosurface and camera lens 101, disclosure satisfy that the requirement of camera lens blur-free imaging.In this utility model embodiment,
Each camera lens 101 preferably in camera lens matrix is arranged with m × n form, and wherein m is more than or equal to 2, n and is more than or equal to 2.
Specifically, each camera lens 101 in camera lens matrix can be arranged with 2 × 2 forms, or the setting of 2 × 3 forms, or
Person 3 × 3 form is arranged, or the setting of 4 × 5 forms, no longer enumerates here.
In the present embodiment, each camera lens 101 is arranged using m × n form, ensure that viewfinder range is suitable, photographed
Whole subject or the scene that is taken.
Research finds, in camera lens matrix, the spacing between each camera lens 101 has impact, this enforcement to shooting field range
In example, each camera lens 101 spaced set preferably in horizontal direction in camera lens matrix, between two adjacent camera lenses 101
Spacing is more than or equal to 10 millimeters, similarly, each camera lens 101 spaced set on vertical direction in camera lens matrix is adjacent
Spacing between two camera lenses 101 is more than or equal to 10 millimeters.
By each camera lens 101 spaced set in horizontal direction in camera lens matrix, and vertical direction in camera lens matrix
On each camera lens 101 spaced set, be easy to later image three-dimensional process computing, be easy to production and the mirror of first substrate 100
101 installation.When in addition considering that in camera lens matrix, the spacing between each camera lens 101 is excessive, shoot multiple photographs obtaining
Piece degree of closeness can decline, and leads to the three-dimensional image degree of accuracy finally synthesizing not high, in another preferred embodiment,
Each camera lens 101 spaced set preferably in horizontal direction in camera lens matrix, the spacing between two adjacent camera lenses 101 is big
In equal to 10 millimeters and less than or equal to 120 millimeters, similarly, each camera lens 101 on vertical direction in camera lens matrix is equidistant
Setting, the spacing between two adjacent camera lenses 101 is more than or equal to 10 millimeters and is less than or equal to 120 millimeters.
The spacing between horizontal direction or adjacent two camera lenses 101 of vertical direction is made to be more than or equal to 10 millimeters and be less than
Equal to 120 millimeters, it can be avoided that every photo degree of closeness declines, lead to the three-dimensional image degree of accuracy finally synthesizing not high
Problem additionally it is possible to reduce image acquisition equipment size, be easy to the production and processing of image acquisition equipment.
It should be noted that the spacing in the horizontal direction or between adjacent two camera lenses 101 of vertical direction is more than etc.
On the basis of 10 millimeters, the upper limit of spacing is not limited to 120 millimeters or 150 millimeters or 180 millimeters, Ke Yigen
Factually border it needs to be determined that.In general, lens focus value is bigger, and the field range shooting object is bigger, the spacing of adjacent camera lens
It is also required to bigger.
In order to be further ensured that multiple camera lenses 101 shoot the image rule obtaining in order, preferably level side in camera lens matrix
Between spacing between two adjacent upwards camera lenses 101 two camera lenses 101 adjacent with vertical direction in camera lens matrix
Spacing is equal.
It will be appreciated by those skilled in the art that in each photo-sensitive cell 201 in photo-sensitive cell matrix and camera lens matrix
Each camera lens 101 corresponds setting, therefore the laying mode of each photo-sensitive cell 201 in photo-sensitive cell matrix, each sense
Spacing between optical element 201 is all consistent with each camera lens 101, repeats no more here.
In Fig. 1, each photo-sensitive cell 201 in photo-sensitive cell matrix is integrally formed with second substrate 200；Or, photosensitive
Each photo-sensitive cell 201 welded and installed in element matrix is on second substrate 200.Wherein, the photosensitive unit on second substrate 200
It is desirable to horizontal direction respective rows of pixels is alignd when part 201 is processed or is welded, vertical direction respective pixel column alignment.
In correlation technique, existing various types of independent photo-sensitive cells 201 all include CCD and/or CMOS, and skill
Art is very ripe, is required according to field range, certainty of measurement and measuring speed etc., can select to be suitable for the photosensitive unit of use
Part 201, then designs corresponding second substrate 200, second substrate 200 can using PCB (Printed Circuit Board,
Printed circuit board) circuit board mode, then by each photo-sensitive cell 201 according to aforesaid camera lens 101 laying require welding
On second substrate 200.During using welding manner, in order to ensure welding precision, special photo-sensitive cell positioning fixture can be used,
The positional precision of each photo-sensitive cell 201 after ensureing to weld.
By the way of welding, photo-sensitive cell 201 is welded on second substrate 200.The photosensitive unit such as CCD and CMOS at present
The number processing that part is substantially the row and column according to pixel is rectangular, due to during three-dimensional computing it is desirable to corresponding seat with a line
The pixel column of cursor position needs on same straight line, and meanwhile, the pixel column of same row respective coordinates position is also required to same
On bar straight line, when therefore requiring each photo-sensitive cell 201 composition standard rectangular in the present embodiment, the pixel in photo-sensitive cell matrix
The position (value of this position row and column represents) being located also will form corresponding rectangular configuration, thus ensureing the essence of three-dimensional computing
Accuracy, so, it is desirable to horizontal direction respective rows of pixels is alignd when the photo-sensitive cell 201 on second substrate 200 is processed or is welded,
Vertical direction respective pixel column alignment, thus ensure the precision of three-dimensional computing.
Due to, the pel spacing of the photo-sensitive cell such as CCD and CMOS is generally micron order, photo-sensitive cell 201 welding when very
It is difficult to ensure that its corresponding pixel row or column of card is perfectly aligned, the relative skew of respective pixel row or column will necessarily be produced or relatively revolve
Turn, in order to make up above error it is necessary to after processing, above mismachining tolerance is measured and demarcates, can be in three-dimensional meter
Made up in calculation and the correction on software.
Or, will be integrally formed with second substrate 200 for photo-sensitive cell 201 by the way of synchronous processing.Several according to matrix
The needs of what precision, also form the rectangular configuration of standard for each location of pixels in guarantee photo-sensitive cell matrix, improve three-dimensional
The accuracy and speed of computing, can customize processing second substrate 200, and each photo-sensitive cell 201 is become with second substrate 200 one
Shape, machines each photo-sensitive cell 201 during processing second substrate 200, that is, is equivalent to one piece of processing by many
Individual group of rectangular photosensitive region and large-scale CCD or CMOS being formed.This method avoid aforesaid welding method to make
The error becoming, reduces the image operation time, makes 3 d image data more accurate.
Fig. 2 shows the structural representation of the first substrate 100 that this utility model embodiment is provided, as shown in Fig. 2 the
One substrate 100 offers installation through-hole 102, and the camera lens 101 in camera lens matrix is arranged on first substrate by installation through-hole 102
On 100.
In this utility model embodiment, first substrate can adopt the one-time formed mode of machining center, or adopts model one
The method of secondary molding, to ensure the geometric accuracy satisfaction requirement of first substrate.First substrate is as the peace of whole harvester
Dress and location base, its geometric accuracy directly affects the precision of camera, and the specific requirement of its geometric accuracy is：Camera lens and the second base
The installed surface up and down of plate is parallel, and two interplanar distances meet the required precision of blur-free imaging, camera lens installation through-hole 102 and
One substrate is vertical, and the positional precision of installation through-hole 102 meets requirement etc..
In a kind of embodiment, camera lens 101 is provided with external screw thread, installation through-hole 102 is provided with female thread, by spiral shell
Camera lens 101 is arranged on first substrate 100 by the mode that stricture of vagina connects by installation through-hole 102.In another embodiment, camera lens
It is provided with the first interface arrangment on 101, installation through-hole 102 is provided with the second interface arrangment, by camera lens by way of clamping
101 are arranged on first substrate 100 by installation through-hole 102, and wherein, snap fit can be for snapping connection.
Based on foregoing teachings, because the spacing between the laying mode of each camera lens 101 and each camera lens 101 needs to meet
Certain require, each installation through-hole 102 therefore on first substrate 100 is also required to meet identical and requires, specific requirement referring to
Foregoing teachings, repeat no more here.
Fig. 3 shows the assembling schematic diagram of the image acquiring device that this utility model embodiment is provided, and Fig. 4 shows this
The exploded perspective view of the image acquiring device that utility model embodiment is provided, as shown in Figure 3 and Figure 4, figure in the present embodiment
As acquisition device also includes fixing back cover 400, fixing back cover 400 is fixedly connected with first substrate 100, and second substrate 200 is located at
Inside fixing back cover 400.Wherein, fixing back cover 400 can threaded with first substrate 100 it is also possible to first substrate 100
Clamping.
As shown in figure 4, the image acquiring device in the present embodiment also includes control board 300, control board 300
Inside fixing back cover 400, first substrate 100, second substrate 200 and control board 300 are arranged in order, control board
300 are fixedly connected with second substrate 200 by fixed column 301, and control board 300 is used for receiving photo-sensitive cell 201 output
The signal of telecommunication, and carry out analog digital conversion, data processing, storage, data output, acquisition parameter setting, acquisition controlling, trigger collection and
Lens control etc. operates.
Fig. 5 shows the assembling generalized section of the image acquiring device that this utility model embodiment is provided, as Fig. 5 institute
Show, second substrate 200 is contacted with the upper surface of first substrate 100, control board 300 passes through fixed column 301 and the second base
Plate 200 is fixedly connected, thus second substrate 200 is all fixedly connected with first substrate 100 with control board 300, reaches installation
Fixing second substrate 200 and the purpose of control board 300.
In the present embodiment, use standard to ensure that the distance between camera lens 101 and photo-sensitive cell 201 meet, second
In the case that substrate 200 is contacted with first substrate 100, the thickness of setting first substrate 100 is 18.656 millimeters, or is
13.656 millimeters.Wherein, when camera lens 101 is C interface camera lens, the thickness of first substrate 100 is 18.656 millimeters, works as camera lens
101 when being CS interface camera lens, and the thickness of first substrate 100 is 13.656 millimeters.
As seen from Figure 5, the lower surface of first substrate 100 is used for installing camera lens 101, the upper surface of first substrate 100
For contacting with second substrate 200.The upper surface of first substrate 100 includes the bulge-structure positioned at two ends, first substrate 100
Thickness refer to the distance between the surface of bulge-structure and first surface.
Fig. 6 shows fixing back cover 400 schematic diagram of the image acquiring device that this utility model embodiment is provided, and such as schemes
Shown in 6, fixing back cover 400 is provided with power inlet 401 data communication interface 402, power inlet 401 is used for connecting
Power line, by power line be photo-sensitive cell 201 and control board 300 is powered, and data communication interface 402 is used for connecting data
Line, sends data to control board 300, and the data output that control board 300 is exported.
In view of the damageability of camera lens 101, in another embodiment, image acquiring device also includes lens protection
Cover, lens protective cover covers on camera lens 101 surface, for protecting each camera lens 101 in camera lens matrix.Preferably, camera lens is protected
Guard shield is fixedly connected with first substrate 100, covers each camera lens 101 on first substrate 100, thus avoiding camera lens 101 to damage.
It can be plastic material that lens protective cover covers.
Fig. 7 is the module composition schematic diagram of the control board that this utility model embodiment is provided, as shown in fig. 7, this
Analog-digital converter 701 that control board 300 in utility model embodiment includes being sequentially connected, digital signal processor 702,
Control module 703 and communication module 704；Analog-digital converter 701, for receiving the analog image of photo-sensitive cell 201 transmission, by mould
Intend image and be converted into digital picture；Digital signal processor 702, the system for camera matrix controls, and completes image acquisition
Various control functions, including in image acquisition, image transmitting, image gain and shutter control, communication protocol interactive maintenance, timing
Disconnected, task switches, stores management, camera parameter setting, drainage pattern and collection form definition etc.；Control module 703, is used for connecing
The acquisition parameters received and send shooting trigger signals and adjust camera lens 101 when camera lens 101 is for automatic lens；Communication module
704, upper for exporting, under the control of digital signal processor 702, several digital pictures collecting by communications protocol
Terminal.Wherein, acquisition parameters include focal length, aperture and the definition of camera lens 101.
Specifically, digital signal processor 702 is similar to CPU (the Central Processing on embedded computer
Unit, central processing unit) chip, its can be DSP (Digital Signal Processing, digital signal processor),
ARM (Acorn RISC Machine, risc microcontroller), FPGA (Field Programmable Gate Array, scene
Programmable gate array) etc. chip, be the control core of whole image acquisition system.When digital signal processor 702 runs,
Call in embedded program first, with upper terminal communication, the initialization command of execution camera, camera parameter is set, such as when exposing
Between, triggering mode, image gain etc., camera internal parameter is sent to upper terminal, such as camera numbers etc., is being shot
After order, control the image acquisition of each camera, after the completion of collection, successively by image transmitting to upper terminal.
When image taking adopts soft triggering, upper terminal sends shooting trigger signals, communication module to communication module 704
704 send this shooting trigger signals to digital signal processor 702, and digital signal processor 702 triggers letter according to this shooting
Number camera lens 101 being focused on the light signal collection on photo-sensitive cell 201 obtains analog picture signal, and controls analog-digital converter
Analog image is converted into digital picture by 701, and controls communication module 704 to export several digital pictures to upper terminal.
When image taking is using hard triggering, upper terminal sends shooting trigger signals, communication module to communication module 704
704 send this shooting trigger signals to control module 703, and control module 703 sends this shooting trigger signals to numeral letter
Number processor 702, digital signal processor 702 controls photo-sensitive cell 201 will focus on photosensitive unit according to this shooting trigger signals
Optical signal on part 201, collects analog picture signal, and controls analog-digital converter 701 that analog image is converted into numeral
Image, and control communication module 704 to export several digital pictures to upper terminal.
In this utility model embodiment, the quantity of the quantity of analog-digital converter 701 and camera lens 101 and photo-sensitive cell 201
Quantity is consistent, illustrates in Fig. 7 taking four camera lenses as a example.
As shown in fig. 7, control board 300 also includes nonvolatile memory 705 and power module 706, power module
706 are electrically connected with each electricity consumption device in control board 300 respectively, power for each electricity consumption device.Non-volatile memories
Device 705 is connected with digital signal processor 702, for storing what digital signal processor 702 generated in image processing process
Variable and several digital pictures.
Above-mentioned communication module 704 includes：Data exchange circuit or equipment and corresponding input and output interfaces.Data exchange
Circuit or equipment just as the network switch, can by camera matrix acquisition to image focus on same network interface output,
Multiple network interface parallel outputs can also be adopted, the time that the quantity of output interface is needed with collection image is corresponding.
The input and output interfaces of communication module 704 include：System bus interface, network device interface and I/O control interface,
System bus interface, network device interface and I/O control interface are connected with digital signal processor 702 respectively, and the network equipment connects
Mouth and I/O control interface are connected with power module 706 respectively.System bus interface, for by several digitized maps collecting
As being transferred out by system bus, network device interface, for being transmitted several digital pictures obtaining by the network equipment
Go out, I/O control interface and control module 703 connect, for receiving the shooting trigger signals that external equipment sends.
Said system EBI, including but not limited to：RS-232/485 interface, 1394 interfaces, USB interface and
Camerlink interface.Above-mentioned network device interface, including but not limited to：RJ-45 interface, RJ-11, SC optical fiber interface,
Fddi interface, AUI interface, bnc interface and Console interface, can also be 3G, 4G, WIFI (WIreless-Fidelity, no
Line fidelity) etc. radio network interface.
Correspondence control board 300 as shown in Figure 7, above-mentioned data communication interface 402 is specifically for connecting data wire, control
Molding block 703 and digital signal processor 702 receive the acquisition parameters setting command that upper terminal sends and upper by data wire
State shooting trigger signals, this shooting trigger signals can be sent by the upper terminal of image acquiring device, and communication module 704 is passed through
Several digital pictures are exported by data wire, preferably export to the upper terminal of this image acquiring device.
In the present embodiment, it is attached by circuit interface between second substrate 200 and control board 300, concrete
In circuit design process, can be according to shell sizes and concrete condition, by control board 300 part of module such as analog digital conversion electricity
Second substrate 200 is moved on on road, or in order to reduce board area, control board 300 part of module is divided into another
Circuit board, above change, have no effect on the realization of concrete camera function, simply facilitate encapsulation and the design of overall dimensions will
Ask.
Image acquiring device in this utility model embodiment can be placed in photographed scene, and subject is carried out
Take pictures, wherein, each camera lens and photo-sensitive cell can form a single camera, this utility model embodiment is parallel by forming
The multiple of matrix are mutually machined in a set of machine box, form three-dimensional image harvester.
Image acquiring device in this utility model embodiment before capturing the image, needs concrete to some of this device
Parameter is demarcated and is detected, the content demarcated and detect includes：The focal length of camera lens, distortion, optical axis geometric position；Photo-sensitive cell
Geometry site, actual measurement spacing, the skew of row and column and rotation etc., demarcate and detection need to adopt its special calibrating
Equipment and software, after the completion of demarcation, need the parameter after measurement to be supplied to 3-D view process software, by relative measurements
The three-dimensional operational formula of input, calculates three-dimensional coordinate size, meanwhile, by software compensation manufacturing and fixing error, improves three dimensions
According to precision.
Above-mentioned image collecting device, typically adopts the method for synchronization to gather several flat two-dimensional images of object.Shoot obtaining
After signal, each photo-sensitive cell obtains the optical signal of each camera lens transmission, and control board converts light signals into corresponding electricity
Signal, converts electrical signals to the data form of flat two-dimensional images, and several flat two-dimensional images obtaining pass through data communication
Interface 402 transmits and is processed to external image data processing equipment, by external image data processing equipment to several planes
Two dimensional image is processed, and then obtains the three-dimensional image of subject.
Wherein, the mistake that external image data processing equipment is processed to the view data of matrix plane two dimensional image form
Cheng Wei：Carry out Feature Points Matching computing to shooting multiple images obtaining, according to the characteristic point matching as coordinate, calculate feature
The locus coordinate of point, according to the locus coordinate of each characteristic point obtaining, calculating the other of measured object needs especially
The three-dimensional dimension of measurement, forms three dimensional point cloud, sets up three-dimensional point cloud figure, carry out 3 D stereo reproduction.
It should be noted that in this utility model embodiment, the matrix arranging four adjacent camera lens 101 compositions is image
, when camera lens 101 only has four, then there is an image acquisition unit, when camera lens 101 is more than four, then often in acquiring unit
Secondary to the right or offset downward a camera lens principle that can be overlapping using camera lens determines multiple images acquiring unit, such as camera lens
During the matrix that 101 form for 6 camera lenses, then obtain two image acquisition units, wherein have two camera lenses 101 to be overlap condition,
Two image acquisition units all occur.
In the present embodiment, the matrix according to four adjacent camera lens 101 compositions is image acquisition unit, and each image is obtained
The image that unit acquires is taken to be processed, thus obtaining the three-dimensional image of subject.
Images above acquisition device and the mode of corresponding external image data processing equipment acquisition object dimensional data,
Identical with the mode in the people world soon, due to two dimensional image is shot using two-way array mode, just as people sees thing from different perspectives
Body is the same, and by standardization program computing, by diverse location image, the disparity computation of same characteristic point is out it becomes possible to obtain
The three-dimensional profile size of object.
Because three-dimensional computing amount of calculation is huge at present, independent and small-sized circuit is difficult to be competent at the computing of such magnanimity, only
Three-dimensional computing can be placed in the terminal of upper bit arithmetic, following progressively powerful with computing chip function, and power consumption
Gradually reduce it is believed that future necessarily occurs circuit board and the chip of local three-dimensional database preparation.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then do not need it to be defined further and explains in subsequent accompanying drawing.
In description of the present utility model, " " center ", " on ", D score, "left", "right", " perpendicular it should be noted that term
Directly ", the orientation of instruction such as " level ", " interior ", " outward " or position relationship are based on orientation shown in the drawings or position relationship, or
It is the orientation or position relationship usually put when this utility model product uses, be for only for ease of description this utility model and letter
Change description, rather than instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and
Operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ", " the 3rd " etc. are only used for area
Divide description, and it is not intended that indicating or hint relative importance.
In addition it is also necessary to explanation in description of the present utility model, unless otherwise clearly defined and limited, term " sets
Put ", should be interpreted broadly " installation ", " being connected ", " connection ", for example, it may be being fixedly connected or being detachably connected,
Or be integrally connected；Can be to be mechanically connected or electrically connect；Can be to be joined directly together it is also possible to pass through intermediary
It is indirectly connected to, can be the connection of two element internals.For the ordinary skill in the art, can be managed with concrete condition
Solve concrete meaning in this utility model for the above-mentioned term.
Finally it should be noted that：Embodiment described above, specific embodiment only of the present utility model, in order to illustrate this
The technical scheme of utility model, is not intended to limit, and protection domain of the present utility model is not limited thereto, although with reference to aforementioned
Embodiment has been described in detail to this utility model, it will be understood by those within the art that：Any it is familiar with this skill
, in the technical scope that this utility model discloses, it still can be to the skill described in previous embodiment for the technical staff in art field
Art scheme is modified or can be readily occurred in change, or carries out equivalent to wherein some technical characteristics；And these modifications,
Change or replacement, do not make the essence of appropriate technical solution depart from spirit and the model of this utility model embodiment technical scheme
Enclose.All should cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should described be wanted with right
The protection domain asked is defined.
Claims (10)
1. a kind of image acquiring device based on industrial digital camera matrix is it is characterised in that include arranged in parallel the
One substrate and second substrate；
Camera lens matrix is provided with described first substrate, the axis of each camera lens in described camera lens matrix is respectively perpendicular to described
First substrate place plane；
Described second substrate is provided with photo-sensitive cell matrix towards on the surface of described first substrate, in described photo-sensitive cell matrix
Each photo-sensitive cell correspond setting with each described camera lens.
2. device according to claim 1 is it is characterised in that each the described camera lens in described camera lens matrix is with m × n shape
Formula is arranged, and wherein m is more than or equal to 2, n and is more than or equal to 2.
3. device according to claim 2 is it is characterised in that each described mirror in horizontal direction in described camera lens matrix
Head spaced set, the spacing between two adjacent described camera lenses is more than or equal to 10 millimeters；
Each described camera lens spaced set on vertical direction in described camera lens matrix, between two adjacent described camera lenses
Spacing is more than or equal to 10 millimeters.
4. device according to claim 1 is it is characterised in that each described photo-sensitive cell in described photo-sensitive cell matrix
Integrally formed with described second substrate；Or, each the described photo-sensitive cell welded and installed in described photo-sensitive cell matrix is in institute
State on second substrate.
5. device according to claim 4 is it is characterised in that each described photo-sensitive cell in described photo-sensitive cell matrix
It is desirable to horizontal direction respective rows of pixels is alignd when processing or welding, vertical direction respective pixel column alignment.
6. it is characterised in that also including control board, described control board includes device according to claim 1
Analog-digital converter, digital signal processor, control module and the communication module being sequentially connected；
Described analog-digital converter, for receiving the analog image that described photo-sensitive cell sends, described analog image is converted into number
Word image；
Described digital signal processor, the system for camera matrix controls, and completes the various control functions of image acquisition, including
Image acquisition, image transmitting, image gain and shutter control, communication protocol interactive maintenance, Interruption, task switching, storage
Management, camera parameter setting, drainage pattern and collection form definition；
Described control module, for receiving and sending shooting trigger signals and adjust when described camera lens is for automatic lens described
The acquisition parameters of camera lens；
Described communication module, under the control of described digital signal processor by several the described digital pictures collecting by
Communications protocol exports upper terminal.
7. device according to claim 1 is it is characterised in that offer installation through-hole on described first substrate, described mirror
Described camera lens in head matrix is arranged on described first substrate by described installation through-hole.
8. device according to claim 6 is it is characterised in that also include fixing back cover, described fixing back cover and described the
One substrate is fixedly connected, and described control board is located inside described fixing back cover, solid with described second substrate by fixed column
Fixed connection.
9. device according to claim 8 is it is characterised in that be provided with power inlet data on described fixing back cover
Communication interface；
Described power inlet is used for, and connects power line, is described photo-sensitive cell and described control circuit by described power line
Plate is powered；
Described data communication interface is used for, and connects data wire, described control module and described digital signal processor are by described
Data wire receives acquisition parameters setting command and described shooting trigger signals, described communication module pass through described data wire by several
Described digital picture output.
10. the device according to any one of claim 1 to 9 is it is characterised in that described device also includes lens protective cover,
Described lens protective cover is used for protecting each camera lens in described camera lens matrix.
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| CN117405702A (en) * | 2023-12-15 | 2024-01-16 | 深圳市什方智造科技有限公司 | Circular scanning image acquisition device and circular scanning image acquisition method |
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| CN117405702A (en) * | 2023-12-15 | 2024-01-16 | 深圳市什方智造科技有限公司 | Circular scanning image acquisition device and circular scanning image acquisition method |
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Address after: On the road on the 100089 village Beijing city Haidian District sorghum Bridge No. 3 (East 1, 2 building floor) Haidian Jiaotong University welfare hostel room 209 Patentee after: Beijing Qingying Machine Vision Technology Co. Ltd. Address before: On the road on the 100089 village Beijing city Haidian District sorghum Bridge No. 3 (East 1, 2 building floor) Haidian Jiaotong University welfare hostel room 209 Patentee before: Beijing vision Intelligent Technology Co., Ltd. |