WO2017075767A1 - Circuit de compensation de signal d'image, procédé de compensation, module de caméra et véhicule aérien sans pilote - Google Patents

Circuit de compensation de signal d'image, procédé de compensation, module de caméra et véhicule aérien sans pilote Download PDF

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Publication number
WO2017075767A1
WO2017075767A1 PCT/CN2015/093738 CN2015093738W WO2017075767A1 WO 2017075767 A1 WO2017075767 A1 WO 2017075767A1 CN 2015093738 W CN2015093738 W CN 2015093738W WO 2017075767 A1 WO2017075767 A1 WO 2017075767A1
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WO
WIPO (PCT)
Prior art keywords
image signal
image
signal
circuit board
flexible circuit
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PCT/CN2015/093738
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English (en)
Chinese (zh)
Inventor
刘志伟
庹伟
张强
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/093738 priority Critical patent/WO2017075767A1/fr
Priority to CN201580066434.4A priority patent/CN107005661B/zh
Publication of WO2017075767A1 publication Critical patent/WO2017075767A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
    • H04N25/78—Readout circuits for addressed sensors, e.g. output amplifiers or A/D converters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors

Definitions

  • a multi-axis pan/tilt is usually added to the unmanned aerial vehicle to maintain the stability of the captured image.
  • the camera's image sensor is placed on the pan/tilt, and the image signal processor (ISP) of the onboard camera is placed in the unmanned aerial vehicle body, and the image sensor is The image signal processor is connected by a flexible printed circuit (FPC) that is wound around the pan.
  • FPC flexible printed circuit
  • the image sensor sends a signal such as LVDS (Low Voltage Differential Signal) generated by the flexible circuit board to the image signal processor, and the flexibility of the flexible circuit board ensures that the penetrating platform does not interfere with the pan/tilt.
  • LVDS Low Voltage Differential Signal
  • the UAV camera is gradually developing toward high-pixel, high-frame rate and large-area image sensors.
  • the use of high-pixel, high-frequency, large-area image sensors will increase the signal transmission rate and lead to the PTZ.
  • the size increases, which in turn increases the length of the flexible circuit board.
  • the transmission loss of the image sensor when transmitting through the flexible circuit board increases as the length of the flexible circuit board increases. For high-speed LVDS signals, the signal attenuation caused by the transmission loss tends to make the image signal processor incorrect. sampling.
  • the image signal compensation circuit includes: a signal gain unit for amplifying the multi-path image signal output by the image sensor; and a phase adjustment unit for multi-channel images that are amplified and transmitted through the flexible circuit board The sampling time of the signal is adjusted to the optimum phase position to correct the phase deviation generated by the multi-path image signal during transmission, and the image signal correctly sampled according to the optimum phase position is transmitted to the image signal processor.
  • each of the image signals includes a constant constant generated at the same time
  • the phase adjustment unit receives the multi-channel image signal and determines the position of the constant image according to the position of each image signal.
  • the sampling time is adjusted to the optimum phase position that can be correctly sampled to a known constant.
  • each image signal is a low voltage differential signal
  • the signal gain unit is a low voltage differential signal driving chip.
  • phase adjustment unit is a field programmable gate array chip.
  • the gain amplification amount of the signal gain unit for amplifying the multi-path image signal is greater than or equal to an attenuation amount caused by the multi-path image signal passing through the flexible circuit board.
  • the invention also provides a camera module comprising an image sensor, an image signal processor and a flexible circuit board connected between the image sensor and the image signal processor.
  • the camera module further includes an image signal compensation circuit connected between the image sensor, the flexible circuit board and the image signal processor, and the multi-channel image signal output by the image sensor is amplified and The sampling time of the multi-channel image signal amplified and transmitted through the flexible circuit board is adjusted to the optimal phase position to correct the phase deviation generated by the multi-channel image signal during transmission, and will be correctly sampled according to the optimal phase position.
  • the image signal is transmitted to the image signal processor.
  • the image signal compensation circuit includes: a signal gain unit for amplifying the multi-path image signal output by the image sensor; and a phase adjustment unit for multi-channel images that are amplified and transmitted through the flexible circuit board The sampling time of the signal is adjusted to the optimum phase position to correct the phase deviation generated by the multi-path image signal during transmission, and the image signal correctly sampled according to the optimum phase position is transmitted to the image signal processor.
  • each of the image signals includes a constant constant generated at the same time
  • the phase adjustment unit receives the multi-channel image signal and determines the position of the constant image according to the position of each image signal.
  • the sampling time is adjusted to the optimum phase position that can be correctly sampled to a known constant.
  • each image signal is a low voltage differential signal
  • the signal gain unit is a low voltage differential signal driving chip.
  • phase adjustment unit is a field programmable gate array chip.
  • the image sensor includes one or more image signal output ends, each of the one or more image signal output ends for outputting an image signal
  • the flexible circuit board includes a plurality of image signal transmission channels.
  • the image signal processor includes one or more image signal receiving ends for receiving the multiple image signals.
  • the image sensor further includes at least one first control signal end for receiving or outputting a control signal
  • the image signal processor further includes at least one second control signal end for outputting or receiving the control signal
  • the flexible circuit board includes at least one control signal path between the image sensor and the image signal processor.
  • the image signal processor outputs a line synchronization signal through the second control signal end, and transmits the line synchronization signal to the image sensor through the control signal channel of the flexible circuit board, so that each image signal output end of the image sensor is simultaneously output
  • the constant is constant.
  • the gain amplification amount of the signal gain unit for amplifying the multi-path image signal is greater than or equal to an attenuation amount caused by the multi-path image signal passing through the flexible circuit board.
  • the present invention also provides an image signal compensation method for compensating for attenuation caused when an image signal generated by an image sensor is transmitted to an image signal processor via a flexible circuit board, the method comprising the steps of: transmitting an image signal generated by the image sensor to Before the flexible circuit board, the multi-channel image signal is amplified; the sampling time of the multi-channel image signal transmitted from the flexible circuit board is adjusted to an optimal phase position to correct the phase deviation generated by each image signal during the transmission; The image signal correctly sampled according to the optimum phase position is transmitted to the image signal processor.
  • the step of adjusting the phase of the multi-channel image signal transmitted by the flexible circuit board to adjust the phase of the multi-channel image signal to include: after receiving the multi-channel image signal, determining each image signal The position of the constant constant; and the sampling time of the image signal of the way is adjusted to an optimum phase position capable of correctly sampling to a known constant.
  • the gain amplification amount for amplifying the multi-path image signal is greater than or equal to the attenuation amount caused by the multi-channel image signal passing through the flexible circuit board.
  • the invention also provides an unmanned aerial vehicle comprising a cloud platform and a camera module, the camera module comprising an image sensor, an image signal processor and a flexible circuit board connected between the image sensor and the image signal processor.
  • the camera module further includes an image signal compensation circuit connected between the image sensor, the flexible circuit board and the image signal processor, and the multi-channel image signal output by the image sensor is amplified and The sampling time of the multi-channel image signal amplified and transmitted through the flexible circuit board is adjusted to the optimal phase position to correct the phase deviation generated by the multi-channel image signal during transmission, and will be correctly sampled according to the optimal phase position.
  • the image signal is transmitted to the image signal processor.
  • the image signal compensation circuit includes: a signal gain unit for amplifying the multi-path image signal output by the image sensor; and a phase adjustment unit for multi-channel images that are amplified and transmitted through the flexible circuit board The sampling time of the signal is adjusted to the optimum phase position to correct the phase deviation generated by the multi-path image signal during transmission, and the image signal correctly sampled according to the optimum phase position is transmitted to the image signal processor.
  • each of the image signals includes a constant constant generated at the same time
  • the phase adjustment unit receives the multi-channel image signal and determines the position of the constant image according to the position of each image signal.
  • the sampling time is adjusted to the optimum phase position that can be correctly sampled to a known constant.
  • each image signal is a low voltage differential signal
  • the signal gain unit is a low voltage differential signal driving chip.
  • phase adjustment unit is a field programmable gate array chip.
  • the image sensor includes one or more image signal output ends, each of the one or more image signal output ends for outputting an image signal
  • the flexible circuit board includes a plurality of image signal transmission channels.
  • the image signal processor includes one or more image signal receiving ends for receiving the multiple image signals.
  • the image sensor further includes at least one first control signal end for receiving or outputting a control signal
  • the image signal processor further includes at least one second control signal end for outputting or receiving the control signal
  • the flexible circuit board includes at least one control signal path between the image sensor and the image signal processor.
  • the image signal processor outputs a line synchronization signal through the second control signal end, and transmits the line synchronization signal to the image sensor through the control signal channel of the flexible circuit board, so that each image signal output end of the image sensor is simultaneously output
  • the constant is constant.
  • the gain amplification amount of the signal gain unit for amplifying the multi-path image signal is greater than or equal to an attenuation amount caused by the multi-path image signal passing through the flexible circuit board.
  • the UAV may further include an inertial measurement unit, a positioning component, and a main controller, and the inertial measurement unit includes a gyroscope and an angular velocity meter.
  • the inertial measurement unit and the positioning component are electrically connected to the main controller.
  • the invention amplifies the image signal through the signal gain unit before being transmitted through the flexible circuit board and performs phase adjustment through the phase adjustment unit after being transmitted through the flexible circuit board, which can effectively compensate the attenuation caused by the image signal transmitted through the flexible circuit board, and is effective The distortion of the image signal is avoided.
  • FIG. 1 is a schematic structural diagram of a camera module having an image signal compensation circuit according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing terminals or channels of components in a camera module in accordance with an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an image signal transmitted through a flexible circuit board in accordance with an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a phase-adjusted image signal in accordance with an embodiment of the present invention.
  • FIG. 5 is a functional block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of an image signal compensation method according to an embodiment of the present invention.
  • Image signal transmission channel 151
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the image signal processor 13 processes the received multiplexed image signals.
  • the image sensor 11 is an image sensor having a high pixel, a high frame rate, and a large area.
  • the image signal compensation circuit 17 includes a signal gain unit 171 and a phase adjustment unit 172.
  • the signal gain unit 171 is connected between the image sensor 11 and one end of the flexible circuit board 15 for amplifying the multi-path image signal output from the image sensor 11.
  • the gain amplification amount of the multi-channel image signal by the signal gain unit 171 is greater than or equal to the attenuation amount caused by the amplified multi-path image signal passing through the flexible circuit board 15, so that the signal can be effectively compensated through the flexible circuit board 15 The resulting attenuation.
  • the phase adjustment unit 172 is connected between the image signal processor 13 and the other end of the flexible circuit board 15 for phase adjustment of the multi-channel image signal data amplified by the flexible circuit board 15 and The image data that can be correctly sampled is transmitted to the image signal processor 13 after the phase of each of the data signals is adjusted to the optimum position.
  • the image sensor 11 includes one or more image signal output terminals 111, each of the one or more image signal output terminals 111 for outputting an image signal such that the image sensor 11 passes the one or more image signals
  • the output terminal 111 outputs a plurality of image signals.
  • the flexible circuit board 15 includes a plurality of image signal transmission channels 151 for respectively transmitting the multiple image signals.
  • the image signal processor 13 includes one or more image signal receiving ends 131 for receiving the multiplexed image data, that is, receiving the multiplexed image signals adjusted by the phase adjusting unit 172 to the optimum position.
  • each image signal is a set of LVDS (Low Voltage Differential Signal) signals.
  • Each set of LVDS signals includes two LVDS signals that are positive and negative.
  • the signal gain unit 171 is specifically an LVDS driver chip.
  • the phase adjustment unit 172 is specifically an FPGA (Field programmable gate array) chip. After receiving the LVDS signal with phase deviation, the FPGA chip automatically adjusts each LVDS through a flexible port phase adjustable function. The phases of the signals are identical, and the multi-channel LVDS signals having the same phase are transmitted to the image signal processor 13.
  • FPGA Field programmable gate array
  • the signal gain unit 171 is not limited to the LVDS driving chip, and the phase adjusting unit 172 is not limited to the FPGA chip, and the signal gain unit 171 and the phase adjusting unit 172 can be set according to actual needs, and are not limited thereto. Implementation.
  • the image sensor 11 further includes at least one control signal terminal 112 for receiving or outputting a control signal.
  • the image signal processor 13 also includes at least one control signal terminal 132 for outputting or receiving a control signal.
  • the flexible circuit board 15 includes at least one control signal path 152 for transmitting control signals between the image sensor 11 and the image signal processor 13.
  • the control signal terminal 132 of the image signal processor 13 outputs a control signal.
  • the control signal terminal 112 of the image sensor 11 receives a control signal.
  • the control signal includes a HSYNC signal (horizontal synchronization signal) and a FSYNC signal (frame synchronization signal).
  • the image signal processor 13 outputs an HSYNC signal through the control signal terminal 132, and transmits the HSYNC signal to the image sensor 11 through the control signal channel 152 of the flexible circuit board 15, and when the image sensor 11 receives the HSYNC signal,
  • the respective image signal output terminals 111 of the image sensor 11 simultaneously output a fixed constant. That is, at the time when the image sensor 11 receives the HSYNC signal, the content of each LVDS signal output by the image sensor 11 is constant.
  • the HSYNC signal output by the image signal processor 13 is a low frequency signal, for example, a frequency of 90 K (thousands) Hz.
  • FIG. 3 is a waveform diagram of a plurality of image signals transmitted through the flexible circuit board 15.
  • the multi-channel image signal generates a random phase deviation.
  • FIG. 3 it is assumed that there are a total of five image signals S1-S5. If there is no phase deviation, the constant constant of the multiple image signals S1-S5 should be in an aligned position, but due to the phase deviation, the multiple image signals The constants of S1-S5 are at different positions as shown in FIG.
  • the phase adjustment unit 172 adjusts the sampling time of the road image signal to the optimal phase according to the position of the constant value in each image signal. Positioning, and sampling each image signal according to the determined optimal phase position of each image signal to obtain each image signal having the correct sampling phase to correct the phase deviation generated by each image signal during transmission.
  • the phase adjustment unit 172 samples each phase image signal in a plurality of phase points within a preset phase region according to a preset phase interval. Comparing the signal sampled at each phase point with the constant constant. If the sampled signal is consistent with a constant constant, the sample is correctly sampled at this phase point. If the sampled signal is inconsistent with the constant constant, Describe the sampling error at this phase point. Record the phase interval where all the correct phase points are sampled, and set the middle position of the correct phase interval of the sample to the optimal sampling position of the image signal of the road. Thus, the above operation is repeated for each image signal until the optimum sampling position of each image signal is determined.
  • the optimal sampling position of the image signal can be set according to actual needs, and is not limited to the intermediate position of sampling the correct phase interval.
  • the phase adjustment unit 172 samples the multiplexed image signal according to the determined optimal sampling position and transmits it to the image signal processor 13. Since the optimal sampling position of each image signal is determined according to a constant constant in the image signal, the phase deviation generated by the different road image signals during the transmission process is corrected, and signal synchronization is realized.
  • the camera module 100 is applied to an unmanned aerial vehicle 1 as an onboard camera of the unmanned aerial vehicle 1.
  • the UAV 1 includes, but is not limited to, a camera module 100 and a pan/tilt head 200, and the image sensor 11 is disposed on the pan/tilt head 200.
  • the platform 200 is disposed on the body of the UAV 1 .
  • the pan/tilt head 200 is disposed on the body of the unmanned aerial vehicle 1 for stabilizing the camera module 100 or can adjust the shooting angle of the camera module 100 through the pan/tilt head 200.
  • the pan/tilt head may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head.
  • the image signal processor 13 is built in the body or the pan/tilt head 200 of the UAV 1 , and the flexible circuit board 15 is connected to the pan-tilt head 200 and connected between the image sensor 11 and the image signal processor 13 .
  • the UAV 1 can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be mounted on a space base (such as a rotorcraft or a fixed-wing aircraft), a water-based (such as a submarine or a ship), a roadbed (such as a motor vehicle), or Space-based (eg satellite, space station, or spacecraft) and other fields.
  • the UAV 1 may further include an International Medical University (IMU), a positioning component, and a main controller.
  • IMU International Medical University
  • the inertial measurement unit, the positioning assembly, and the main controller are both mounted to the body.
  • the inertial measurement unit is configured to measure attitude information of the drone.
  • the inertial measurement unit includes a gyroscope and an angular velocity meter.
  • the inertial measurement unit is electrically connected to the main controller.
  • FIG. 6 is a flowchart of a method for compensating an image signal according to the present invention. The method includes the following steps:
  • step 601 the signal gain unit 171 amplifies the multiplexed image signal output from the image sensor 11. Thereby, the multiplexed image signal is amplified before the image signal generated by the image sensor 11 is transmitted to the flexible circuit board 15.
  • the gain of the multi-channel image signal by the signal gain unit 171 is greater than or equal to the attenuation caused by the amplified multi-channel image signal passing through the flexible circuit board 15, so that the multi-channel image signal is transmitted through the flexible circuit board 15. After the loss is compensated.
  • step 603 the phase adjustment unit 172 adjusts the sampling time of the multi-path image signal transmitted from the flexible circuit board 15 to the optimum phase position according to a constant constant in the image signal to correct the phase deviation generated by each of the image signals during the transmission.
  • the phase adjustment unit 172 samples each of the image signals in a plurality of phase points in a preset phase region according to a preset phase interval. Comparing the signal sampled at each phase point with the constant constant. If the sampled signal is consistent with a constant constant, the sample is correctly sampled at this phase point. If the sampled signal is inconsistent with the constant constant, Describe the sampling error at this phase point. Record the phase interval where all the correct phase points are sampled, and set the middle position of the correct phase interval of the sample to the optimal sampling position of the image signal of the road. Thus, the above operation is repeated for each image signal until the optimum sampling position of each image signal is determined.
  • step 605 the phase adjusting unit 172 samples the multiplexed image signal according to the determined optimal sampling position and transmits it to the image signal processor 13.

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Abstract

La présente invention concerne un circuit de compensation de signal d'image qui est raccordé entre un capteur d'image, une carte de circuit imprimé souple et un processeur de signal d'image et est utilisé pour amplifier un signal d'image multicanal émis par le capteur d'image et réalise un ajustement de synchronisation de phase sur le signal d'image multicanal amplifié transmis par la carte de circuit imprimé souple et après que des phases des signaux d'image multicanal sont ajustées de sorte à être cohérentes, les signaux d'image multicanal présentant des phases cohérentes sont transmis au processeur de signal d'image. La présente invention porte également sur un procédé de compensation de signal d'image, sur un module de caméra et sur un véhicule aérien sans pilote.
PCT/CN2015/093738 2015-11-03 2015-11-03 Circuit de compensation de signal d'image, procédé de compensation, module de caméra et véhicule aérien sans pilote WO2017075767A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2015/093738 WO2017075767A1 (fr) 2015-11-03 2015-11-03 Circuit de compensation de signal d'image, procédé de compensation, module de caméra et véhicule aérien sans pilote
CN201580066434.4A CN107005661B (zh) 2015-11-03 2015-11-03 图像信号补偿电路、补偿方法、相机模组及无人飞行器

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PCT/CN2015/093738 WO2017075767A1 (fr) 2015-11-03 2015-11-03 Circuit de compensation de signal d'image, procédé de compensation, module de caméra et véhicule aérien sans pilote

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CN114936174B (zh) * 2022-06-09 2024-01-30 中国兵器工业计算机应用技术研究所 基于地面无人平台的图像处理与融合计算方法
CN115514952B (zh) * 2022-09-02 2024-07-12 海南视联通信技术有限公司 一种多路图像数据的同步检测方法和装置

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