WO2019023868A1

WO2019023868A1 - Control method, control device and control system for image photographing

Info

Publication number: WO2019023868A1
Application number: PCT/CN2017/095224
Authority: WO
Inventors: 黄金柱; 严嘉祺
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-07-31
Filing date: 2017-07-31
Publication date: 2019-02-07
Also published as: CN108781259B; CN108781259A

Abstract

A control method, a control device and a control system for image photographing. The method comprises: determining an exposure reference duration (S301); determining an exposure delay duration of each camera device according to the exposure reference duration and the exposure durations of the camera devices (S302); and performing an exposure delay processing, when a synchronization signal for triggering the camera devices to perform exposure processing is received, on a corresponding camera device according to the exposure delay durations, such that the camera devices expose after the exposure delay processing so as to photograph an image (S303). A plurality of camera devices can be controlled to synchronously photograph to a certain extent.

Description

Image shooting control method, control device and control system

Technical field

The present invention relates to the field of electronic technologies, and in particular, to a method, a control device, and a control system for image capturing.

Background technique

With the continuous development of electronic technology, devices such as drones, robots, driverless cars, and smart submersibles often require control devices to control multiple camera devices for image capture. In the actual environment, the scenes captured by the control device in various directions are different. Therefore, multiple camera devices are advantageous for capturing images in various directions in order to accurately perceive the surrounding environment.

In most cases, the exposure durations of different camera devices are not the same, resulting in multiple camera devices may not be able to shoot simultaneously when capturing images. How to make multiple camera devices to perform synchronous shooting has become a hot issue of research.

Summary of the invention

The embodiment of the invention discloses a control method, a control device and a control system for image capturing, which can control a plurality of imaging devices to perform synchronous shooting to a certain extent.

A first aspect of the embodiments of the present invention discloses a method for controlling image capturing, including:

Determine the exposure reference duration;

Determining an exposure delay duration of each imaging device according to the exposure reference duration and the exposure duration of each of the imaging devices;

Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.

A second aspect of the embodiments of the present invention discloses a control apparatus, including: a memory and a processor;

The memory is configured to store program instructions;

The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:

Determine the exposure reference duration;

A third aspect of the embodiments of the present invention discloses a control system, including:

Flight control equipment;

Sensor and/or timing circuit;

At least two camera devices;

A control device as described in the second aspect.

In the embodiment of the present invention, the exposure reference duration is first determined by the control device, and then the exposure delay duration of each imaging device is determined according to the exposure reference duration and the exposure duration of each imaging device, and finally, when the synchronization signal is received, according to the exposure The delay time is used to perform the exposure delay processing on the corresponding imaging device, so that the exposure reference durations of the respective imaging devices can be made uniform, and a plurality of imaging devices can be synchronously captured to a certain extent, so that the subsequent imaging based images can be accurately processed. Determine the surrounding environment, and do not require too much manual intervention to meet the user's automation and intelligent needs.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying for creative labor.

1 is a schematic diagram of a scenario for image capture disclosed in an embodiment of the present invention;

2 is a schematic diagram of another scenario for image capture disclosed in an embodiment of the present invention;

3 is a schematic flow chart of a method for controlling image capturing according to an embodiment of the present invention;

4 is a schematic flow chart of another method for controlling image capturing according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic structural diagram of a control system according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

When the control device controls the plurality of imaging devices, the images in different directions collected by the plurality of imaging devices are often used to perform image processing on the current scene, for example, based on the depth maps in the respective directions to obtain a map of the surrounding environment. Among them, the control device can control the exposure time of each imaging device using the automatic exposure adjustment, and thus the exposure time of each imaging device tends to be different. If the exposure duration is different, there may be a certain time difference between the images captured by the respective camera devices. In the subsequent production of the depth map, the time difference may cause a large error in the obtained map of the surrounding environment, and the error may be reduced. The accuracy of image processing.

Specifically, in order to accurately perceive the surrounding environment, the control device can control the respective imaging devices to perform exposure by synchronizing signals. Please refer to FIG. 1 , which is a schematic diagram of a scene for image capturing disclosed in an embodiment of the present invention. For better illustration, the camera device in FIG. 1 is three cameras, and the three cameras respectively correspond to different shooting directions, which are direction 1, direction 2, and direction 3, respectively. However, in other embodiments, the camera is The number can be any number, and the shooting direction can also be any direction, which is not limited by the embodiment of the present invention.

In FIG. 1, it is assumed that the exposure time of the direction 1 camera is 6 ms, the exposure time of the direction 2 camera is 16 ms, and the exposure time of the direction 3 camera is 4 ms. When the control device receives the synchronization signal for triggering the exposure processing of the camera, the exposure signal of the direction 1 camera, the exposure signal of the direction 2 camera, and the exposure signal of the direction 3 camera can be generated according to the synchronization signal.

In one embodiment, the control device can send the exposure signal of the camera in the direction 1 to the camera in the direction 1. In the direction 1 the camera can perform the exposure when receiving the exposure signal, and control the exposure time of the exposure to be 6 ms. . Similarly, the control device can transmit the exposure signal of the camera in the direction 2 to the camera in the direction 2, and the camera 2 can take the exposure when receiving the exposure signal, and control the exposure time of the exposure to be 16 ms. Similarly, the control device can transmit the exposure signal of the direction 3 camera to the direction 3 camera, and the direction 3 camera receives When the exposure signal is reached, the exposure can be taken, and the exposure time for controlling the exposure is 4 ms.

However, as can be seen from FIG. 1, the time difference between the exposure center time of the direction 1 camera (the time corresponding to the half length of the exposure time of the camera) and the synchronization signal is 3 ms, and the time difference between the exposure center time of the direction 2 camera and the synchronization signal is At 8 ms, the time difference between the exposure center time of the direction 3 camera and the synchronization signal is 2 ms. Therefore, in the above-described exposure synchronization mode, the time difference between the exposure center time of each camera and the synchronization signal does not match. Further, the exposure center time of the camera in the direction 1 shown in FIG. 1, the exposure center time of the camera in the direction 2, and the exposure center time of the camera in the direction 3 are not on the same vertical line, that is, the exposure center timings of the respective cameras do not coincide.

If the time difference between the exposure center time of each camera and the synchronization signal and the exposure center time are not consistent, the subsequent acquisition of the image acquired by each camera reduces the accuracy of subsequent processing. For example, when the subsequent processing is to calculate an image-based motion blur using a composite node, a commonly used feature check operator is statistically generated at the center of the motion blur, and the center of the motion blur is also the exposure center. At the moment, therefore, if the exposure center time of each camera does not coincide with the time difference of the synchronization signal and the exposure center time, the accuracy of the subsequent processing is lowered.

In order to solve the above problem, please refer to FIG. 2 , which is a schematic diagram of another scenario for image capture according to an embodiment of the present invention. 2 shows an example in which the camera device is three cameras, and the three cameras respectively correspond to different shooting directions, which are direction 1, direction 2, and direction 3, respectively. However, in other embodiments, the number of the cameras may be any number. The shooting direction may also be any direction, which is not limited in the embodiment of the present invention.

In FIG. 2, it is assumed that the exposure time of the direction 1 camera is 6 ms, the exposure time of the direction 2 camera is 16 ms, and the exposure time of the direction 3 camera is 4 ms. Since the exposure duration of the camera in each direction can be set by the control device, the control device can obtain the exposure duration of the camera in each direction, that is, the exposure duration of the camera in the direction 1 can be obtained, the exposure duration of the camera in the direction 2, and the direction 3 camera. The length of exposure.

In one embodiment, when the control device receives the synchronization signal, the exposure signal of the direction 1 camera, the exposure signal of the direction 2 camera, and the exposure signal of the direction 3 camera may be generated according to the synchronization signal.

It should be noted that, although not shown in FIG. 2, the control device generates each according to the synchronization signal. The exposure time of the camera may have a certain delay processing time (for example, 5us, 10us, etc.), that is, the exposure signal of the direction 1 camera in FIG. 2, the exposure signal of the direction 2 camera, and the exposure signal of the direction 3 camera. This delay processing time can be moved horizontally to the right. Similarly, the time when the camera in each direction starts to be exposed can also be horizontally shifted to the right for a certain time, and will not be described here.

In one embodiment, the exposure reference duration of each camera may be the time difference between the exposure reference time of each camera and the synchronization signal, which may be, for example, an exposure center time. The control device can acquire the period of the synchronization signal, and predetermine the exposure reference duration of each camera according to the period of the synchronization signal.

For example, the control device determines the exposure duration of the maximum exposure time by 16 ms by comparing the exposure durations of the respective imaging devices, and the half of the exposure duration of the maximum duration is 8 ms. Then, the period of the synchronization signal is 5 ms, then the control device can take more than half of the exposure duration of the duration of the duration of 8 ms, and the value of the integral of the synchronization signal of 5 ms is the exposure reference duration, for example, 10 ms. The values of 15ms, 20ms, etc. are the exposure reference durations. For convenience of explanation, the exposure reference duration shown in FIG. 2 is 10 ms, and the exposure center moment is also at the corresponding time of 10 ms, but in other embodiments, No restrictions.

In one embodiment, the control device delays the exposure signal of the camera in the direction 1 by 7 ms according to the acquired exposure time of the camera in the direction 1 and the exposure reference duration, and then transmits the signal to the camera in the direction 1. After receiving the delayed exposure signal, the direction 1 camera can perform shooting exposure and control the exposure time to 6 ms.

Similarly, the control device may delay the exposure signal of the camera in the direction 2 by 2 ms according to the obtained exposure time of the camera in the direction 2 and the exposure reference duration, and then send the image to the camera in the direction 2 . After receiving the delayed exposure signal, the direction 2 camera can perform shooting exposure and control the exposure time to 16 ms.

Similarly, the control device may delay the exposure signal of the camera in the direction 3 by 8 ms according to the acquired exposure time of the camera in the direction 3 and the exposure reference duration, and then send the signal to the camera in the direction 3 . After receiving the delayed exposure signal, the direction 3 camera can perform shooting exposure and control the exposure time to 4 ms.

It can be seen from Fig. 2 that the exposure reference duration of the direction 1 camera, the exposure reference duration of the direction 2 camera, and the exposure reference duration of the direction 3 camera are both 10 ms, and the exposure center of the direction 1 camera is The exposure center moment of the engraving and direction 2 cameras and the exposure center moment of the direction 3 camera are also on the same vertical line, that is, the exposure center time and the exposure reference duration of each camera are consistent, and a plurality of cameras are guaranteed to some extent. The device can perform synchronous shooting, which can accurately determine the surrounding environment when processing based on the captured image, and does not require excessive manual intervention, and satisfies the user's automation and intelligent requirements.

Please refer to FIG. 3 , which is a schematic flowchart of a method for controlling image capturing disclosed in an embodiment of the present invention. The method for controlling image capturing described in the embodiment of the present invention includes:

S301. Determine an exposure reference duration.

It should be noted that the execution body of the embodiment of the present invention may be a control device, and the control device is configured to control at least two camera devices.

The control device may specifically be any device that can control image capturing.

The camera device may be any device of any type, a circuit connected to the camera, and the like, and is not limited in this embodiment of the present invention.

The number of the camera devices may be two or more.

It should be noted that the exposure reference duration may refer to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.

The exposure reference time of each of the imaging devices may be the same time.

The exposure reference time may be an exposure center time of each camera device, and the exposure reference time length may be a time difference between an exposure center time of each camera device and a time when the synchronization signal is received.

The exposure reference time may also be an exposure start time of each imaging device (ie, a time when each camera starts to perform exposure), and the exposure reference duration may be an exposure start time of each imaging device and a time at which a synchronization signal is received. The time difference between.

The exposure reference time may also be an exposure end time of each imaging device (ie, a time when each camera ends exposure), and the exposure reference duration may be a time difference between an exposure end time of each imaging device and a synchronization signal received.

Wherein, the exposure reference time may be any time in the middle of exposure of each imaging device, and the exposure reference duration may be any time during the exposure of each imaging device and when the synchronization signal is received. The present invention does not impose any limitation on this.

In some embodiments, the control device may preset the exposure reference duration to any length, for example, 9 ms, 10 ms, 20 ms, etc., which is not limited in this embodiment of the present invention.

S302. Determine an exposure delay duration of each imaging device according to the exposure reference duration and the exposure duration of each of the imaging devices.

It should be noted that the exposure duration of each of the imaging devices may refer to the total length of time required for each of the imaging devices to be exposed. For example, the total length of time required for the direction 1 camera shown in FIG. 1 is 6 ms, then the exposure time of the camera in the direction 1 is 6 ms.

In some possible implementations, the exposure duration of the respective camera devices may be preset by the control device.

The exposure duration of each of the imaging devices may be specifically set by a processor provided in the control device or a timing circuit provided in the control device.

In a specific implementation, the processor of the control device may fixedly set the exposure duration of the respective imaging devices, so that the images captured by the scenes in various directions are more suitable for subsequent processing.

In a specific implementation, the timing circuit in the control device can control the exposure duration of each camera device according to the exposure duration of each camera device set by the user. For example, as shown in FIG. 1 , the user can preset the exposure time of the camera in the direction 1 to be 6 ms, and save the set exposure time in the timing circuit. When the timing circuit detects that the direction 1 camera starts to expose, The exposure time of the camera in this direction can be controlled to be 6ms.

In some possible implementations, the exposure duration of each of the imaging devices is adjusted according to the intensity of the amount of light entering.

It should be noted that the strength value of the amount of light entering may be the magnitude of the brightness of the image acquired by the image capturing device during the exposure process.

In a specific implementation, the control device can adjust the exposure duration of each imaging device in real time according to the intensity value of the amount of light entering the image captured by each imaging device. For example, if the amount of light entering the camera in the direction 1 is larger than the amount of light entering the camera in the direction 2 as shown in FIG. 2, the control device can set the exposure time of the camera in the direction 1 to be shorter than the exposure time in the direction 2 camera.

It should also be noted that the control device can also adopt an automatic exposure adjustment method to adjust the exposure duration of each imaging device in real time.

It should also be noted that the exposure durations of the respective imaging devices may be different. Alternatively, the control device may set the cameras that capture the same shooting direction to the same exposure time according to the shooting direction. For example, both the imaging device a and the imaging device b capture the direction 1, then the exposure time of the imaging device a and the imaging device b The exposure time can be 6ms.

It should be noted that the length of the exposure delay of each of the image capturing devices may be between the control device receiving the synchronization signal for triggering the imaging device to perform the exposure process and the exposure signal for starting the exposure of the corresponding imaging device. duration.

The exposure delay duration of each imaging device may be different. Alternatively, if the control device sets the imaging devices that capture the same imaging direction to the same exposure time length according to the imaging direction, the exposure delay duration of the imaging device that captures the same direction may be the same.

It should also be noted that the imaging direction corresponding to the imaging device may be various. For example, each camera device can fix an image in one shooting direction, or each camera device can capture images in multiple shooting directions, or multiple cameras can capture images in the same shooting direction. The embodiment does not limit this.

It should also be noted that the number of shooting directions may be any positive integer, such as 2 shooting directions, 4 shooting directions, 7 shooting directions, and the like.

S303. When receiving the synchronization signal for triggering the exposure processing of the imaging device, performing exposure delay processing on the corresponding imaging device according to each exposure delay duration, so that the imaging device performs exposure after the exposure delay processing to capture an image.

It should be noted that the synchronization signal includes a synchronization signal sent by the flight control device connected to the control device.

In some possible embodiments, the synchronization signal sent by the flight control device is determined by a sensor that is determined according to a sampling period of the sensor.

The sensor may be a sensor of the type such as an inertial sensor. Moreover, the synchronization signal may be determined by one sensor or may be determined by a plurality of sensors, which is not limited in this embodiment of the present invention.

It should also be noted that the synchronization signal sent by the flight control device may be discrete, and the interval between each synchronization signal may be the sampling period of the sensor. The sampling period of the sensor may be any length of time, for example, 5 ms, 10 ms, 20 ms, and the like.

In some possible implementations, the synchronization signal sent by the flight control device is determined by a timing circuit that is determined based on a preset clock cycle.

The time period can be preset by the user. For example, the user can set the clock period of the timing circuit to any length of time, such as 5ms, 10ms, and the like.

In some feasible implementation manners, the user can preset a clock cycle, and the timing circuit can determine the synchronization signal according to the preset clock cycle. For example, if the preset clock cycle is 5 ms, the timing circuit can The synchronization signal is transmitted every 5 ms.

In some feasible embodiments, the synchronization signal may also be given by the logic of the software or hardware of the control device, that is, the synchronization signal may also be generated by the control device itself, and the embodiment of the present invention does not do any limit.

In a specific implementation, the control device may delay the start exposure time of each of the imaging devices by the exposure delay duration of each of the imaging devices when the synchronization signal is received, to complete the exposure delay process. For example, the exposure delay duration of the imaging device a is 7 ms, and the control device can start controlling the imaging device a to start exposure after delaying 7 ms after receiving the synchronization signal.

In some possible implementation manners, the respective image capturing apparatuses may perform exposure according to respective exposure time lengths after the exposure delay processing, and take an image.

In the embodiment of the present invention, the control device first determines the exposure reference duration, and then determines the exposure delay duration of each camera according to the exposure reference duration and the exposure duration of each camera, and finally, when the synchronization signal is received, according to the exposure delay The delay processing of the corresponding imaging device is performed to ensure that the exposure reference durations of the respective imaging devices are consistent, and to ensure that a plurality of imaging devices can be synchronously captured to a certain extent, so that the subsequent imaging based images can be accurately processed. Determine the surrounding environment, and do not require too much manual intervention to meet the user's automation and intelligent needs.

Please refer to FIG. 4 , which is a schematic flowchart diagram of another method for controlling image capturing according to an embodiment of the present invention. The method for controlling image capturing described in the embodiment of the present invention includes:

S401. Acquire a period of the synchronization signal received by the local end, and determine the exposure reference duration according to a period of the synchronization signal.

It should be noted that the exposure duration of each camera device can be set by the control device. Therefore, the control device can acquire the exposure duration of the respective imaging devices. Moreover, the control device can also determine the period of the synchronization signal upon receiving the synchronization signal.

For example, if the period of the synchronization signal acquired by the control device is 10 ms, the control device may determine the exposure reference duration according to the 10 ms. For example, the control device takes any integer multiple of 10 ms as the exposure reference duration.

In some possible implementations, the obtaining a period of the synchronization signal received by the local end, and determining the exposure reference duration according to the period of the synchronization signal, includes: acquiring an exposure duration of each camera device, and receiving the local end device a period of the synchronization signal; determining the exposure reference duration according to the exposure duration of the respective imaging devices and the period of the synchronization signal.

In some possible implementations, determining the exposure reference duration according to the exposure duration of each camera and the period of the synchronization signal includes: determining an exposure duration of a maximum duration of each camera controlled by the control device; and maximizing the duration according to the duration The exposure reference duration is determined by half the duration of the exposure duration and the period of the synchronization signal.

In a specific implementation, the control device may first compare the exposure durations of the respective imaging devices, and determine the exposure duration of the maximum duration of each exposure duration, and then divide the exposure duration that is the largest for the duration by 2 to obtain the maximum duration. For half of the duration of the exposure, the control device can determine that the exposure reference duration exceeds half of the exposure duration of the duration, and finally, the specific value of the exposure reference duration can be determined in combination with the period of the synchronization signal.

The determined exposure reference duration may be an integer multiple of the period of the synchronization signal. For example, the period of the synchronization signal is 5 ms, then the exposure reference duration may be 10 ms, 20 ms, 25 ms, and the like.

For example, as shown in FIG. 2, if the control device determines that the maximum duration of exposure in each camera device is 16 ms, then the half of the exposure duration of the maximum duration may be 16/2=8 ms. The control device can determine that the exposure reference duration exceeds the 8 ms. Moreover, if the period of the synchronization signal is 5 ms, the control device may take an integer multiple of the synchronization signal and be greater than a value of half the duration of the maximum exposure duration, for example, taking the exposure reference duration to be 10 ms.

In some feasible embodiments, the control device may further preset the exposure reference duration according to the exposure duration of each camera. For example, the control device can select the exposure time of each exposure device for the longest duration, and then determine the exposure time according to the duration of the maximum duration of the duration, and the exposure The reference duration is set to any value greater than the half duration. If the half duration is 8 ms, the exposure reference duration may be 9 ms, 10 ms, 20 ms, and the like.

S402. The difference between the half length of the exposure duration of each imaging device and the exposure reference duration is used as the exposure delay duration of the corresponding imaging device.

It should be noted that the exposure durations of the respective imaging devices may be different. Therefore, the half length of the exposure time of each imaging device may be different. Therefore, the exposure delay duration of the imaging device may be different.

For example, as shown in FIG. 2, the exposure reference length determined by the control device is 10 ms, and the half-length of the exposure time of the direction 1 camera is 3 ms, then the exposure delay duration of the camera in the direction 1 may be 10-3=7 ms. . Similarly, the half of the exposure time of the direction 2 camera is 8 ms, and the exposure delay time of the direction 1 camera can be 10-8=2 ms.

S403. When receiving a synchronization signal for triggering the imaging device to perform exposure processing, generating an exposure signal according to the synchronization signal.

It should be noted that the exposure signal can be used by the control device to control the imaging device to start exposure. The signal amplitude of the exposure signal may be the same as the signal amplitude of the synchronization signal, or may be different from the signal amplitude of the synchronization signal, which is not limited in this embodiment of the present invention.

It should also be noted that the control device may generate an exposure signal according to the synchronization signal when receiving the synchronization signal. Alternatively, the control device may generate an exposure signal corresponding to each imaging device according to the synchronization signal when receiving the synchronization signal, that is, there may be multiple exposure signals, and each exposure signal has a one-to-one correspondence with the imaging device. Moreover, the plurality of exposure signals may be signals of the same signal amplitude or signals of different signal amplitudes.

S404. Delayly transmitting an exposure signal corresponding to each imaging device according to each exposure delay duration to complete exposure delay processing on the corresponding imaging device.

Here, the exposure delay processing may mean delaying the time during which each camera delays the start of exposure. In some possible implementations, the exposure delay process can be implemented by delaying the transmission of the exposure signal.

It should be noted that the control device may delay the same exposure signal for each exposure delay time corresponding to each imaging device, and then transmit the same exposure signal to the corresponding imaging device.

Alternatively, the imaging device may generate an exposure corresponding to each of the imaging devices according to the imaging device. The signal is then delayed by the corresponding exposure delay time of each of the respective imaging devices, and then transmitted to the corresponding imaging device.

In some possible implementations, after receiving the exposure signal, the imaging device may perform exposure according to the exposure duration of the imaging device. For example, as shown in FIG. 2, the exposure time of the direction 1 camera is 6 ms, then the direction 1 camera can start exposure after receiving the exposure signal, and the exposure is ended after 6 ms.

S405. Receive an image acquired by the respective imaging devices after the exposure delay process.

It should be noted that each imaging device may save an image captured during the period from the start of exposure to the end exposure, and upload the image to the control device.

Wherein, the control device can receive images captured by the respective camera devices on the device. The image may be a dynamic image or a static image, which is not limited in this embodiment of the present invention.

S406. Perform image processing on the images acquired by the respective imaging devices.

It should be noted that the control device may perform image processing on the images acquired by the respective imaging devices according to the exposure reference timings of the respective imaging devices. The exposure reference time may be an exposure center time, that is, a time corresponding to half the duration of the exposure time of the imaging device. Alternatively, the exposure reference time may be a time at which each camera starts to be exposed, or a time at which each camera ends exposure, and the like.

For example, the control device can align the exposure center moments of the respective camera devices to the same time. When the subsequent process is to calculate the image-based motion blur using the composite node, the commonly used feature check operator can be in motion blur. The center is generated, that is, the exposure center moment. Therefore, the control device can keep the exposure center timings of the respective imaging devices consistent, thereby achieving better processing effects and improving the accuracy of image processing.

In the embodiment of the present invention, the control device first determines the exposure reference duration according to the exposure duration of each camera and the period of the synchronization signal, and then uses the difference between the half duration of each exposure device and the exposure reference duration as a corresponding camera. The exposure delay duration of the device, when the synchronization signal is received, generates an exposure signal, and transmits an exposure signal corresponding to each imaging device according to each exposure delay duration, and finally performs image processing on the image acquired by each imaging device to ensure image processing. The exposure reference durations of the respective camera devices are consistent, and in the process of subsequent image processing, the exposure reference times of the images can be made uniform, and to ensure a certain degree of simultaneous imaging of multiple cameras, to facilitate subsequent shooting. When the image is processed, the surrounding environment can be accurately determined. Improve the accuracy of subsequent processing.

Embodiments of the present invention provide a control apparatus. Please refer to FIG. 5 , which is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device described in this embodiment includes:

As shown in Figure 5, the control device in this embodiment may include: a memory 501 and a processor 502;

The memory 501 is configured to store program instructions;

The processor 502 is configured to execute the program instructions stored in the memory, when the program instructions are executed, to:

Determine the exposure reference duration;

In some embodiments, the exposure reference duration refers to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.

In some embodiments, when the processor 502 determines the exposure reference duration, specifically for:

Obtaining a period of the synchronization signal received by the local end, and determining the exposure reference duration according to a period of the synchronization signal.

In some embodiments, the processor 502 acquires a period of the synchronization signal received by the local end, and determines the exposure reference duration according to the period of the synchronization signal, specifically for:

Obtaining an exposure duration of each camera device and a period of a synchronization signal received by the local end;

The exposure reference duration is determined according to an exposure duration of the respective imaging devices and a period of the synchronization signal.

In some embodiments, the processor 502 determines the exposure reference duration according to the exposure duration of the respective imaging devices and the period of the synchronization signal, specifically for:

Determining an exposure time length of a maximum duration of each of the image pickup devices controlled by the control device;

The exposure reference duration is determined according to a half duration of the maximum duration of the duration and a period of the synchronization signal.

In some embodiments, the determined exposure reference duration is an integer multiple of a period of the synchronization signal.

In some embodiments, the synchronization signal includes a synchronization signal from a flight control device coupled to the control device.

In some embodiments, the synchronization signal emitted by the flight control device is determined by a sensor that is determined based on a sampling period of the sensor.

In some embodiments, the synchronization signal from the flight control device is determined by a timing circuit that is determined based on a preset clock cycle.

In some embodiments, the processor 502 determines, according to the exposure reference duration and the exposure duration of each camera device, the exposure delay duration of each camera device, specifically for:

The difference between the half length of the exposure time of each imaging device and the exposure reference time length is taken as the exposure delay time of the corresponding imaging device.

In some embodiments, when the processor 502 receives the synchronization signal for triggering the exposure processing of the imaging device, and performs exposure delay processing on the corresponding imaging device according to each exposure delay duration, the processor 502 is specifically configured to:

Receiving an exposure signal according to the synchronization signal when receiving a synchronization signal for triggering an imaging device to perform exposure processing;

The exposure signals corresponding to the respective image pickup devices are delayed in accordance with the respective exposure delay durations to perform exposure delay processing on the corresponding image pickup devices.

In some embodiments, the processor 502 is further configured to receive an image acquired by the respective imaging devices after the exposure delay processing, and perform image processing on the images acquired by the respective imaging devices.

In some embodiments, the exposure duration of each of the image pickup devices is preset by the control device.

In some embodiments, the exposure duration of each of the imaging devices is adjusted according to the intensity of the amount of light entering.

Embodiments of the present invention provide a control system. Figure 6 is a diagram of a control system disclosed in an embodiment of the present invention Schematic diagram of the architecture. As shown in FIG. 6, the control system includes: a control device 601, at least two camera devices 602, a sensor 603, a timing circuit 604, and a flight control device 605.

The control device 601 is the control device disclosed in the foregoing embodiment of the present invention, and the principles and implementations are similar to the foregoing embodiments, and details are not described herein again.

The sensor 603 and the timing circuit 604 may exist in the control system at the same time, or only the sensor 603 may be present in the control system, or only the timing circuit 604 may be present in the control system.

The flight control device 605 can be connected to the control device 601, the sensor 603, and the timing circuit 604. The flight control device 605 can control the sensor 603 or the timing circuit 604 to determine a synchronization signal and transmit the synchronization signal to the control device 601.

Specifically, the control system can be applied to equipment such as drones, robots, driverless cars, smart submersibles, and the like. Taking the drone as an example, the imaging device 602 can be mounted on the main body of the drone through a pan/tilt or other mounted device, and the control device 601, the sensor 603, the timing circuit 604, and the flight control device 605 can be installed in the drone. . The camera device 602 is used for image or video shooting during flight of the drone, including but not limited to a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc., and the camera device 602 can be two or More than two. Wherein, when the flight control device control sensor 603 or the timing circuit 604 determines the synchronization signal and transmits the synchronization signal to the control device 601, the control device 601 can determine the exposure reference duration and the exposure of the camera 602. The delay time is long, and the start exposure time of the image pickup device 602 is controlled according to the exposure delay time length to complete the exposure delay processing.

It should be noted that the control device 601 can be used to perform the image capturing control method shown in the foregoing method embodiment, and the specific implementation process can refer to the method embodiment, and details are not described herein.

It should be noted that, for the foregoing various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Because certain steps may be performed in other sequences or concurrently in accordance with the present invention. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

One of ordinary skill in the art can understand that all or part of the various methods of the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable In the storage medium, the storage medium may include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

The control method, the control device and the control system for image capture provided by the embodiments of the present invention are described in detail above. The principles and embodiments of the present invention are described in the following. The description of the above embodiments is only The method for understanding the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in specific embodiments and application scopes. The description should not be construed as limiting the invention.

Claims

A control method for image capturing is characterized in that it is applied to a control device, and the control device is configured to control at least two camera devices, the method comprising:

Determine the exposure reference duration;

Determining an exposure delay duration of each imaging device according to the exposure reference duration and the exposure duration of each of the imaging devices;

Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.
The method according to claim 1, wherein the exposure reference duration refers to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.
The method according to claim 1 or 2, wherein said determining an exposure reference duration comprises:

Obtaining a period of the synchronization signal received by the local end, and determining the exposure reference duration according to a period of the synchronization signal.
The method according to claim 3, wherein the obtaining the period of the synchronization signal received by the local end, and determining the exposure reference duration according to the period of the synchronization signal comprises:

Obtaining an exposure duration of each camera device and a period of a synchronization signal received by the local end;

The exposure reference duration is determined according to an exposure duration of the respective imaging devices and a period of the synchronization signal.
The method according to claim 4, wherein the determining the exposure reference duration according to the exposure duration of the respective imaging devices and the period of the synchronization signal comprises:

Determining an exposure time length of a maximum duration of each of the image pickup devices controlled by the control device;

The exposure reference duration is determined according to a half duration of the maximum duration of the duration and a period of the synchronization signal.
The method according to any one of claims 1 to 5, wherein the determined exposure reference duration is an integer multiple of a period of the synchronization signal.
A method according to any of claims 1-6, wherein the synchronization signal comprises a synchronization signal from a flight control device connected to the control device.
The method of claim 7 wherein the synchronization signal from the flight control device is determined by a sensor that is determined based on a sampling period of the sensor.
The method according to claim 7 or 8, wherein the synchronization signal sent by the flight control device is determined by a timing circuit, the timing circuit being the synchronization signal determined according to a preset clock cycle.
The method according to any one of claims 1-9, wherein the determining the exposure delay duration of each camera device according to the exposure reference duration and the exposure duration of each of the camera devices comprises:

The difference between the half length of the exposure time of each imaging device and the exposure reference time length is taken as the exposure delay time of the corresponding imaging device.
The method according to any one of claims 1 to 10, wherein, when receiving the synchronization signal for triggering the imaging device to perform exposure processing, the exposure delay processing is performed on the corresponding imaging device according to each exposure delay duration ,include:

Receiving an exposure signal according to the synchronization signal when receiving a synchronization signal for triggering an imaging device to perform exposure processing;

Transmitting the exposure signals corresponding to the respective imaging devices according to the respective exposure delay durations to complete The exposure delay processing is performed on the corresponding image pickup device.
The method according to any one of claims 1 to 11, wherein the method further comprises:

Receiving an image acquired by the respective imaging devices after the exposure delay processing;

Image processing is performed on the images acquired by the respective imaging devices.
The method according to any one of claims 1 to 12, characterized in that the exposure duration of each of the image pickup devices is previously set by the control device.
The method according to any one of claims 1 to 13, wherein the exposure time of each of the image pickup devices is adjusted according to the intensity of the amount of light entering.
A control device for controlling at least two camera devices, including: a memory and a processor;

The memory is configured to store program instructions;

The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:

Determine the exposure reference duration;

Determining an exposure delay duration of each imaging device according to the exposure reference duration and the exposure duration of each of the imaging devices;

Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.
The control device according to claim 15, wherein the exposure reference time length refers to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.
The control device according to claim 15 or 16, wherein when the processor determines the exposure reference duration, it is specifically used to:

Obtaining a period of the synchronization signal received by the local end, and determining the exposure reference duration according to a period of the synchronization signal.
The control device according to claim 17, wherein the processor acquires a period of the synchronization signal received by the local end, and determines the exposure reference duration according to the period of the synchronization signal, specifically for :

Obtaining an exposure duration of each camera device and a period of a synchronization signal received by the local end;

The exposure reference duration is determined according to an exposure duration of the respective imaging devices and a period of the synchronization signal.
The control device according to claim 18, wherein the processor determines the exposure reference duration according to an exposure duration of the respective imaging devices and a period of the synchronization signal, specifically for:

Determining an exposure time length of a maximum duration of each of the image pickup devices controlled by the control device;

The exposure reference duration is determined according to a half duration of the maximum duration of the duration and a period of the synchronization signal.
The control device according to any one of claims 15 to 19, wherein the determined exposure reference duration is an integer multiple of a period of the synchronization signal.
A control apparatus according to any one of claims 15 to 20, wherein said synchronization signal comprises a synchronization signal from a flight control device connected to said control means.
The control device according to claim 21, wherein the synchronization signal sent by said flight control device is determined by a sensor, said sensor being said synchronization signal determined according to a sampling period of said sensor.
The control apparatus according to claim 21 or 22, wherein the synchronization signal sent by said flight control device is determined by a timing circuit which is said synchronization signal determined according to a preset clock cycle.
The control device according to any one of claims 15 to 23, wherein the processor determines the exposure delay duration of each of the imaging devices according to the exposure reference duration and the exposure duration of each of the imaging devices, Specifically used for:

The difference between the half length of the exposure time of each imaging device and the exposure reference time length is taken as the exposure delay time of the corresponding imaging device.
The control device according to any one of claims 15 to 24, wherein the processor performs a synchronization signal for triggering the imaging device to perform exposure processing, and performs a corresponding imaging device according to each exposure delay duration. When the exposure delay processing is used, it is specifically used to:

Receiving an exposure signal according to the synchronization signal when receiving a synchronization signal for triggering an imaging device to perform exposure processing;

The exposure signals corresponding to the respective image pickup devices are delayed in accordance with the respective exposure delay durations to perform exposure delay processing on the corresponding image pickup devices.
The control device according to any one of claims 15 to 25, wherein the processor is further configured to:

Receiving an image acquired by the respective imaging devices after the exposure delay processing;

Image processing is performed on the images acquired by the respective imaging devices.
The control device according to any one of claims 15 to 26, characterized in that the exposure time of each of the image pickup devices is previously set by the control device.
The control device according to any one of claims 15 to 27, characterized in that the exposure duration of each of the image pickup devices is adjusted according to the intensity of the amount of incoming light.
A control system, comprising:

Flight control equipment;

Sensor and/or timing circuit;

At least two camera devices;

A control device according to any of claims 1-14.