CN105611131B

CN105611131B - Panoramic imaging method for linear array camera

Info

Publication number: CN105611131B
Application number: CN201511021861.9A
Authority: CN
Inventors: 罗胜; 颜昌伟
Original assignee: Wenzhou University
Current assignee: Wenzhou University
Priority date: 2015-12-30
Filing date: 2015-12-30
Publication date: 2022-05-31
Anticipated expiration: 2035-12-30
Also published as: CN105611131A

Abstract

The invention discloses a panoramic imaging method of a line scan camera, wherein the panoramic imaging method of the line scan camera comprises the following steps: s1, establishing circumferential linkage between the mechanical motion device and the linear array camera; s2, the linear array camera circumferentially switches scenes and takes vertical pixel strips according to a preset frame frequency; and S3, synthesizing the shot vertical pixel bands into a panoramic image/video by the central processing unit. The invention aims to provide a method for 360-degree panoramic imaging/video shooting by using a linear array camera in the motion process, which can ensure that the shot images/videos are not deformed and have high resolution; 2. the mechanical motion device based on the method is provided, and when the rotary platform rotates at a high speed, the balance of the camera is ensured; the transmission mechanism consisting of the transmission shaft and the transmission gear set reduces the vibration of the transmission shaft as much as possible.

Description

Panoramic imaging method of linear array camera

Technical Field

The invention relates to the field of 360-degree panoramic cameras, in particular to the field of generating 360-degree panoramic images/videos by scanning a linear array camera, and particularly relates to a panoramic imaging method of the linear array camera.

Background

Current 360 ° panoramic imaging (panoramic) often uses multiple cameras to capture the entire scene, and uses software to seamlessly stitch together a picture that is larger than the normal effective viewing angle of both eyes (about 90 ° horizontal, vertical 70 °), or the viewing angle of the light of both eyes (about 180 ° horizontal, vertical 90 °), or even a full scene range of 360 °. Compared with the prior modeling, picture and other representation forms, the 360-degree panorama has the advantages that: (1) the reality sense is strong, and the real picture is produced and generated based on the real picture, so that compared with other modeling generation objects, the real picture is more real and more credible; (2) compared with a plane picture, the method can express more image information, can be controlled at will and has good interaction performance; (3) the real three-dimensional real scene is simulated through perspective processing of the image, the immersion is strong, and the feeling of being personally on the scene is brought to a viewer; (4) the production is convenient, the production period is short, and the production cost is low; (5) the file is small, the transmission is convenient, the network use is suitable, the release format is various, and the application in various forms is suitable. However, in order to make a 360 ° panoramic exhibition, multiple cameras (4, 6, 8, 10, 16, etc.) are required to capture the whole scene at the same time, and then the software is used to perform a seamless splicing process. There are two technical difficulties in between: (1) the synchronous pace at which multiple cameras capture a scene is difficult to guarantee; (2) the requirement on the processor is greatly improved due to the fact that the resolution of the panoramic image/video is greatly improved.

Disclosure of Invention

The object of the present invention is to overcome some of the above-mentioned disadvantages, and to provide

A method of panoramic imaging for a linear array camera, comprising:

s1, establishing circumferential linkage between the mechanical motion device and the linear array camera;

s2, the linear array camera circumferentially switches scenes and takes vertical pixel strips according to a preset frame frequency;

and S3, synthesizing the shot vertical pixel bands into a panoramic image/video by the central processing unit.

The line camera panoramic imaging method of claim 1,

at S1, the mechanical motion device and the line camera rotate circumferentially, and the mechanical motion device is stationary relative to the ground.

Preferably, at S1, the mechanical motion device and the line camera rotate circumferentially, and the mechanical motion device displaces linearly relative to the ground;

at the time of the step (S2),

s21, the central processing unit combines the formula:

(

the displacement of the mechanical motion device relative to the ground; alpha, an included angle between the starting direction of circumferential rotation of the linear array camera and the displacement direction of the mechanical motion device relative to the ground; r, the rotation radius of the linear array camera) to calculate the value of the compensation period theta;

and S22, the central processing unit controls the mechanical motion device to rotate a compensation period theta after the displacement of the mechanical motion device relative to the ground is finished, and the linear array camera captures vertical pixel strips of a scene corresponding to the compensation period theta.

Preferably, in S22, after the mechanical motion device is stationary relative to the ground, the cpu increases the rotation speed of the mechanical motion device to n × f (f is an initial rotation speed), and controls the mechanical motion device to rotate for 2 pi + theta cycles first and then stop for 2 pi (n-1) -theta cycles, so that the line camera always captures vertical pixel strips.

Preferably, at S22, the mechanical device rotates for at least 2 weeks and then stops for n-2 weeks, and the line camera only takes vertical pixel strips when the mechanical motion device rotates at a constant speed.

The present invention is intended to provide a solution for the above problems,

1. the method for 360-degree panoramic imaging/video shooting by using the linear array camera in the motion process is provided, the shot images/videos can be guaranteed not to be deformed, and the resolution ratio is high;

2. the mechanical motion device based on the method is provided, and when the rotary platform rotates at a high speed, the balance of the camera is ensured; the transmission mechanism consisting of the transmission shaft and the transmission gear set reduces the vibration of the transmission shaft as much as possible.

Drawings

These and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing a currently preferred embodiment of the invention. Wherein:

FIG. 1 is a structural view of the present embodiment;

FIG. 2 is a schematic diagram of the transmission of the present embodiment;

FIG. 3 is a block diagram of the rotary platform;

FIG. 4 is a schematic diagram of the operation of the CPU;

fig. 5 is a working diagram of the line camera during the process from the moving state to the static state.

In the figure: 1. a housing; 2. rotating the platform; 21. an adjustment groove; 22. mounting holes; 23. installing a chute; 24. Perforating the platform; 31. a drive shaft; 311. a drive bearing; 32. a motor shaft; 33. an intermediate shaft; 331. a middle bearing; 41. a first gear; 42. a second gear; 51. a first intermediate gear; 52. a second intermediate gear; 61. a support; 62. a counterbalance; 7. a line scan camera.

Detailed Description

The present invention is further illustrated by the following figures and specific examples, it is to be understood that these examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention, which is to be determined by the appended claims as a matter of routine modification by those skilled in the art.

A panoramic imaging method of a linear array camera comprises the following steps:

1. preferably, circumferential linkage between the mechanical motion device and the linear array camera is established, and the motion state of the mechanical motion device relative to the ground is divided into a static state and a motion state.

In a static state, the mechanical motion device and the linear array camera rotate circumferentially, and the mechanical motion device is static relative to the ground; and in the motion state, the mechanical motion device and the linear array camera rotate circumferentially, and the mechanical motion device moves linearly relative to the ground.

2. As shown in fig. 5, the working state described in this embodiment is an application of the line-array camera to panoramic imaging from a moving state to a stationary state.

In the motion state, the mechanical motion device rotates according to a preset rotating speed f, and the linear array camera shoots vertical pixel strips of a scene according to a preset frame frequency. After the motion state is finished and the mechanical motion device does not displace relative to the ground, the central processing unit combines the formula:

(

the displacement of the mechanical motion device relative to the ground; alpha, an included angle between the starting direction of circumferential rotation of the linear array camera and the displacement direction of the mechanical movement device relative to the ground; r, the rotation radius of the line camera), and calculating the value of the compensation period theta.

3. After the mechanical movement device is static relative to the ground, the central processing unit raises the rotation speed of the mechanical movement device to be n x f (f is the initial rotation speed), controls the mechanical movement device to rotate for 2 pi + theta cycles firstly, then stops for 2 pi (n-1) -theta cycles, and the linear array camera always shoots vertical pixel strips.

Preferably, the mechanical device rotates for at least 2 weeks and then stops for n-2 weeks, and the line camera only takes vertical pixel strips under the constant rotation of the mechanical motion device.

4. The central processor combines the vertical pixel bands shot in the static state and the motion state into a panoramic image/video.

The apparatus using the above-mentioned line camera panoramic imaging method in this embodiment, as shown in fig. 1, includes a housing 1 and a plate-shaped rotating platform 2, wherein two ends of the rotating platform 2 are respectively provided with a bracket 61 and a counterweight 62, and different types of line cameras 7 can be fixed on the bracket 61. The middle part of the rotary platform 2 is provided with a platform perforation 24, the slip ring is fixed with the rotary platform 2, the linear array camera 7 is connected with the slide block through the platform perforation 24, a transmission shaft 31 is mounted in the shell 1 through a transmission bearing 311, the transmission shaft 31 is fixed with the other end of the slide block opposite to the rotary platform 2 and is connected with a development board which is positioned in the shell 1 and is used as an image processing circuit through a main shaft perforation.

Through the technical scheme, when the transmission shaft 31 arranged on the shell 1 rotates, the rotating platform 2 rotates at a high speed along with the transmission shaft 31, so that the linear array camera 7 positioned on the rotating platform 2 can shoot peripheral scenery for 360 degrees.

In the process of high-speed rotation of the line camera 7, the data line of the line camera 7 is connected with the development board through the sliding block, so that the data signal of the line camera 7 is transmitted to the development board, and the data signal is processed by the image processing circuit integrated with the development board to obtain image information.

As shown in fig. 2, the transmission shaft 31 of the present embodiment is driven by a drive motor mounted to the housing 1 via a transmission gear set. The transmission gear set comprises a first gear 41, a first intermediate gear 51, a second intermediate gear 52 and a second gear 42; the first gear 41 is fixed coaxially with the transmission shaft 31, the second intermediate gear 52 and the second gear 42 are connected coaxially with an intermediate shaft 33, the intermediate shaft 33 is supported and fixed on the housing 1 through an intermediate bearing 331, and the second gear 42 is coaxially linked with the motor shaft 32.

Then, after the first gear 41 is meshed with the first intermediate gear 51 and the second gear 42 is meshed with the second intermediate gear 52, the gear ratio can be changed by designing the module ratio of the first intermediate gear 51 to the second intermediate gear 52, and the transmission shaft 31 is driven by a drive motor with limited power; meanwhile, the gear transmission has better stability, so that the transmission shaft 31 is not easy to vibrate in the rotating process.

In addition, in order to further improve the transmission efficiency, the metal parts are made of aluminum alloy.

As shown in fig. 3, the two ends of the rotating platform 2 of the present embodiment are respectively provided with an adjusting slot 21, and one end of the rotating platform opposite to the bracket 61 is further provided with a mounting sliding slot 23, the bracket 61 is provided with a sliding block of the bracket 61 sliding in the adjusting slot 21 and a mounting hole 22 of the bracket 61 aligning with the mounting sliding slot 23; the bracket 61 adjusts the structural position of the bracket 61 relative to the rotary platform 2 by the sliding of the sliding block of the bracket 61 in the adjusting groove 21, and fixes the bracket 61 and the rotary platform 2 after the bolt sequentially passes through the mounting hole 22 and the mounting sliding groove 23 of the bracket 61. A plurality of rows of mounting holes 22 are formed in one end of the rotary platform 2 opposite to the balance block 62 along the length direction of the rotary platform, the balance block 62 is provided with a balance sliding block sliding in the adjusting groove 21 and a balance mounting hole 22 matched with the mounting hole 22, and the balance mounting hole 22 is provided with threads; the balance weight 62 adjusts the structural position of the balance weight relative to the rotary platform 2 by the sliding of the balance slide block in the adjustment groove 21, and the balance weight 62 is fixed with the rotary platform 2 after the screws sequentially pass through the mounting holes 22 and the balance mounting holes 22.

Through the above design, the balance weight 62 and the bracket 61 respectively fixed at the two ends of the rotating platform 2 can be displaced relative to the rotating platform 2. When line cameras 7 of different models and different weights are fixed on the support 61, the relative positions of the support 61 and the balance block 62 on the rotary platform 2 are adjusted to keep the balance of the rotary platform 2, so that the rotary platform 2 is prevented from excessively inclining at high speed to cause fracture between the rotary platform 2 and the transmission shaft 31.

As described above, the present embodiment is suitable for erecting various linear cameras, so that the linear cameras can shoot peripheral scenery at 360 degrees in the high-speed rotating process, and can keep balance and stability, and the present embodiment is suitable for a mechanical motion device which is practical and convenient to install and maintain.

In addition, as shown in fig. 4, the central processing unit of this embodiment includes a line CCD camera acquisition module, an FPGA cache module, a central processing unit module, and a mechanical movement device. The linear array CCD camera acquisition module acquires a linear array image of a scene in real time through the lens, the image sensor and the camera controller, inputs image data into the FPGA cache module after A/D conversion, and then inputs the image data into the central processing unit module for splicing to acquire a panoramic image.

In addition, the central processing unit of this embodiment is an embedded processor, and splices a plurality of acquired vertical pixel bands, and simultaneously feeds back and adjusts the white balance, the exposure time, the analog gain, the color restoration, the focusing and the rotation rate of the mechanical movement device of the linear array CCD camera, thereby ensuring that a panoramic image with higher quality is obtained.

Claims

1. A panoramic imaging method of a linear array camera is characterized by comprising the following steps:

s3, synthesizing the vertical pixel bands shot by the central processing unit into a panoramic image/video;

at S1, the mechanical motion device and the line camera rotate circumferentially, and the mechanical motion device moves linearly relative to the ground;

at the time of the operation at S2,

s21, the central processing unit combines the formula:

the displacement of the mechanical motion device relative to the ground; alpha, an included angle between the starting direction of circumferential rotation of the linear array camera and the displacement direction of the mechanical motion device relative to the ground; r, the rotation radius of the linear array camera), and calculating the numerical value of the compensation period theta;

2. The line camera panoramic imaging method of claim 1,

at S22, after the mechanical motion device is stationary relative to the ground, the central processing unit increases the rotation speed of the mechanical motion device to n × f (f is the initial rotation speed), and controls the mechanical motion device to rotate for 2 pi + theta cycles first, and then stop for 2 pi (n-1) -theta cycles, so that the linear array camera always captures vertical pixel strips.

3. The method of line camera panoramic imaging according to claim 2,

at S22, the mechanical device rotates for at least 2 weeks and then stops for n-2 weeks, and the line camera only takes vertical pixel strips when the mechanical motion device rotates at a constant speed.