CN108713317B - Image acquisition device - Google Patents
Image acquisition device Download PDFInfo
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- CN108713317B CN108713317B CN201880001160.4A CN201880001160A CN108713317B CN 108713317 B CN108713317 B CN 108713317B CN 201880001160 A CN201880001160 A CN 201880001160A CN 108713317 B CN108713317 B CN 108713317B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Engineering & Computer Science (AREA)
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- Signal Processing (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Some embodiments of the present application provide an image capturing apparatus, including: the device comprises a controller, a rotary table connected with the controller and at least one camera connected with the controller, wherein each camera is aligned to the position on the rotary table for placing an object to be measured; the controller is used for controlling the object to be measured placed on the rotary table to move along a set sliding track on the rotary table and controlling each camera to shoot the object to be measured in the movement.
Description
Technical Field
The application relates to the field of data acquisition, in particular to an image acquisition device.
Background
Computer vision is the simulation of the vision of a living being using a computer, a camera, or other related equipment. In other words, computer vision is the mounting of the eyes and brain to a computer to allow the computer to perceive the environment. The main task of the method is to process the collected pictures or videos to obtain the three-dimensional information of the corresponding scene.
The inventor finds in the process of researching the prior art that deep learning-based computer vision requires sample data training for deep learning based on a large amount of image data. To train a neural network model that can be practically applied, less than ten million images are needed, and more than ten million images are needed. Therefore, it becomes a time-consuming and laborious task to acquire image data of an object.
Therefore, how to efficiently acquire a sample image of an object is a problem to be solved.
Disclosure of Invention
One technical problem to be solved by some embodiments of the present application is how to efficiently acquire a sample image of an object.
An embodiment of the present application provides an image capturing apparatus, including: the device comprises a controller, a rotary table connected with the controller and at least one camera connected with the controller, wherein each camera is aligned to the position on the rotary table for placing an object to be measured; the controller is used for controlling the object to be measured placed on the rotary table to move along a set sliding track on the rotary table and controlling each camera to shoot the object to be measured in the movement.
Compared with the prior art, the embodiment of the application has the advantages that the object to be measured moves along the sliding track set on the rotary table, so that the camera shoots the object to be measured from different angles and different distances, the image of the object to be measured is obtained, and the image acquisition efficiency is improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of an image capturing device according to a first embodiment of the present application;
fig. 2 is a top view of a turntable of a first embodiment of the present application;
fig. 3 is a schematic structural diagram of an image capturing device according to a second embodiment of the present application;
fig. 4 is a schematic view of the position of a camera, a turntable, or the like according to a second embodiment of the present application;
fig. 5 is a top view of a camera head and turret according to a second embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, some embodiments of the present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the embodiments of the present application can be applied to the field of computer vision based on deep learning, and can also be applied to the field of acquiring images of an object to be measured, such as the field of three-dimensional reconstruction of the object to be measured. The three-dimensional reconstruction field is that a very vivid three-dimensional virtual object corresponding to an object to be measured is constructed in a three-dimensional modeling mode, and the three-dimensional virtual object can be watched at a 360-degree panoramic view angle.
A first embodiment of the present application relates to an image capturing apparatus, as shown in fig. 1, including a controller 101, a turntable 102 connected to the controller 101, and at least one camera 103 connected to the controller 101, where each camera 103 is aligned with a position on the turntable 102 for placing an object to be measured. The controller 101 is configured to control the object placed on the turntable 102 to move along a sliding track set on the turntable 102, and control each camera 103 to shoot the moving object.
In a specific implementation, the turntable 102 includes a tray, and a rotating motor connected to the tray. The tray of the turntable 102 is provided with a spiral groove for forming a set sliding track. The controller 101 controls the rotating motor to drive the tray to rotate, so that the object to be measured moves along the spiral groove. For example, the top view of the turntable 102 is shown in fig. 2, wherein one end of the spiral groove is located at the center of the tray, and the other end of the spiral groove is located at the edge of the tray. The edge of tray is equipped with the dog to prevent that the determinand from dropping from the tray. When the controller 101 controls the rotating motor to drive the tray to rotate, the object to be measured moves from the center of the tray to the edge of the tray.
It should be mentioned that, in the process of the object to be measured moving along the set sliding track, the relative position between the object to be measured and the camera 103 is changed continuously, so that the camera 103 shoots the object to be measured from different distances and different angles to obtain the image of the object to be measured.
In a specific implementation, before controlling the movement of the object to be measured placed on the turntable 102, the controller 101 determines the frame rate or photographing speed of each camera 103 according to the expected number of images taken by each camera 103 and the preset rotation speed of the turntable 102.
In practical applications, the lens of the camera 103 may be a normal lens (the angle of view does not exceed 75 degrees), a wide-angle lens (the angle of view does not exceed 120 degrees) or a fisheye lens (the angle of view is greater than 120 degrees). The wave band of the camera 103 may be visible light, infrared, etc. The image captured by the camera 103 may be a grayscale image, a color image, or a depth image. The lens resolution, the aperture size, and whether the focal length is variable or not of the camera 103 can be set according to the requirements of image quality, and the specific configuration of the camera is not limited in this embodiment.
In the specific implementation, the focal length of the camera 103 can be adjusted according to the distance between the camera 103 and the object to be measured in the shooting process. For example, the camera 103 may be an auto-tracking camera so that the camera 103 is always directed at the object to be measured.
It is worth mentioning that the frame rate of the camera is determined according to the number of the images to be shot, so that the number of the images shot by the camera meets the expected requirement.
It should be noted that, as will be understood by those skilled in the art, in practical applications, the turntable 102 may also include other structures such as a base, and the specific structure of the turntable 102 is not limited in this embodiment.
In practical applications, the shape of the set sliding track may be a groove with another shape such as a triangle, and the set sliding track may be formed by a track welded to the turntable.
In the concrete realization, the spiral groove can be internally provided with a sliding block for placing an object to be measured. For example, the slider includes a sliding portion contacting the spiral groove, and a fixing portion for placing the object to be measured. Wherein the friction factor of the sliding part is small so that the slider slides in the spiral groove.
It is worth mentioning that the slider is arranged in the spiral groove, and the slider is used for driving the object to be detected to slide, so that the image acquisition device can acquire images of the object to be detected with various roughness, and the practicability of the image acquisition device is improved.
Compared with the prior art, the image acquisition device that provides in this embodiment, the sliding track motion that the determinand set for on the revolving stage to the determinand can be followed different angles, different distances to the camera, obtains the image of determinand, has improved the efficiency of gathering the image.
A second embodiment of the present application relates to an image capturing device, and the present embodiment is an improvement of the first embodiment, and is mainly different in that other related devices such as a memory are added.
As shown in fig. 3, the image pickup apparatus of the present embodiment includes a controller 101, a turntable 102, a camera 103, a memory 104, at least one support 105, a position adjustment mechanism 106, and an illumination device 107.
Specifically, the memory 104 is used for storing an image of the object to be measured photographed by each camera 103, and the support 105 is used for placing the camera 103. Wherein the supports 105 are evenly distributed around the turntable 102. For example, when the image capturing device includes 3 stands, the angle between the 3 stands is 120 degrees. The camera 103 is connected with the bracket 105 through a position adjusting mechanism 106. The position adjusting mechanism 106 drives the camera 103 to move to a preset position under the control of the controller 101, and aligns the camera 103 with a position on the turntable 102 for placing an object to be measured. The controller 101 adjusts the light intensity of the light device 107 in controlling the object to be measured placed on the turntable 102 to move along the slide track set on the turntable.
In a specific implementation, the position of the bracket 105 and the position of the camera 103 can be adjusted according to the volume of the object to be measured. The position adjustment mechanism 106 may be a movable roller with a motor, which moves under the control of the controller 101 to adjust the position of the camera 103. When the camera 103 is in the preset position, the movable roller locks the camera 103 so as to prevent the camera 103 from sliding off the bracket 105.
The placement of the camera 103 will be described below with reference to an actual scene.
It is assumed that the image capturing apparatus includes a first camera 401, a second camera 402, and a third camera 403. Wherein each support 105 is provided with an illumination device 107. A schematic position diagram of the camera, the turntable 102, and the like is shown in fig. 4 (the connection relationship of the position adjustment mechanism 106, the illumination device 107, and the controller 101 is not shown), and a plan view of the camera and the turntable 102 is shown in fig. 5. The first camera 401 and the geometric center of the object to be measured on the turntable 102 are at the same height, and the horizontal distance from the center of the turntable 102 is 4/3 of the diameter of the turntable 102; the vertical distance between the second camera 402 and the turntable 102 is the height of two objects to be measured, and the horizontal distance between the second camera 402 and the center of the turntable 102 is 1/2 of the diameter of the turntable 102; the vertical distance between the third camera 403 and the turntable 102 is the height of three objects to be measured, and the horizontal distance between the third camera 403 and the center of the turntable 102 is 1/4 of the diameter of the turntable 102.
It is worth mentioning that the cameras are arranged at different positions, so that the image acquisition device can acquire images of the object to be detected at different distances, different angles and different heights.
It should be noted that the controller 101 adjusts the illumination intensity of the illumination device 107, so that the camera 103 can capture images of the object under different illumination conditions.
In specific implementation, the image acquisition device may further include a speed collector, and the speed collector is configured to obtain the real-time rotation speed of the tray and transmit the real-time rotation speed of the tray to the controller 101. The controller 101 obtains a preset rotating speed of the tray, and determines a rotating speed deviation amount according to the real-time rotating speed and the preset rotating speed. The controller 101 is provided with a speed regulator therein, and the speed regulator regulates the rotation speed of the tray to a preset rotation speed according to the rotation speed deviation amount. The preset rotating speed can be a fixed value, and can also be a change value changing along with the acquisition time, so that the tray can be set to move at a constant speed, and the tray can also be set to move in an accelerated manner or in a decelerated manner.
In specific implementation, the image capturing device may further include a position collector, where the position collector is configured to obtain a real-time position of the camera, and transmit the real-time position of the camera to the controller 101. The controller 101 determines a position offset according to the preset position and the real-time position, and controls the position adjusting mechanism 106 to drive the camera 103 to move to the preset position according to the position offset. The preset position may be a default position stored in advance, or a given position input by the user.
It should be noted that the position of the camera 103 may be adjusted by the controller 101, or may be manually adjusted, and the embodiment does not limit the adjustment mode of the position of the camera 103.
In a specific implementation, the image acquisition device may further include an illumination intensity collector. The illumination intensity collector is used for acquiring the real-time illumination intensity irradiated on the turntable and transmitting the real-time illumination intensity to the controller 101. The controller 101 adjusts the illumination intensity of the illumination device according to the preset illumination intensity and the real-time illumination intensity.
It should be noted that the preset illumination intensity may be a fixed value, or may change with the acquisition time. The following illustrates the functional relationship between the preset illumination intensity and the acquisition time during the acquisition process.
In the method a, the functional relationship between the preset illumination intensity and the collection time is a constant function, that is, the preset illumination intensity is a fixed illumination intensity value. For example, the preset light intensity is 10Lux (Lux or Lx).
In the mode B, the function relationship between the preset illumination intensity and the acquisition time is a piecewise function. For example, the preset illumination intensity is a plurality of intermittent illumination intensity values, and the preset illumination intensity is 5Lux when the collection time is from 0 second to 5 seconds; the preset illumination intensity is 10Lux when the acquisition time is 5 seconds to 10 seconds; when the acquisition time is 10 seconds to 15 seconds, the preset illumination intensity is 15 Lux; the preset illumination intensity is 20Lux when the acquisition time is 15 seconds to 20 seconds.
In the mode C, the function relationship between the preset illumination intensity and the collection time is a proportional function. For example, the preset illumination intensity is increased with the increase of the acquisition time, that is, the illumination intensity is changed from weak to strong during the acquisition of the image. As another example, the preset illumination intensity becomes weaker with the increase of the acquisition time, i.e. the illumination intensity is weakened from strong during the acquisition of the image.
Compared with the prior art, the image acquisition device that provides in this embodiment, the sliding track motion that the determinand set for on the revolving stage to the determinand can be followed different angles, different distances to the camera, obtains the image of determinand, has improved the efficiency of gathering the image. In addition, the image acquisition device can acquire images of the object to be measured under various illumination intensities by adjusting the illumination intensity of the illumination equipment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.
Claims (12)
1. An image acquisition apparatus, comprising: the device comprises a controller, a rotary table connected with the controller and at least one camera connected with the controller, wherein each camera is aligned to the position, used for placing an object to be measured, on the rotary table;
the controller is used for controlling the object to be measured placed on the rotary table to move along a sliding track set on the rotary table and controlling each camera to shoot the object to be measured in the movement;
the turntable comprises a tray, wherein a spiral groove is formed in the tray and is used for forming the set sliding track.
2. The image pickup apparatus according to claim 1, wherein the turntable includes a rotating motor connected to the tray;
the controller is specifically used for controlling the rotating motor to drive the tray to rotate, so that the object to be measured moves from one end of the spiral groove to the other end of the spiral groove.
3. The image capturing apparatus of claim 2, wherein the image capturing apparatus further comprises a speed picker;
the speed collector is used for acquiring the real-time rotating speed of the tray;
the controller is specifically used for determining a rotation speed deviation amount according to the real-time rotation speed and the preset rotation speed of the tray; and adjusting the rotating speed of the tray to the preset rotating speed according to the rotating speed deviation value.
4. The image acquisition device according to any one of claims 1 to 3, wherein the image acquisition device further comprises at least one bracket for placing the camera, and a position adjustment mechanism connecting the camera and the bracket;
the controller is specifically used for controlling the position adjusting mechanism to drive the camera to move to a preset position before controlling the object to be measured placed on the rotary table to move along the sliding track set on the rotary table, and the camera is aligned to the position, on the rotary table, for placing the object to be measured.
5. The image capturing apparatus of claim 4, wherein the image capturing apparatus further comprises a position collector;
the position collector is used for acquiring the real-time position of the camera;
the controller is specifically used for determining a position offset according to the preset position and the real-time position of the camera; and controlling the position adjusting mechanism to drive the camera to the preset position according to the position offset.
6. The image acquisition device according to claim 1, wherein the controller is further configured to determine a shooting frame rate or a shooting speed of each camera according to the number of the predicted shot images of each camera and a preset rotation speed of the turntable before controlling the object placed on the turntable to move along the set sliding track on the turntable.
7. The image acquisition apparatus according to claim 1, wherein the image acquisition apparatus further comprises an illumination device;
the controller is also used for adjusting the illumination intensity of the illumination equipment in the process of controlling the object to be measured placed on the rotary table to move along the set sliding track on the rotary table.
8. The image capturing apparatus of claim 7, wherein the image capturing apparatus further comprises an illumination intensity collector;
the illumination intensity collector is used for acquiring the real-time illumination intensity irradiated on the rotary table;
the controller is specifically configured to adjust the illumination intensity of the illumination device according to the real-time illumination intensity and a preset illumination intensity.
9. The image capture device of claim 1, wherein the image capture device further comprises a memory;
the memory is used for storing the images of the object to be measured shot by each camera.
10. The image acquisition device of claim 1, wherein the image acquisition device comprises a first camera, a second camera, and a third camera;
the first camera and the geometric center of the object to be measured on the turntable are at the same height, and the horizontal distance from the center of the turntable is 4/3 of the diameter of the turntable;
the vertical distance between the second camera and the rotary table is the height of the two objects to be measured, and the horizontal distance between the second camera and the circle center of the rotary table is 1/2 of the diameter of the rotary table;
the vertical distance between the third camera and the rotary table is the height of the three objects to be measured, and the horizontal distance between the third camera and the circle center of the rotary table is 1/4 of the diameter of the rotary table.
11. The image capturing device of claim 4, wherein the at least one support is evenly distributed around the turntable.
12. The image capturing device as claimed in claim 2, wherein a slider for placing the object is disposed in the spiral groove.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/084764 WO2019205077A1 (en) | 2018-04-27 | 2018-04-27 | Image acquisition apparatus |
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| CN108713317A CN108713317A (en) | 2018-10-26 |
| CN108713317B true CN108713317B (en) | 2020-10-09 |
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| CN201880001160.4A Active CN108713317B (en) | 2018-04-27 | 2018-04-27 | Image acquisition device |
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| WO (1) | WO2019205077A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108713317B (en) * | 2018-04-27 | 2020-10-09 | 深圳前海达闼云端智能科技有限公司 | Image acquisition device |
| CN109712058B (en) * | 2018-12-03 | 2022-09-30 | 达闼机器人股份有限公司 | Data set collector |
| CN111638217A (en) * | 2020-04-20 | 2020-09-08 | 武汉中岩科技股份有限公司 | Method and device for detecting camera shooting in hole of prefabricated hollow pipe pile |
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| WO2019205077A1 (en) | 2019-10-31 |
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