Image acquisition method and apparatus, terminal device, and computer-readable storage medium

Abstract

The application provides an image acquisition method and device, a terminal device and a computer readable storage medium. The method comprises: acquiring a speed deviation of a second carrier, the speed deviation being an angular velocity of the second carrier relative to a rotating object; determining a target angular velocity of a first carrier according to the speed deviation and a preset initial motion speed of the second carrier; adjusting a current angular velocity of the first carrier to the target angular velocity, and controlling an image sensor to acquire an image of the rotating object. The image acquisition method provided by the application can acquire the speed deviation of the second carrier carrying the first carrier, thereby adjusting the rotating speed of the first carrier, so that the image sensor carried on the first carrier can work at a stable rotating speed, and the quality of the acquired image is improved.

Description

Technical Field

[0001] This application relates to the field of image processing, specifically to an image acquisition method, apparatus, terminal device, and computer-readable storage medium. Background Technology

[0002] To ensure the safety of steel cables and related objects, when inspecting steel cables in various facilities, a steel cable inspection device is usually attached to the steel cable and moved forward, so that the image sensor on the steel cable inspection device can capture images of the steel cable surface and obtain the corresponding steel cable images.

[0003] To ensure that the obtained images of the steel cable can completely cover all the surface information of the steel cable, it is also necessary to ensure that the image sensor on the steel cable inspection equipment rotates so that the steel cable can be photographed 360 degrees as the steel cable inspection equipment moves forward.

[0004] However, as the cable inspection equipment moves along the cable, it may be affected by external forces, causing it to rotate. For example, when inspecting cables on a bridge, the equipment may be affected by crosswinds or cable swaying, leading to rotation. Therefore, it is necessary to ensure that the corresponding image sensing equipment can still acquire high-quality images even when the cable inspection equipment rotates. Summary of the Invention

[0005] This application provides an image acquisition method that can improve the quality of captured images by controlling the speed of the image sensor carrier.

[0006] In a first aspect, this application provides an image acquisition method applied to an image acquisition device, the image acquisition device including a first carrier and a second carrier, the first carrier carrying an image sensor and moving in a circular motion around a subject being photographed, the second carrier enclosing the subject being photographed and moving along the subject being photographed, the first carrier being disposed on the second carrier, the method comprising:

[0007] The velocity deviation of the second carrier is obtained, wherein the velocity deviation is the angular velocity of the second carrier relative to the photographed object.

[0008] The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial velocity of the second carrier.

[0009] The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire an image of the subject.

[0010] In some embodiments of this application, determining the target angular velocity of the first carrier based on the velocity deviation and the preset initial velocity of the second carrier includes:

[0011] Based on the speed deviation, the deviation direction and speed deviation value of the second carrier are determined.

[0012] At the initial velocity of the second carrier, the target angular velocity of the first carrier is determined based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier.

[0013] In some embodiments of this application, determining the target angular velocity of the first carrier based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier at the initial velocity of the second carrier includes:

[0014] If the deviation direction is the same as the rotation direction, the difference between the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier;

[0015] If the deviation direction is opposite to the rotation direction, the sum of the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier.

[0016] In some embodiments of this application, after determining the target angular velocity of the first carrier based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier at the initial velocity of the second carrier, the method further includes:

[0017] The target angular velocity of the first carrier is superimposed with the velocity deviation to obtain the actual angular velocity of the first carrier;

[0018] If the velocity difference between the actual angular velocity of the first carrier and the initial angular velocity of the first carrier is greater than a preset velocity threshold, the motion speed of the second carrier is controlled according to the target angular velocity of the first carrier.

[0019] In some embodiments of this application, controlling the motion speed of the second carrier based on the target angular velocity of the first carrier includes:

[0020] The rotation period of the first carrier is determined based on the target angular velocity of the first carrier. The rotation period of the first carrier represents the time it takes for the first carrier to move around the photographed object once at the target angular velocity.

[0021] The target speed of the second carrier is determined based on the rotation period of the first carrier and the shooting width of the object captured by the image sensor each time.

[0022] Control the movement speed of the second carrier to the target movement speed.

[0023] In some embodiments of this application, after controlling the image sensor to acquire an image of the subject, the process includes:

[0024] According to the rotation period of the image sensor, the images acquired by the image sensor are stitched together to obtain the target image of the subject. The rotation period represents the time it takes for the first carrier to move around the subject once at the target angular velocity.

[0025] In some embodiments of this application, the step of stitching together the images acquired by the image sensor according to the rotation period of the image sensor to obtain the target image of the photographed object includes:

[0026] The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is determined; the image sensor acquires at least one image of the subject in each rotation cycle.

[0027] The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is stitched together according to the rotation cycle of the image sensor to obtain the target image.

[0028] In some embodiments of this application, the step of stitching together the pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle according to the rotation cycle of the image sensor to obtain the target image includes:

[0029] The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is arranged according to the rotation cycle of the image sensor to obtain the target pixel matrix;

[0030] Based on the number of pixel rows in the target pixel matrix, a splicing unit group is determined, wherein the splicing unit group includes at least one row of pixels in the target pixel matrix;

[0031] For each row of pixels in each stitching unit group, the pixels are stitched together according to the rotation period of the image sensor to obtain the unit stitched image corresponding to that stitching unit group;

[0032] The unit images corresponding to each of the stitching unit groups are stitched together according to the pixel rows of the target pixel matrix to obtain the target image.

[0033] Secondly, this application also provides an image acquisition device applied to an image acquisition equipment. The image acquisition equipment includes a first carrier and a second carrier. The first carrier carries an image sensor and moves in a circular motion around the object being photographed. The second carrier covers the object being photographed and moves along the object. The first carrier is disposed on the second carrier. The device includes:

[0034] The acquisition module is used to acquire the velocity deviation of the second carrier, wherein the velocity deviation is the angular velocity of the second carrier relative to the photographed object.

[0035] The determining module is used to determine the target angular velocity of the first carrier based on the velocity deviation and the preset initial motion velocity of the second carrier;

[0036] The control module is used to adjust the current angular velocity of the first carrier to the target angular velocity and control the image sensor to acquire the image of the subject.

[0037] In some embodiments of this application, the determining module is specifically used for:

[0038] The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial velocity of the second carrier.

[0039] The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire an image of the subject.

[0040] In some embodiments of this application, the determining module is further configured to:

[0041] Based on the speed deviation, the deviation direction and speed deviation value of the second carrier are determined.

[0042] At the initial velocity of the second carrier, the target angular velocity of the first carrier is determined based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier.

[0043] In some embodiments of this application, the determining module is further configured to:

[0044] If the deviation direction is the same as the rotation direction, the difference between the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier;

[0045] If the deviation direction is opposite to the rotation direction, the sum of the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier.

[0046] Thirdly, this application also provides a terminal device, the terminal device including a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the steps in any of the image acquisition methods described above.

[0047] Fourthly, this application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the steps in any of the image acquisition methods described above.

[0048] The image acquisition method provided in this application adjusts the rotation speed of the first carrier by obtaining the speed deviation of the second carrier carrying the first carrier, so that the image sensor mounted on the first carrier can work at a stable rotation speed, thereby improving the quality of the captured image. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a scene diagram of the image acquisition system provided in the embodiments of this application;

[0051] Figure 2 This is a schematic flowchart of one embodiment of the image acquisition method in this application;

[0052] Figure 3 This is a schematic diagram of image stitching in one of the image acquisition methods in this application embodiment;

[0053] Figure 4 This is a schematic diagram of a functional module of the image acquisition device in an embodiment of this application;

[0054] Figure 5 This is a schematic diagram of the structure of the terminal device in the embodiments of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0057] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0058] This application provides an image acquisition method, apparatus, terminal device, and computer-readable storage medium, which are described in detail below.

[0059] Please see Figure 1 , Figure 1 This is a schematic diagram of a scene for an image acquisition system provided in an embodiment of this application. The image acquisition system may include an image sensing device 100 and a mounting device 200, which can mount the image sensing device 100 for movement. Figure 1 The mounting device 200 can mount the image sensing device 100, so that when the mounting device 200 rotates, the image sensing device 100 can also rotate with the mounting device 200, so that the image sensing device 100 can execute the image acquisition method in this application.

[0060] In this embodiment of the application, the image sensing device 100 includes, but is not limited to, any device capable of image acquisition, such as a camera or video camera.

[0061] In the embodiments of this application, the image sensing device 100 and the mounting device 200 can be connected by any communication method, including but not limited to any connection method such as welding connection or snap-fit ​​connection.

[0062] It should be noted that, Figure 1The schematic diagram of the image acquisition system shown is merely an example. The image acquisition system and scenario described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of image acquisition systems and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0063] like Figure 2 As shown, Figure 2 This is a schematic flowchart of an embodiment of the image acquisition method in this application. The image acquisition method is applied to an image acquisition device, which includes a first carrier and a second carrier. The first carrier carries an image sensor and moves in a circular motion around the object being photographed. The second carrier covers the object being photographed and moves along the object. The first carrier is disposed on the second carrier. Specifically, the method may include the following steps 201 to 203:

[0064] 201. Obtain the velocity deviation of the second carrier, which is the angular velocity of the second carrier relative to the photographed object.

[0065] The first carrier can be Figure 1 The circular structure shown allows the image sensor to be fixed within the object being photographed when the image sensor is mounted on it. As the ring rotates, the image sensor rotates and moves in a circular motion, acquiring a 360-degree surface image of the object. Alternatively, the first carrier can be a fixed support, with the image sensor mounted on it. Controlling the support to move in a circular motion drives the image sensor to do the same. Therefore, the first carrier can take many forms, which are not limited here. It should be noted that the image sensor in this solution is a linear array image sensor.

[0066] Furthermore, the second carrier can be an autonomously moving device (such as a robot) that can enclose the object being photographed. The second carrier can be fixedly connected to the first carrier via a connecting device (such as a connecting steel bar). If the object being photographed is long (such as a steel cable on a bridge), the second carrier will move along the object, thereby causing the first carrier to move along with it. In this case, the image sensor can acquire not only 360-degree surface information of the object at a specific point, but also 360-degree surface information of the entire object.

[0067] Since the second carrier moves while encasing the object being photographed, under normal circumstances, it can move autonomously according to the programmed speed control. However, unexpected situations may occur. For example, if the second carrier moves on cable 1 of a bridge A, although it is encased in the cable, its linear speed will not change due to cable swaying or wind, but it cannot avoid rotation. If the second carrier rotates, it will also cause the first carrier to rotate, adding the angular velocity of the second carrier to its original rotation. This causes the actual angular velocity of the first carrier to deviate from the programmed set angular velocity. In this case, the actual angular velocity of the first carrier needs to be adjusted back to the set angular velocity to capture the cable surface completely. For instance, if the first carrier moves at the set angular velocity and the second carrier moves at the set speed, the image sensor on the first carrier can capture the entire cable surface. However, if the actual speed of the first carrier is higher or lower than the set angular velocity due to the rotation of the second carrier, surface information of the cable may be missed during the photographing, or the captured image may contain excessive redundant information, resulting in poor image quality. Therefore, it is necessary to counteract the effect of the rotation of the second carrier on the rotation of the first carrier. Thus, the velocity deviation of the second carrier is the angular velocity of the second carrier in this scenario.

[0068] To promptly detect whether the second carrier is rotating and to acquire its angular velocity, an IMU (Inertial Measurement Unit) can be installed on the second carrier to measure its three-axis attitude angles (or angular rates) and acceleration. An IMU can be a sensor used to detect and measure acceleration and rotational motion. Its principle is based on the law of inertia. This principle is used in sensors ranging from ultra-small MEMS (Micro-Electro-Mechanical System) sensors to high-precision laser gyroscopes; whether the MEMS sensor is only a few millimeters in size or the fiber optic device is nearly half a meter in diameter. Of course, other methods can also be used to detect whether the second carrier is rotating; specific methods are not limited here. By installing the IMU on the second carrier, when the second carrier rotates, the IMU will automatically acquire the rotational data (velocity deviation) of the second carrier.

[0069] 202. Determine the target angular velocity of the first carrier based on the velocity deviation and the preset initial motion velocity of the second carrier.

[0070] After obtaining the speed deviation of the second carrier according to step 201 above, when the actual rotational speed of the first carrier changes and is not equal to the required speed, the speed of the first carrier itself can be adjusted to make the actual rotational speed of the first carrier equal to the predetermined speed. For example, when the second carrier is not rotating, the rotational speed of the first carrier (initial rotational speed) is equal to the predetermined rotational speed required for rotation. However, when affected by the rotation of the second carrier, to make the actual rotational speed of the first carrier equal to the predetermined rotational speed, either the rotational speed of the first carrier must be decreased or increased, so that the final actual rotational speed equals the predetermined rotational speed.

[0071] In the above situation, it is necessary to correct the angular velocity of the first carrier. Ideally, the actual angular velocity of the first carrier should be corrected to a preset speed. In this way, it is not necessary to correct the movement speed of the second carrier. The reason is that if the first carrier can rotate at the set angular velocity and the second carrier can move at the preset speed, the surface information of the object being photographed can be completely obtained.

[0072] At this point, a pre-set speed reference table can be stored in the system. This table records the corresponding angular velocity adjustment for the first carrier for each speed deviation of the second carrier (assuming the first carrier's set angular velocity is a fixed speed). When the IMU detects the speed deviation of the second carrier, it can directly adjust the speed of the first carrier. The advantage of this method is that it directly controls the angular velocity of the first carrier without requiring additional calculations.

[0073] While controlling the angular velocity of the first carrier, the upcoming controlled angular velocity of the first carrier can be determined based on a velocity lookup table, thus allowing direct control of the second carrier's speed. Controlling the second carrier's speed can also be achieved by pre-storing a velocity lookup table corresponding to different angular velocities of the first carrier in the system. The actual angular velocity of the first carrier is then compared with the speed in the lookup table; if a match is found, the second carrier's speed is automatically controlled. It should be noted that other control methods exist for the individual speeds of the first and second carriers, but these are not limited here.

[0074] Because the initial speed of the second carrier matches the initial speed of the first carrier, after controlling the actual rotational speed of the first carrier, if it matches the initial rotational speed, then there is no need to adjust the speed of the second carrier. Specifically, this may include:

[0075] If the deviation direction is the same as the rotation direction, the difference between the current angular velocity value and the velocity deviation value of the first carrier is set as the target angular velocity value of the first carrier; if the deviation direction is opposite to the rotation direction, the sum of the current angular velocity value and the velocity deviation value of the first carrier is set as the target angular velocity value of the first carrier.

[0076] The above embodiments describe a scheme for adjusting speed using a speed lookup table. While this scheme is simple and relatively easy to design, adjusting speed based on a specific speed lookup table lacks flexibility and sometimes cannot meet specific needs. For example, if the actual angular velocity of the first carrier is not on the speed lookup table, the speed cannot be adjusted. Therefore, a more universal speed adjustment method is needed.

[0077] At this point, it is necessary to determine whether the direction of the velocity deviation of the second carrier is the same as or opposite to the rotation direction of the first carrier. Specifically, if the second carrier experiences a rightward velocity deviation when the first carrier rotates to the right, it's equivalent to the first carrier rotating to the right having its angular velocity superimposed on it, thus increasing the rightward angular velocity of the first carrier. Conversely, if the second carrier experiences a leftward velocity deviation when the first carrier rotates to the right, it's equivalent to the first carrier rotating to the right having its angular velocity superimposed on it, thus decreasing the rightward angular velocity of the first carrier, or even changing directly from rightward to leftward rotation. Therefore, it is necessary to determine the directions of the angular velocities of both carriers.

[0078] Once the corresponding rotation direction is determined, the target angular velocity of the first carrier can be adjusted using the following formula:

[0079] Vcam=Vcam+ω×R……①

[0080] It should be noted that the equals sign in this formula does not mean "equal to," but rather represents an assignment, where the value on the right side of the equals sign is transferred to the left side. Vcam is the angular velocity of the first carrier, ω is the velocity deviation of the second carrier, and R is the diameter of the circular motion of the first carrier around the subject. If ω and Vcam rotate in opposite directions, ω is negative, and the formula becomes Vcam = Vcam - ω × R.

[0081] To better implement the embodiments of this application, in one embodiment, after determining the target angular velocity of the first carrier based on the deviation direction, velocity deviation value, and rotation direction of the first carrier at the initial motion velocity of the second carrier, the method further includes:

[0082] The target angular velocity and velocity deviation of the first carrier are superimposed to obtain the actual angular velocity of the first carrier; if the velocity difference between the actual angular velocity and the initial angular velocity of the first carrier is greater than a preset velocity threshold, the motion speed of the second carrier is controlled according to the target angular velocity of the first carrier.

[0083] As shown in the above embodiments, controlling the actual angular velocity of the first carrier to the initial set angular velocity is the most ideal state. However, if, during the correction of the first carrier, due to unforeseen circumstances or actual conditions, the actual angular velocity cannot be corrected to the set angular velocity, in order to ensure that the captured image still fully presents the surface information of the object being photographed, it is necessary to adjust the motion speed of the second carrier based on the corrected angular velocity of the first carrier. For example, after the speed control of the first carrier is completed, if the actual rotational speed is not equal to the predetermined rotational speed due to factors such as the control precision of the equipment, the speed of the second carrier can be adjusted to match the actual rotational speed of the first carrier. For example, if the actual rotational speed of the first carrier differs from the predetermined rotational speed by more than 10%, the speed of the second carrier can be adjusted; this 10% is the speed threshold. It should be noted that this speed threshold can be adjusted according to specific actual conditions.

[0084] To better implement the embodiments of this application, in one embodiment, controlling the motion speed of the second carrier based on the target angular velocity of the first carrier includes:

[0085] Based on the target angular velocity of the first carrier, the rotation period of the first carrier is determined, which represents the time it takes for the first carrier to move around the subject once at the target angular velocity; based on the rotation period of the first carrier and the shooting width of the subject captured by the image sensor each time, the target motion speed of the second carrier is determined; the motion speed of the second carrier is controlled to the target motion speed.

[0086] It should be noted that the velocity of the second carrier is the speed at which it moves along the subject being photographed, which can be understood as linear velocity. Given the angular velocity of the first carrier, to avoid the second carrier's velocity being too slow or too fast, its velocity can also be calculated. Specifically, parameters related to the angular velocity of the first carrier can be obtained as the basis for calculating the second carrier's velocity, thus better matching the velocities of the two. The specific calculation formula is as follows:

[0087]

[0088] v x <d / t n ……③

[0089] Among them, t n The rotation period is the time required for the first carrier to rotate one revolution according to the controlled target angular velocity. camroll Let d be the target angular velocity of the first carrier, and R be the diameter of the circular motion of the first carrier around the object being photographed. It should be noted that d is the width of the image sensor capturing the object each time. The specific image sensor is limited by the camera specifications, and the width captured each time is finite. Specifically, this width refers to the length of the second carrier along the direction of motion of the object being photographed. Therefore, d can be obtained based on the camera's specifications. At this point, based on d and t... n The velocity v of the second carrier can then be calculated. x It should be noted that v calculated according to formula ③ x It is a range of values, and v x The closer to d / t n The faster the movement of the second carrier, the better the image quality. For example, when the second carrier moves too slowly, there will be more overlapping areas in the images along the direction of the subject's movement, reducing the efficiency of image acquisition. Conversely, if the movement speed is too fast, missed shots may occur. Therefore, v x The closer to d / t n In this way, it can reduce or eliminate the problems of missed shots or overlaps.

[0090] 203. Adjust the current angular velocity of the first carrier to the target angular velocity, and control the image sensor to acquire the image of the object being photographed.

[0091] Furthermore, as illustrated in the above embodiments, the target angular velocity of the first carrier and the motion speed of the second carrier can be controlled. The specific control method can be achieved by adjusting the speed using PID (proportional-integral-derivative control). Specific PID control methods can be found in existing technologies and will not be elaborated upon here.

[0092] After controlling the first and second carriers using PID control, it indicates that the speeds of the first and second carriers have been adjusted. At this point, the speeds can still be referenced. Figure 1 The system controls the rotation of the circular structure, i.e., the first carrier, so that the image sensor on the ring rotates at the same speed as the ring. By controlling the first carrier, the image sensor can also maintain a stable rotation speed, ensuring that the image sensor operates under relatively stable conditions. Once the rotation speed of the first carrier is maintained, the control program can then control the image sensor to perform data acquisition.

[0093] The image acquisition method provided in this application adjusts the rotation speed of the first carrier by obtaining the speed deviation of the second carrier carrying the first carrier, so that the image sensor mounted on the first carrier can work at a stable rotation speed, thereby improving the quality of the captured image.

[0094] To better implement the embodiments of this application, in one embodiment of this application, after controlling the image sensor to acquire an image of the subject, the following steps are included:

[0095] According to the rotation period of the image sensor, the images acquired by the image sensor are stitched together to obtain the target image of the subject. The rotation period represents the time it takes for the first carrier to move around the subject once at the target angular velocity.

[0096] As the image sensor rotates with the first carrier, it can capture images of the subject. When the rotation is completed in one revolution, an image of the whole revolution can be obtained. It can be understood that the image captured by the image sensor in each rotation cycle includes the image captured by the image sensor in each rotation cycle. If one rotation cycle corresponds to one image, then when there are multiple rotation cycles, images of multiple rotation cycles are obtained.

[0097] Because the first carrier rotates while the second carrier moves along the subject (the second carrier may also rotate due to uncertainty), and the image sensor is mounted on the first carrier, the image sensor also rotates when the first carrier rotates. Each rotation of the image sensor results in an image that only represents a portion of the subject, causing significant inconvenience for technicians who need to view the image. Therefore, it is necessary to stitch together the images from each rotation cycle of the image sensor to form a complete image.

[0098] Since the image sensor acquires images while the first carrier rotates at the target's rotational speed and the second carrier moves at the target's motion speed, it will not miss any surface features of the object being photographed. Therefore, the corresponding images can be stitched together directly according to the rotation cycle of the image sensor.

[0099] In this system, since the first carrier carries an image sensor, its rotation causes the image sensor to rotate as well. Therefore, the rotation period of the first carrier is equal to the rotation period of the image sensor. Because the image sensor captures one image per revolution during rotational shooting, the stitching order must remain unchanged to ensure the stitched image accurately represents the features of the subject. Since the image sensor captures images while rotating and moving along with the subject, the images corresponding to consecutive rotation cycles are consecutive. Therefore, during stitching, these consecutive images are stitched together sequentially according to the rotation cycle order. The specific stitching method can be as follows... Figure 3 As shown, Figure 3 Each parallelogram in the image represents one rotation cycle. Figure 3 The length of the parallelogram in the horizontal direction is d, which represents the direction in which the second carrier moves forward or backward along the cable. The height of the parallelogram is the circumference of the circle when the first carrier rotates. The image obtained in each rotation cycle can then be used as a reference. Figure 3 The images can be stitched together sequentially according to the rotation cycle. That is, the image obtained in the first rotation cycle is stitched together with the image obtained in the second rotation cycle, and so on, until the image is stitched together with the image obtained in the third rotation cycle. Finally, the images are stitched together with the image obtained in the last rotation cycle.

[0100] To better implement the embodiments of this application, in one embodiment, the images acquired by the image sensor are stitched together according to the rotation cycle of the image sensor to obtain a target image of the photographed object, including:

[0101] Determine the pixel matrix of the object image acquired by the image sensor in each rotation cycle; the image sensor acquires at least one image of the object in each rotation cycle; stitch the pixel matrix of the object image acquired by the image sensor in each rotation cycle according to the rotation cycle of the image sensor to obtain the target image.

[0102] In this design, the image sensor can take multiple shots during each rotation cycle, resulting in multiple images. These images can then be stitched together in the order they were captured, achieving the effect of one image per rotation cycle. Alternatively, the image sensor can also take a delayed shot to obtain a single image, achieving the same effect of one image per rotation cycle.

[0103] Furthermore, in the actual storage process, images are stored as pixel matrices. Therefore, after acquiring the image corresponding to each rotation cycle, the target image can be obtained by determining the pixel matrix corresponding to each image and concatenating the pixel matrices in the order of the rotation cycles. For example, the pixel matrix corresponding to the first rotation cycle, the pixel matrix of the second rotation cycle, and so on, up to the pixel matrix of the Nth rotation cycle, are arranged from left to right in ascending order of the rotation cycles. After the arrangement is completed, the pixel matrices are concatenated.

[0104] To better implement the embodiments of this application, in one embodiment, the pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is stitched together according to the rotation cycle of the image sensor to obtain the target image, including:

[0105] The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is arranged according to the rotation cycle of the image sensor to obtain the target pixel matrix. Based on the number of pixel rows in the target pixel matrix, a stitching unit group is determined, and the stitching unit group includes at least one row of pixels in the target pixel matrix. For each row of pixels in each stitching unit group, the pixels are stitched together according to the rotation cycle of the image sensor to obtain the unit stitched image corresponding to the stitching unit group. The unit stitched images corresponding to each stitching unit group are stitched together according to the pixel rows of the target pixel matrix to obtain the target image.

[0106] When the image sensor captures images at the rotation speed controlled according to the above embodiment, the image sensor includes a rotation direction and a movement direction along the object being photographed. The rotation direction is the rotation direction of the first carrier, and the movement direction is equal to the movement direction of the second carrier. Since the image is captured simultaneously by both the rotation direction and the movement direction, there may be overlaps between rows of the pixel matrix of the image corresponding to each rotation cycle captured by the image sensor. To improve the stitching quality, these overlaps need to be processed. Because stitching images requires combining consecutive images, and images are actually stored as pixel matrices, the pixel matrices corresponding to the images also need to be arranged in the consecutive order of the images. After this arrangement, the target pixel matrix is ​​obtained.

[0107] However, the overlap between columns of each pixel matrix is ​​only affected by the velocity in the rotation direction, so the overlap between columns can be ignored. Therefore, to improve stitching efficiency, it is not necessary to process the overlap between columns. Thus, pre-stitched images based on the same row can be directly stitched together to form a complete stitched image, i.e., the target image.

[0108] To improve efficiency, instead of stitching each row of the stitched image column by column, we can group the pixels according to the row order in the target pixel matrix to obtain multiple consecutive stitching unit groups, and then stitch these groups together sequentially. For example, if the target pixel matrix has three rows, we can directly use at least two consecutive rows as stitching unit groups, i.e., the first row and the second row, or the second row and the third row, or the first row, the second row, and the third row as one stitching unit group. For instance, when the first row and the second row form one stitching unit group, this group is the first stitching unit group, and the third row becomes the second stitching unit group. The first and second stitching unit groups are then consecutive stitching unit groups arranged in sequence. Of course, in reality, the target pixel matrix may have far more than three rows. In this case, we can use the following formula to group pixels to form stitching unit groups (this formula only shows two pixel rows as stitching unit groups; in practice, multiple rows can be used depending on the specific situation):

[0109]

[0110] Among them, img 2πR / n The image is represented by its ordinal number in the stitched image array. The content between each bracket represents the pixels of any row in a pixel matrix. x Let Δt be the target velocity of the second carrier, β be the rotation period of the first carrier, β be a constant (corresponding to the physical size and number of pixels), m be the number of rows in the pixel matrix, and N be the ordinal number of the pixel matrix. Here, 2048 represents the resolution of the image sensor; this number will vary depending on the specific image sensor resolution, for example, 1024 or 3096.

[0111] After each stitching unit group is arranged, the pixels in the same row have not yet been stitched. Therefore, it is necessary to stitch the pixels in each row within each stitching unit group. That is, stitch the pixels in each row of each stitching unit group in the same row according to the previous rotation cycle order and the arrangement order. For example, the first stitching unit group has two rows of pixels, and the pixels in the first row of the first stitching unit group come from the first row of the pixel matrix corresponding to the first rotation cycle, the first row of the pixel matrix corresponding to the second rotation cycle, and the first row of the pixel matrix corresponding to the Nth rotation cycle. Stitching the pixels in the first row according to the rotation cycle order completes the stitching of one row of pixels. It should be noted that the pixels in each row of a stitching unit group can be stitched simultaneously when stitching in the same row. In this way, the stitching of each row of pixels in a stitching unit group is completed. Since the stitching units are already arranged in order during assembly (please refer to the previous description), once the pixels in each row of the stitching unit group have been stitched together, the stitching unit groups can be directly stitched together according to their arrangement order to form the target image.

[0112] The image stitching method provided in this application can improve the image stitching efficiency while ensuring the quality of the acquired images.

[0113] To better implement the image acquisition method in this application embodiment, an image acquisition device is also provided in addition to the image acquisition method. This device is applied to an image acquisition equipment, and includes a first carrier and a second carrier. The first carrier carries an image sensor and moves in a circular motion around the object being photographed. The second carrier surrounds the object being photographed and moves along the object. The first carrier is disposed on the second carrier. Figure 4 As shown, the device 300 includes:

[0114] The acquisition module 301 is used to acquire the velocity deviation of the second carrier, which is the angular velocity of the second carrier relative to the photographed object.

[0115] The determining module 302 is used to determine the target angular velocity of the first carrier based on the velocity deviation and the preset initial motion velocity of the second carrier.

[0116] The control module 303 is used to adjust the current angular velocity of the first carrier to the target angular velocity and control the image sensor to acquire the image of the object being photographed.

[0117] The image acquisition method provided in this application obtains the speed deviation of the second carrier carrying the first carrier through the acquisition module 301, determines the specific speed of the first carrier based on the speed deviation through the determination module 302, and then adjusts the rotation speed of the first carrier through the control module 303, so that the image sensor mounted on the first carrier can work at a stable rotation speed, thereby improving the quality of the captured image.

[0118] In some embodiments of this application, the determining module 302 is specifically used for:

[0119] The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial motion velocity of the second carrier.

[0120] The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire images of the object being photographed.

[0121] In some embodiments of this application, the determining module 302 is further configured to:

[0122] Based on the speed deviation, the deviation direction and speed deviation value of the second carrier are determined.

[0123] At the initial velocity of the second carrier, the target angular velocity of the first carrier is determined based on the deviation direction, velocity deviation value, and rotation direction of the first carrier.

[0124] In some embodiments of this application, the determining module 302 is further configured to:

[0125] If the deviation direction is the same as the rotation direction, the difference between the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier;

[0126] If the deviation direction is opposite to the rotation direction, the sum of the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier.

[0127] This application also provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the steps of any of the image acquisition methods in this application. This terminal device integrates any of the image acquisition methods provided in this application, such as... Figure 5 As shown, it illustrates a structural schematic diagram of the terminal device involved in the embodiments of this application. Specifically:

[0128] The terminal device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 5 The terminal device structure shown does not constitute a limitation on the terminal device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0129] The processor 401 is the control center of the terminal device. It connects various parts of the terminal device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, thereby providing overall monitoring of the terminal device. Optionally, the processor 401 may include one or more processing cores; the processor 401 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and application programs, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may not be integrated into the processor 401.

[0130] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0131] The terminal device also includes a power supply 403 that supplies power to the various components. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0132] The terminal device may also include an input unit 404, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0133] Although not shown, the terminal device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 401 in the terminal device loads the executable files corresponding to the processes of one or more applications into the memory 402 according to the following instructions, and the processor 401 runs the applications stored in the memory 402 to realize various functions, such as:

[0134] The velocity deviation of the second carrier is obtained, which is the angular velocity of the second carrier relative to the object being photographed.

[0135] The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial motion velocity of the second carrier.

[0136] The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire images of the object being photographed.

[0137] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0138] Therefore, embodiments of this application provide a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any of the image acquisition methods provided in embodiments of this application. For example, the computer program loaded by the processor can execute the following steps:

[0139] The velocity deviation of the second carrier is obtained, which is the angular velocity of the second carrier relative to the object being photographed.

[0140] The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial motion velocity of the second carrier.

[0141] The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire images of the object being photographed.

[0142] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0143] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0144] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0145] The above provides a detailed description of an image acquisition method and apparatus provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An image acquisition method, characterized in that, An image acquisition device is used, comprising a first carrier and a second carrier. The first carrier carries an image sensor and moves in a circular motion around a subject being photographed. The second carrier surrounds the subject and moves along the subject. The first carrier is disposed on the second carrier. The method includes: The velocity deviation of the second carrier is obtained, wherein the velocity deviation is the angular velocity of the second carrier relative to the photographed object. The target angular velocity of the first carrier is determined based on the velocity deviation and the preset initial velocity of the second carrier. The current angular velocity of the first carrier is adjusted to the target angular velocity, and the image sensor is controlled to acquire an image of the subject.

2. The image acquisition method of claim 1, wherein, Determining the target angular velocity of the first carrier based on the velocity deviation and the preset initial velocity of the second carrier includes: Based on the speed deviation, the deviation direction and speed deviation value of the second carrier are determined. At the initial velocity of the second carrier, the target angular velocity of the first carrier is determined based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier.

3. The image acquisition method of claim 2, wherein, The step of determining the target angular velocity of the first carrier based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier at the initial velocity of the second carrier includes: If the deviation direction is the same as the rotation direction, the sum of the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier; If the deviation direction is opposite to the rotation direction, the difference between the current angular velocity value of the first carrier and the velocity deviation value is set as the target angular velocity value of the first carrier.

4. The image acquisition method of claim 2, wherein, After determining the target angular velocity of the first carrier based on the deviation direction, the velocity deviation value, and the rotation direction of the first carrier at the initial velocity of the second carrier, the method further includes: The target angular velocity of the first carrier is superimposed with the velocity deviation to obtain the actual angular velocity of the first carrier; If the velocity difference between the actual angular velocity of the first carrier and the initial angular velocity of the first carrier is greater than a preset velocity threshold, the motion speed of the second carrier is controlled according to the target angular velocity of the first carrier.

5. The image acquisition method of claim 4, wherein, The step of controlling the motion speed of the second carrier based on the target angular velocity of the first carrier includes: The rotation period of the first carrier is determined based on the target angular velocity of the first carrier. The rotation period of the first carrier represents the time it takes for the first carrier to move around the photographed object once at the target angular velocity. The target speed of the second carrier is determined based on the rotation period of the first carrier and the shooting width of the object captured by the image sensor each time. Control the movement speed of the second carrier to the target movement speed.

6. The image acquisition method of claim 1, wherein, After controlling the image sensor to acquire an image of the subject, the process includes: According to the rotation period of the image sensor, the images acquired by the image sensor are stitched together to obtain the target image of the subject. The rotation period represents the time it takes for the first carrier to move around the subject once at the target angular velocity.

7. The image acquisition method of claim 6, wherein, The step of stitching together the images acquired by the image sensor according to the rotation cycle of the image sensor to obtain the target image of the photographed object includes: The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is determined; the image sensor acquires at least one image of the subject in each rotation cycle. The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is stitched together according to the rotation cycle of the image sensor to obtain the target image.

8. The image acquisition method of claim 7, wherein, The step of stitching together the pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle according to the rotation cycle of the image sensor to obtain the target image includes: The pixel matrix of the image of the subject acquired by the image sensor in each rotation cycle is arranged according to the rotation cycle of the image sensor to obtain the target pixel matrix; Based on the number of pixel rows in the target pixel matrix, a splicing unit group is determined, wherein the splicing unit group includes at least one row of pixels in the target pixel matrix; For each row of pixels in each stitching unit group, the pixels are stitched together according to the rotation period of the image sensor to obtain the unit stitched image corresponding to that stitching unit group; The unit images corresponding to each of the stitching unit groups are stitched together according to the pixel rows of the target pixel matrix to obtain the target image.

9. An image acquisition device, characterized in that An image acquisition device is used, comprising a first carrier and a second carrier. The first carrier carries an image sensor and moves in a circular motion around a subject being photographed. The second carrier surrounds the subject and moves along the subject. The first carrier is disposed on the second carrier. The device includes: The acquisition module is used to acquire the velocity deviation of the second carrier, wherein the velocity deviation is the angular velocity of the second carrier relative to the photographed object. The determining module is used to determine the target angular velocity of the first carrier based on the velocity deviation and the preset initial motion velocity of the second carrier; The control module is used to adjust the current angular velocity of the first carrier to the target angular velocity and control the image sensor to acquire the image of the subject.

10. A terminal device, comprising: The terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the image acquisition method according to any one of claims 1 to 8.

11. A computer readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is executed by a processor to implement the steps of the image acquisition method according to any one of claims 1 to 8.

Images