A camera shutter synchronization implementation method, device and equipment

Abstract

Embodiments of the present application disclose a camera shutter synchronization implementation method, device and equipment. The camera can include multiple sensors. Shutter types of the multiple sensors are different. The method can include: acquiring a periodic synchronization reference signal and a synchronization signal corresponding to each sensor; adjusting a synchronization signal delay and / or an exposure delay of the sensor based on the synchronization reference signal, so that exposure areas corresponding to the multiple sensors are aligned. Through the embodiment, multiple sensor shutter synchronization is achieved.

Description

Technical Field

[0001] This article relates to camera control technology, and in particular to a method, apparatus and device for achieving camera shutter synchronization. Background Technology

[0002] In existing multi-sensor cameras, the multiple sensors are generally identical or have the same shutter type. If the multiple sensors have different shutter types, shutter synchronization is impossible, resulting in image shift in high-speed dynamic scenes. Summary of the Invention

[0003] This application provides a method, apparatus, and device for achieving camera shutter synchronization, which can realize shutter synchronization for multiple sensors.

[0004] This application provides a method for implementing camera shutter synchronization. The camera may include multiple sensors; the multiple sensors have different shutter types; the method may include:

[0005] Acquire the periodic synchronization reference signal and the synchronization signal corresponding to each sensor;

[0006] Using the synchronization reference signal as a reference, the synchronization signal delay and / or exposure delay of the sensor are adjusted so that the exposure areas corresponding to multiple sensors are aligned.

[0007] In an exemplary embodiment of this application, the plurality of sensors may include: a first sensor and a second sensor; the synchronization signal may include: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor;

[0008] Wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after each frame second synchronization signal has executed a preset exposure delay.

[0009] In an exemplary embodiment of this application, when the exposure time period corresponding to the second synchronization signal of any j-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the j-th frame, adjusting the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal may include:

[0010] Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame, where j is a positive integer;

[0011] The exposure delay duration of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

[0012] In an exemplary embodiment of this application, the method may further include:

[0013] When the exposure time period corresponding to any second synchronization signal of the mth frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the mth frame, m is a positive integer, and when the frame period and / or exposure duration of the first synchronization signal of the mth frame and the second synchronization signal of the mth frame change, the exposure delay corresponding to the second synchronization signal of the mth frame is calculated based on the change in the frame period and / or exposure duration.

[0014] The exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame are aligned according to the exposure delay of the second synchronization signal of the m-th frame.

[0015] In an exemplary embodiment of this application, calculating the exposure delay corresponding to the second synchronization signal of the m-th frame based on the change in the frame period and / or exposure duration may include:

[0016] The exposure duration is subtracted from the frame period of the second synchronization signal of the m-th frame, and the idle time after the exposure ends, which is located after the exposure duration, is subtracted. The difference obtained is used as the exposure delay corresponding to the second synchronization signal of the m-th frame.

[0017] In an exemplary embodiment of this application, the method may further include: calculating the exposure delay corresponding to the second synchronization signal of the m-th frame before the rising edge of the synchronization reference signal of the m-th frame arrives.

[0018] In an exemplary embodiment of this application, aligning the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame according to the exposure delay of the second synchronization signal of the m-th frame may include:

[0019] Align the rising edge of the second synchronization signal of the m-th frame with the rising edge of the synchronization reference signal of the m-th frame;

[0020] The rising edge of the exposure period corresponding to the second synchronization signal of the m-th frame is delayed relative to the rising edge of the synchronization reference signal of the m-th frame, according to the exposure delay.

[0021] The duration of the exposure delay is used as the delay duration of the synchronization signal of the first synchronization signal of the m-th frame. Starting from the rising edge of the synchronization reference signal of the m-th frame, the first synchronization signal of the m-th frame is delayed.

[0022] This application embodiment also provides a camera shutter synchronization implementation device, wherein the camera may include multiple sensors; the multiple sensors have different shutter types; the device may include: a counting unit and a synchronization signal unit;

[0023] The counting unit can be configured to generate a periodic synchronization reference signal and a synchronization signal corresponding to each sensor;

[0024] The synchronization signal unit can be configured to adjust the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, so as to align the exposure areas corresponding to multiple sensors.

[0025] In an exemplary embodiment of this application, the plurality of sensors may include: a first sensor and a second sensor; the synchronization signal may include: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor; wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after a preset exposure delay for each frame second synchronization signal;

[0026] When the exposure time period corresponding to the second synchronization signal of any j-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the j-th frame, the synchronization signal unit adjusts the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, which may include:

[0027] Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame.

[0028] The exposure delay duration of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

[0029] In an exemplary embodiment of this application, the camera shutter synchronization implementation device may further include: a delay calculation unit;

[0030] The delay calculation unit can be configured to calculate the exposure delay corresponding to the second synchronization signal of the m-th frame based on the change in the frame period and / or exposure duration when the exposure time period corresponding to any second synchronization signal of the m-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the m-th frame, and the frame period and / or exposure duration of the first synchronization signal of the m-th frame and the second synchronization signal of the m-th frame change.

[0031] The synchronization signal unit can also be configured to align the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame according to the exposure delay of the second synchronization signal of the m-th frame.

[0032] This application also provides a camera shutter synchronization implementation device, which may include a processor and a computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed by the processor, implement the camera shutter synchronization implementation method described in any of the above-mentioned embodiments.

[0033] Compared with related technologies, the camera described in this application embodiment may include multiple sensors; the multiple sensors have different shutter types; the method may include: acquiring a periodic synchronization reference signal and a synchronization signal corresponding to each sensor; using the synchronization reference signal as a reference, adjusting the synchronization signal delay and / or exposure delay of the sensors to align the exposure areas corresponding to the multiple sensors. This embodiment achieves shutter synchronization for multiple sensors.

[0034] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0035] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0036] Figure 1 This is a flowchart illustrating the camera shutter synchronization implementation method according to an embodiment of this application.

[0037] Figure 2 This is a schematic diagram illustrating the exposure and synchronization method of the first type of sensor in this application embodiment;

[0038] Figure 3 This is a schematic diagram illustrating the exposure and synchronization method of the second type of sensor in this application embodiment;

[0039] Figure 4 This is a schematic diagram illustrating shutter synchronization methods for different types of sensors in embodiments of this application;

[0040] Figure 5 This is a schematic diagram illustrating the shutter synchronization methods of different types of sensors when the exposure time changes according to an embodiment of this application.

[0041] Figure 6This is a schematic diagram illustrating the shutter synchronization methods of different types of sensors when the frame period changes according to an embodiment of this application.

[0042] Figure 7 This is a block diagram of the camera shutter synchronization implementation device according to an embodiment of this application;

[0043] Figure 8 This is a schematic diagram of the camera shutter synchronization implementation device according to an embodiment of this application;

[0044] Figure 9 This is a block diagram of the camera shutter synchronization implementation device according to an embodiment of this application. Detailed Implementation

[0045] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0046] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0047] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0048] This application provides a method for achieving camera shutter synchronization, wherein the camera may include multiple sensors; the multiple sensors have different shutter types; such as Figure 1 As shown, the method may include steps S101-S102:

[0049] S101. Obtain the periodic synchronization reference signal and the synchronization signal corresponding to each sensor;

[0050] S102. Using the synchronization reference signal as a reference, adjust the synchronization signal delay and / or exposure delay of the sensor to align the exposure areas corresponding to multiple sensors.

[0051] In an exemplary embodiment of this application, a shutter synchronization scheme is provided, which can dynamically adjust the synchronization signal of the sensor according to the change of shutter speed, so as to ensure that the shutter speed (i.e., exposure time) of different sensors are in the same area in the shutter control diagram, thereby realizing shutter synchronization of multiple sensors with different shutter types.

[0052] In an exemplary embodiment of this application, the sensor's exposure method may include two types. The first type of sensor can operate as follows: Figure 2 As shown, the synchronization signal is a periodic pulse, and the gray area represents the exposure region. At the rising edge of the synchronization signal, the sensor begins exposure, which ends after time t1 (exposure duration). The exposure duration t1 can be configured. The time from the end of the exposure to the start of the next frame's exposure is t4. The sum of these two time periods is one frame period t3, which satisfies the following relationship:

[0053] t3 = t1 + t4; Relationship 1

[0054] In this case, when the exposure time changes, there is no need to adjust the synchronization signal; you only need to configure the sensor parameters.

[0055] In an exemplary embodiment of this application, the second type of exposure sensor can operate as follows: Figure 3 As shown, the synchronization signal is a periodic pulse, and the gray area represents the exposure region. At the rising edge of the synchronization signal, the sensor does not begin exposure immediately, but rather delays for a period of time (i.e., exposure delay) t0 before starting exposure. Exposure ends after time t1. The exposure time t1 can be configured, and the idle time after exposure is t2, which is typically a fixed value or 0. The delay between the start of exposure and the synchronization signal is the exposure delay, which satisfies the following relationship:

[0056] t3 = t0 + (t1 + t2); Relation 2

[0057] Where t3 is the interval duration of one frame of the synchronization signal (which can be simply referred to as the frame duration, i.e., the frame period), from which we can obtain Equation 2:

[0058] t1 = t3 - t0 - t2; Relationship 3

[0059] The exposure delay t0 varies with the exposure duration t1 and the duration of one frame t3. Each time the sensor exposure duration changes, in addition to configuring the sensor parameters, the sensor delay parameter t0 also needs to be configured.

[0060] In an exemplary embodiment of this application, the plurality of sensors may include: a first sensor and a second sensor; the synchronization signal may include: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor;

[0061] Wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after each frame second synchronization signal has executed a preset exposure delay.

[0062] In exemplary embodiments of this application, the solution may include multiple sensors of different shutter types, and each sensor may correspond to a synchronization signal for synchronizing multiple different sensors. It may also include a synchronization signal as a reference, i.e., a synchronization reference signal.

[0063] In an exemplary embodiment of this application, a detailed implementation of the embodiment can be described using two sensors as an example. The first sensor corresponds to the first synchronization signal 1, and the second sensor corresponds to the second synchronization signal 2.

[0064] In an exemplary embodiment of this application, when the exposure time period corresponding to the second synchronization signal of any j-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the j-th frame, adjusting the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal may include:

[0065] Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame.

[0066] The exposure delay duration of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

[0067] In exemplary embodiments of this application, as Figure 4 As shown, in the case of two sensors, the second synchronization signal 2 and the reference synchronization signal remain unchanged, and the delay t5 of the first synchronization signal 1 relative to the reference synchronization signal is adjusted (this can be called the synchronization signal delay, i.e., the delay of the second synchronization signal in the j-th frame). The exposure delay of the sensor corresponding to the second synchronization signal 2 is t0. Figure 4 It can be seen that when t5 = t0, the exposure areas of the two sensors (exposure time period) are... Figure 4 The corresponding area in the image is synchronized. t2 is generally a fixed value or 0. When the exposure duration t1 and the frame duration t3 are determined, t0 can be calculated according to relation 3.

[0068] In an exemplary embodiment of this application, from Figure 4 As can be seen, after the first synchronization signal 1 adjusts the synchronization signal delay t5, the exposure areas of the two sensors are aligned.

[0069] In an exemplary embodiment of this application, the method may further include:

[0070] When the exposure time period corresponding to any second synchronization signal of the mth frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the mth frame, m is a positive integer, and when the frame period and / or exposure duration of the first synchronization signal of the mth frame and the second synchronization signal of the mth frame change, the exposure delay corresponding to the second synchronization signal of the mth frame is calculated based on the change in the frame period and / or exposure duration.

[0071] The exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame are aligned according to the exposure delay of the second synchronization signal of the m-th frame.

[0072] In an exemplary embodiment of this application, calculating the exposure delay corresponding to the second synchronization signal of the m-th frame based on the change in the frame period and / or exposure duration may include:

[0073] The difference between the frame period t3 of the second synchronization signal of the m-th frame and the exposure duration t1, and the set idle duration t2 after the exposure ends, is taken as the exposure delay t5 corresponding to the second synchronization signal of the m-th frame.

[0074] In an exemplary embodiment of this application, the method may further include: calculating the exposure delay corresponding to the second synchronization signal of the m-th frame before the rising edge of the synchronization reference signal of the m-th frame arrives.

[0075] In an exemplary embodiment of this application, the exposure delay is calculated before the rising edge of the reference synchronization signal arrives, and the exposure area is aligned according to the exposure delay when the rising edge of the reference synchronization signal arrives. This embodiment provides a technical basis for ensuring shutter synchronization of two sensors.

[0076] In an exemplary embodiment of this application, aligning the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame according to the exposure delay of the second synchronization signal of the m-th frame may include:

[0077] Align the rising edge of the second synchronization signal of the m-th frame with the rising edge of the synchronization reference signal of the m-th frame;

[0078] The rising edge of the exposure period corresponding to the second synchronization signal of the m-th frame is delayed relative to the rising edge of the synchronization reference signal of the m-th frame, according to the exposure delay.

[0079] The duration of the exposure delay is used as the delay duration of the synchronization signal of the first synchronization signal of the m-th frame. Starting from the rising edge of the synchronization reference signal of the m-th frame, the first synchronization signal of the m-th frame is delayed.

[0080] In an exemplary embodiment of this application, when the frame periods of the m-th frame synchronization reference signal, the m-th frame first synchronization signal 1, and the m-th frame second synchronization signal 2 remain unchanged, and the exposure durations of the m-th frame first synchronization signal and the m-th frame second synchronization signal change, such as Figure 5 As shown, the exposure time decreases in the second frame. The second synchronization signal 2 and the reference synchronization signal change in the same way. According to equation 3, when the frame length remains constant, a decrease in exposure time can increase the delay t0. Figure 5 The mid-frame period t3 remains unchanged. The second synchronization signal 2 corresponds to the second frame of the sensor. The exposure time t1 decreases and the delay t0 increases.

[0081] In an exemplary embodiment of this application, the first synchronization signal 1 also adjusts the synchronization signal delay t5 relative to the reference synchronization signal, and the duration of the synchronization signal delay is equal to the exposure delay t0 of the sensor corresponding to the second synchronization signal 2. Figure 5 As can be seen, after the first synchronization signal 1 in the second frame is adjusted, the exposure areas of the two sensors are aligned.

[0082] In an exemplary embodiment of this application, when the frame periods of the m-th frame synchronization reference signal, the m-th frame first synchronization signal, and the m-th frame second synchronization signal change synchronously, while the exposure durations of the m-th frame first synchronization signal and the m-th frame second synchronization signal remain unchanged, such as Figure 6 As shown, the frame rate (or frame period) increases in the second frame, and the frame time t3 decreases. The second synchronization signal 2 changes in sync with the reference synchronization signal. The sensor corresponding to the second synchronization signal 2 must maintain shutter speed t1 without fluctuations in frame rate; according to equation 3, the delay t0 can be adjusted. Figure 6 In the second frame corresponding to the second synchronization signal 2, the frame rate increases, t3 decreases, the delay t0 decreases, and the exposure time t1 remains unchanged.

[0083] In an exemplary embodiment of this application, the first synchronization signal 1 also adjusts its delay relative to the reference synchronization signal t5 = t0. From Figure 6 As can be seen, after the first synchronization signal 1 in the second frame is adjusted, the exposure areas of the two sensors are aligned.

[0084] In the exemplary embodiments of this application, compared with the traditional multi-sensor shutter synchronization, the embodiments of this application adopt a dynamic adjustment mode of synchronization signal, which adjusts the sensor synchronization signal according to the changes in shutter speed and frame rate to achieve shutter synchronization of multiple types of sensors.

[0085] In exemplary embodiments of this application, the camera does not necessarily have to use the same type of sensor; different types of sensors can be added to increase the camera's new functions or to reduce costs by using low-cost sensors.

[0086] This application embodiment also provides a camera shutter synchronization implementation device A, wherein the camera may include multiple sensors; the multiple sensors have different shutter types; such as Figure 7 As shown, the device may include: a counting unit A1 and a synchronization signal unit A2;

[0087] The counting unit A1 can be configured to calculate the periodic synchronization reference signal and the synchronization signal corresponding to each sensor;

[0088] The synchronization signal unit A2 can be configured to adjust the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, so that the exposure areas corresponding to multiple sensors are aligned.

[0089] In an exemplary embodiment of this application, the counting unit A1 can be used to generate a periodic synchronization signal, which may include, but is not limited to, a synchronization reference signal, a first synchronization signal 1 and a second synchronization signal 2. The synchronization reference signal can be used as a reference for the delay adjustment of the synchronization signal (such as the first synchronization signal 1 and the second synchronization signal 2) corresponding to the sensor.

[0090] In an exemplary embodiment of this application, the plurality of sensors may include: a first sensor and a second sensor; the synchronization signal may include: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor; wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after a preset exposure delay for each frame second synchronization signal;

[0091] When the exposure time period corresponding to the second synchronization signal of any j-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the j-th frame, the synchronization signal unit adjusts the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, which may include:

[0092] Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame.

[0093] The exposure delay duration of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

[0094] In exemplary embodiments of this application, as Figure 8 As shown, the camera shutter synchronization device may further include: a delay calculation unit A3;

[0095] The delay calculation unit A3 can be configured to calculate the exposure delay corresponding to the second synchronization signal of the m-th frame based on the change in the frame period and / or exposure duration when the exposure time period corresponding to any second synchronization signal of the m-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the m-th frame, and when the frame period and / or exposure duration of the first synchronization signal of the m-th frame and the second synchronization signal of the m-th frame change.

[0096] The synchronization signal unit A2 can also be configured to align the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame according to the exposure delay of the second synchronization signal of the m-th frame.

[0097] In an exemplary embodiment of this application, when the frame rate and shutter speed of the sensor change, the delay calculation unit A3 can calculate the delay of the synchronization signal for the next frame based on the changes in shutter speed and frame rate. The synchronization signal module adjusts the delay of the rising edge relative to the reference signal according to the change in delay to ensure alignment of the exposure areas of multiple sensors.

[0098] In an exemplary embodiment of this application, in order to ensure synchronization, the delay calculation unit A3 completes the calculation before the rising edge of the reference synchronization signal arrives, and sends it to the synchronization signal unit when the rising edge of the reference synchronization signal arrives.

[0099] In exemplary embodiments of this application, as Figure 8 The block diagram shown only illustrates the case with two different sensors; it is equally applicable to multiple sensors. Each sensor can correspond to a synchronization signal and a sensor configuration unit A4. The sensor configuration unit A4 can be configured to configure the parameters of the corresponding sensor.

[0100] In an exemplary embodiment of this application, the camera shutter synchronization implementation device may further include: a parameter configuration unit A5; the parameter configuration unit A5 may receive an external configuration signal and configure the parameters of each unit in the camera shutter synchronization implementation device A.

[0101] This application also provides a camera shutter synchronization device B, such as... Figure 9 As shown, it may include a processor B1 and a computer-readable storage medium B2, wherein the computer-readable storage medium B2 stores instructions that, when executed by the processor B1, implement the camera shutter synchronization method described in any of the above-mentioned embodiments.

[0102] In an exemplary embodiment of this application, the processor B1 may be implemented as an FPGA (Field Programmable Gate Array) chip or a processor chip such as an MCU (Main Control Unit) processor.

[0103] In the exemplary embodiments of this application, any of the embodiments in the method embodiments described above are applicable to the device embodiments, and will not be described in detail here.

[0104] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for achieving camera shutter synchronization, characterized in that, The camera includes multiple sensors; Multiple sensors have different shutter types; The plurality of sensors include: a first sensor and a second sensor; the synchronization signals include: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor; wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after a preset exposure delay t0 for each frame second synchronization signal; The method includes: Acquire the periodic synchronization reference signal and the synchronization signal corresponding to each sensor; Using the synchronization reference signal as a reference, adjust the synchronization signal delay and / or exposure delay of the sensor to align the exposure areas corresponding to multiple sensors. When the exposure time period corresponding to the second synchronization signal of any frame j is to be aligned with the exposure time period corresponding to the first synchronization signal of frame j, the step of adjusting the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal includes: Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame, where j is a positive integer; The exposure delay duration t0 of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

2. The camera shutter synchronization method according to claim 1, characterized in that, The method further includes: When the exposure time period corresponding to any second synchronization signal of the mth frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the mth frame, m is a positive integer, and when the frame period and / or exposure duration of the first synchronization signal of the mth frame and the second synchronization signal of the mth frame change, the exposure delay corresponding to the second synchronization signal of the mth frame is calculated based on the change in the frame period and / or exposure duration. The exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame are aligned according to the exposure delay of the second synchronization signal of the m-th frame.

3. The camera shutter synchronization method according to claim 2, characterized in that, The method further includes: calculating the exposure delay corresponding to the second synchronization signal of the m-th frame before the rising edge of the synchronization reference signal of the m-th frame arrives.

4. The camera shutter synchronization method according to claim 2 or 3, characterized in that, The step of aligning the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame based on the exposure delay of the second synchronization signal of the m-th frame includes: Align the rising edge of the second synchronization signal of the m-th frame with the rising edge of the synchronization reference signal of the m-th frame; The rising edge of the exposure period corresponding to the second synchronization signal of the m-th frame is delayed relative to the rising edge of the synchronization reference signal of the m-th frame, according to the exposure delay. The duration of the exposure delay is used as the delay duration of the synchronization signal of the first synchronization signal of the m-th frame. Starting from the rising edge of the synchronization reference signal of the m-th frame, the first synchronization signal of the m-th frame is delayed.

5. A camera shutter synchronization device, characterized in that, The camera includes multiple sensors; The multiple sensors have different shutter types; the device includes a counting unit and a synchronization signal unit; The counting unit is configured to generate a periodic synchronization reference signal and a synchronization signal corresponding to each sensor; The synchronization signal unit is configured to adjust the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, so as to align the exposure areas corresponding to multiple sensors. The plurality of sensors include: a first sensor and a second sensor; the synchronization signal includes: a first synchronization signal corresponding to the first sensor and a second synchronization signal corresponding to the second sensor; wherein, the frame period and exposure duration of any i-th frame first synchronization signal and i-th frame second synchronization signal are the same, and i is a positive integer; exposure begins at the rising edge of each frame first synchronization signal, and exposure begins after a preset exposure delay for each frame second synchronization signal; When the exposure time period corresponding to the second synchronization signal of any j-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the j-th frame, the synchronization signal unit adjusts the synchronization signal delay and / or exposure delay of the sensor based on the synchronization reference signal, including: Align the rising edge of the second synchronization signal of the j-th frame with the rising edge of the synchronization reference signal of the j-th frame. The exposure delay duration of the second synchronization signal in frame j is used as the synchronization signal delay duration of the first synchronization signal in frame j. Starting from the rising edge of the synchronization reference signal in frame j, the first synchronization signal in frame j is delayed.

6. The camera shutter synchronization device according to claim 5, characterized in that, Also includes: Delay calculation unit; The delay calculation unit is configured to calculate the exposure delay corresponding to the second synchronization signal of the m-th frame based on the change in the frame period and / or exposure duration when the exposure time period corresponding to any second synchronization signal of the m-th frame is to be aligned with the exposure time period corresponding to the first synchronization signal of the m-th frame, and when the frame period and / or exposure duration of the first synchronization signal of the m-th frame and the second synchronization signal of the m-th frame change. The synchronization signal unit is further configured to align the exposure time periods in the first synchronization signal and the second synchronization signal of the m-th frame according to the exposure delay of the second synchronization signal of the m-th frame.

7. A camera shutter synchronization device, comprising a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, characterized in that, When the instruction is executed by the processor, the camera shutter synchronization method as described in any one of claims 1-4 is implemented.

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