A camera and image capture method

Abstract

This invention discloses a camera and an image acquisition method. The camera includes a lens module, a rotating motor, a rotating filter, a photosensor, and a control unit. The rotating filter includes multiple types of filter units and is located between the lens module and the photosensor. The rotating filter filters the received light during rotation and transmits the filtered light to the photosensor. Each type of filter unit passes over the photosensor during the rotation of the rotating filter. When each type of filter unit rotates over the photosensor, the photosensor is exposed, and the light intensity information of the corresponding color light of each type of filter unit is received. An image is generated based on the light intensity information. The camera provided by this invention allows each pixel of the photosensitive array to obtain light intensity information from three channels, resulting in high accuracy in acquiring color light intensity information and high image resolution.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic technology, and more specifically, to a camera and an image acquisition method. Background Technology

[0002] With the development of the automotive industry, intelligent assisted driving and autonomous driving have become important development directions for intelligent connected vehicles. In both intelligent assisted driving and autonomous driving systems, the vehicle's perception of its surroundings is a crucial element. Acquiring images of the surrounding environment through cameras is an essential means of this perception, hence the increasingly widespread use of cameras in automobiles. As vehicles demand higher precision in acquiring environmental information, the necessity of high-quality image acquisition systems is also growing.

[0003] Most existing camera sensor arrays use Bayer arrays, which group 2×2 pixels into a single unit. These four pixels are covered with R (Red), G (Green), and G+B (Blue) filters, respectively. Each pixel acquires the intensity information of one color, and the ISP (Image Signal Processing) unit then interpolates the intensity information of the other two missing channels for each pixel to obtain a color image. However, this method of combining sensor arrays with interpolation essentially obtains complete RGB color information for a single point using only four pixels in a unit. This results in a lower resolution than the precision of the sensor array, impairing resolution and reducing the ability to represent image details. Furthermore, the interpolation process essentially fills in missing colors; improper interpolation or drastic color changes can lead to "false color," affecting image quality. Summary of the Invention

[0004] This invention provides a camera and an image acquisition method to improve the accuracy of the camera in acquiring color light intensity when acquiring images.

[0005] According to a first aspect of the present invention, a camera is provided, the camera comprising:

[0006] The system includes a lens module, a rotating motor, a rotating filter, a photosensor, and a control unit. The rotating filter comprises multiple types of filter units, each of which allows a single color of light to pass through. The multiple types of filter units are arranged in a fan shape around the center of the rotating filter. The rotating filter is located between the lens module and the photosensor. The rotating filter is connected to the rotating motor via a shaft and rotates synchronously.

[0007] The lens module is used to receive light and transmit the light to a rotating filter;

[0008] The rotating filter is used to filter the received light during rotation and transmit the filtered light to the photosensitive sensor; wherein, each type of filter unit passes above the photosensitive sensor during the rotation of the rotating filter;

[0009] The control unit is used to expose the photosensitive sensor when each type of filter unit rotates above the photosensitive sensor, so that the photosensitive sensor receives light intensity information of the color light corresponding to each type of filter unit, and generates an image based on the light intensity information.

[0010] Optionally, the various types of filter units include: at least one red filter unit, at least one green filter unit, and at least one blue filter unit.

[0011] Optionally, the camera may also include: a code disk, a code disk light, a first photosensitive element, a second photosensitive element, a first signal amplifier, and a second signal amplifier;

[0012] The code disk surrounds the outer circumference of the rotating filter and rotates synchronously with the rotating filter; the outer ring of the code disk has multiple evenly distributed slit structures, and the inner ring of the code disk has one slit structure;

[0013] The code disk lamp and two photosensitive elements are distributed on both sides of the plane where the code disk is located. The line connecting the code disk lamp and the two photosensitive elements is perpendicular to the plane where the code disk is located. The light emitted by the code disk lamp shines on the first photosensitive element through the gap structure of the outer ring of the code disk, and the light emitted by the code disk lamp shines on the second photosensitive element through the gap structure of the inner ring of the code disk.

[0014] The first photosensitive element is used to generate a reference signal when it receives light from the code disk lamp through the slit structure of the outer ring of the code disk, and outputs it through the first signal amplifier; the second photosensitive element is used to generate a synchronization signal when it receives light from the code disk lamp through the slit structure of the inner ring of the code disk, and outputs it through the second signal amplifier.

[0015] The control unit is configured to expose the photosensor when each type of filter unit rotates above the photosensor, wherein the photosensor is exposed.

[0016] When a synchronization signal is detected, the control counter counts the reference signal from zero, and the counter increments the number of reference signals by 1 for each detected reference signal;

[0017] Based on the number of reference signals, the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk determines the angle through which the rotating filter has rotated from the reference position, as shown in the following formula:

[0018]

[0019] in, The angle through which the rotating filter has rotated from the reference position is indicated, m represents the number of reference signals, and n represents the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk. The reference position is the slit structure on the inner ring of the rotating filter code disk.

[0020] The filter unit is rotated to be positioned above the photosensitive sensor based on the angle, and the photosensitive sensor is then exposed.

[0021] Optionally, the camera also includes an infrared fill light, and the various types of filter units further include an infrared filter unit; the infrared fill light is used to provide supplementary lighting for the subject, causing the subject to reflect infrared light;

[0022] When the ambient light intensity is detected to be lower than a preset light intensity threshold, the control unit is used to:

[0023] The angle through which the rotating filter rotates from the reference position is determined based on the number of reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk.

[0024] If the filter unit rotated above the photosensitive sensor is determined to be an infrared filter unit based on the angle, the infrared fill light is turned on, and the photosensitive sensor is exposed to obtain the light intensity information of the infrared light reflected by the photographed object.

[0025] If, based on the angle, it is determined that the filter unit rotated above the photosensitive sensor is a filter unit other than the infrared filter unit, then the photosensitive sensor will not be exposed.

[0026] Optionally, after exposing the photosensor to obtain the light intensity information of the infrared light reflected by the subject, the control unit is further configured to: turn off the infrared fill light.

[0027] Optionally, after driving the rotary motor and before detecting the synchronization signal, the control unit is further configured to:

[0028] Control the time interval for the timer to detect adjacent reference signals;

[0029] The rotational speed of the rotary motor is determined based on the time interval between the adjacent reference signals and the number of slots in the multiple slot structures evenly distributed on the outer ring of the code disk.

[0030] If the rotational speed of the rotary motor is not within the target speed range, adjust the drive signal of the rotary motor to adjust the rotational speed so that it reaches the target speed range and remains stable.

[0031] Optionally, at least one red filter unit and one infrared filter unit are distributed adjacently on the rotating filter, and the reference position corresponds to the boundary position of the red filter unit and the infrared filter unit.

[0032] Optionally, the camera also includes: a video output interface;

[0033] The control unit includes a serializer function, which converts MIPI or DVP format video signals into FPD-Link or GMSL format video signals to achieve high-speed video transmission over long distances between the camera and the vehicle controller; the FPD-Link or GMSL format video signals are transmitted from the camera to the vehicle controller through the video output interface.

[0034] Optionally, the control unit, the first photosensitive element, the second photosensitive element, the first signal amplifier, the second signal amplifier, and the photosensitive sensor are integrated on the PCB-A board. The PCB-A board also includes a power module, which is connected to an external power supply to power each chip.

[0035] The encoder light and infrared fill light are integrated on the PCB-B board. The PCB-B board also includes an infrared fill light driver module, which is powered by the power module and is used to drive the infrared fill light to turn on.

[0036] The PCB-A board and the PCB-B board are electrically connected via a flexible flat cable.

[0037] According to a second aspect of the present invention, an image acquisition method is provided, the method being applied to a camera; the camera includes a rotating filter and a photosensor; the rotating filter includes various types of filter units, and the method includes:

[0038] Receives light and transmits the light to a rotating filter;

[0039] The received light is filtered during the rotation of the rotating filter, and the filtered light is transmitted to the photosensitive sensor; wherein, each type of filter unit passes above the photosensitive sensor during the rotation of the rotating filter;

[0040] The photosensitive sensor is exposed when each type of filter unit rotates above it, so that the photosensitive sensor receives light intensity information of the color light corresponding to each type of filter unit and generates an image based on the light intensity information.

[0041] Optionally, the various types of filter units include: at least one red filter unit, at least one green filter unit, and at least one blue filter unit.

[0042] Optionally, the camera further includes: a code disk, a code disk light, a first photosensitive element, a second photosensitive element, the outer ring of the code disk having multiple evenly distributed slit structures, and the inner ring of the code disk having one slit structure;

[0043] The process of exposing the photosensor while each type of filter unit is rotated above the photosensor includes:

[0044] When a synchronization signal is detected, the control counter counts the reference signal from zero. For each detected reference signal, the counter increments the number of reference signals by 1. The reference signal is generated by the first photosensitive element when it receives light from the code disk lamp through the slit structure of the outer ring of the code disk, and the synchronization signal is generated by the second photosensitive element when it receives light from the code disk lamp through the slit structure of the inner ring of the code disk.

[0045] Based on the number of reference signals, the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk determines the angle through which the rotating filter has rotated from the reference position, as shown in the following formula:

[0046]

[0047] in, The angle through which the rotating filter has rotated from the reference position is indicated; m represents the number of reference signals; n represents the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk; and the reference position is the slit structure on the inner ring of the rotating filter code disk.

[0048] The filter unit is rotated to be positioned above the photosensitive sensor based on the angle, and the photosensitive sensor is then exposed.

[0049] Optionally, the camera further includes an infrared fill light, and the various types of filter units further include an infrared filter unit; the infrared fill light is used to provide supplementary lighting for the subject being photographed, so that the subject reflects infrared light;

[0050] When the ambient light intensity is detected to be lower than a preset light intensity threshold, the method includes:

[0051] The angle through which the rotating filter rotates from the reference position is determined based on the number of reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk.

[0052] If the filter unit rotated above the photosensitive sensor is determined to be an infrared filter unit based on the angle, the infrared fill light is turned on, and the photosensitive sensor is exposed to obtain the light intensity information of the infrared light reflected by the photographed object.

[0053] If, based on the angle, it is determined that the filter unit rotated above the photosensitive sensor is a filter unit other than the infrared filter unit, then the photosensitive sensor will not be exposed.

[0054] Optionally, after exposing the photosensor to obtain the light intensity information of the infrared light reflected by the subject, the method further includes: turning off the infrared fill light.

[0055] Optionally, after driving the rotary motor and before detecting the synchronization signal, the method further includes:

[0056] Control the time interval for the timer to detect adjacent reference signals;

[0057] The rotational speed of the rotary motor is determined based on the time interval between the adjacent reference signals and the number of slots in the multiple slot structures evenly distributed on the outer ring of the code disk.

[0058] If the rotational speed of the rotary motor is not within the target speed range, adjust the drive signal of the rotary motor to adjust the rotational speed so that it reaches the target speed range and remains stable.

[0059] Optionally, at least one red filter unit and one infrared filter unit are distributed adjacently on the rotating filter, and the reference position corresponds to the boundary position of the red filter unit and the infrared filter unit.

[0060] Optionally, the camera further includes: a video output interface; the method further includes:

[0061] The serializer function converts MIPI or DVP format video signals into FPD-Link or GMSL format video signals, enabling high-speed video transmission over long distances between the camera and the vehicle controller; the video output interface transmits the FPD-Link or GMSL format video signals from the camera to the vehicle controller.

[0062] Optionally, the first photosensitive element, the second photosensitive element, and the photosensor are integrated on the PCB-A board. The PCB-A board also includes a power module, which is connected to an external power supply to power each chip.

[0063] The encoder light and infrared fill light are integrated on the PCB-B board. The PCB-B board also includes an infrared fill light driver module, which is powered by the power module and is used to drive the infrared fill light to turn on.

[0064] The PCB-A board and the PCB-B board are electrically connected via a flexible flat cable.

[0065] The technical solution provided by this invention uses different types of filter units on a rotating filter to filter light during rotation. During the rotation, each type of filter unit passes over the photosensitive sensor, ensuring that each pixel on the photosensitive sensor can acquire complete RGB information. Compared to existing technologies, with the same photosensitive pixel array in the photosensitive sensor, the image resolution captured by the camera provided by this invention is equal to the precision of the photosensitive array, resulting in higher resolution and stronger detail. Furthermore, the color intensity information acquired by the camera provided by this invention is entirely collected by the photosensitive array of the photosensitive sensor. Compared to the interpolation method used in existing technologies to complete color information, this invention does not require algorithms to obtain complete color intensity information, thus achieving higher accuracy in acquiring color intensity information, higher color fidelity, and a lower probability of color distortion.

[0066] The innovative aspects of this invention include:

[0067] 1. The camera provided in this embodiment of the invention filters light through a rotating filter with various types of filter units. During the rotation of the rotating filter, each pixel on the photosensitive sensor can acquire complete RGB information. The resolution of the acquired image is equal to the precision of the photosensitive array. Compared with the prior art where four pixels of one unit acquire complete RGB color information of one point, and the actual resolution of the acquired image is lower than the precision of the photosensitive array, this embodiment of the invention obtains a high-resolution image without increasing the image signal transmission bandwidth and image pixels. It has stronger detail representation and higher clarity, which is one of the innovations of this embodiment of the invention.

[0068] 2. The camera provided in this embodiment of the invention can be composed of filter units of different colors and distributed in filter unit areas of different sizes, depending on the application occasion, making it more personalized. This is one of the innovations of this embodiment of the invention. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0070] Figure 1 An overall structural diagram of a camera provided in an embodiment of the present invention;

[0071] Figure 2 This is a schematic diagram of the structure of a rotating filter provided in an embodiment of the present invention;

[0072] Figure 3 An overall structural diagram of a camera provided in an embodiment of the present invention;

[0073] Figure 4 This is a schematic diagram of a rotating filter and a code disk provided in an embodiment of the present invention;

[0074] Figure 5 A schematic diagram of a code disk lamp and a photosensitive element provided in an embodiment of the present invention;

[0075] Figure 6 This is a schematic diagram of the structure of a rotating filter provided in an embodiment of the present invention;

[0076] Figure 7 An overall structural diagram of a camera provided in an embodiment of the present invention;

[0077] Figure 8 A circuit block diagram provided for an embodiment of the present invention;

[0078] Figure 9 A flowchart illustrating a method for speed control and filter unit type determination provided in an embodiment of the present invention;

[0079] Figure 10 A flowchart illustrating a method for exposure control and image output of a photosensitive sensor provided in an embodiment of the present invention;

[0080] Figure 11 A flowchart of an image acquisition method is provided for an embodiment of the present invention. Detailed Implementation

[0081] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0082] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0083] This invention discloses a camera that, during image acquisition, allows each pixel on the photosensitive sensor to directly acquire complete RGB information by rotating a filter, eliminating the need for interpolation processing using color information from adjacent pixels, thus achieving higher accuracy in obtaining color intensity. A detailed description follows.

[0084] Figure 1 This is an overall structural diagram of a camera provided in an embodiment of the present invention. The camera includes: a lens module 101, a rotary motor 102, a rotary filter 103, a photosensor 104, and a control unit 105. The rotary filter 103 includes multiple types of filter units, each filter unit allowing one color of light to pass through. On the rotary filter 103, the multiple types of filter units are arranged in a fan shape with the center of the rotary filter 103 as the center. The rotary filter 103 is located between the lens module 101 and the photosensor 104. The rotary filter 103 is connected to the rotary motor 102 via a shaft 106 and rotates synchronously.

[0085] It should be noted that the control unit 105 is in Figure 1 Not shown in the figure, the control unit 105 is mounted on the PCB-A board 107 shown in the figure. In this embodiment of the invention, the rotary motor 102, the PCB-A board 107 and the lens module 101 are fixed on the camera housing 108 by a certain structure. The photosensitive sensor 104 is mounted on the PCB-A board 107 shown in the figure. The shaft 106 passes through the PCB-A board 107, so that the rotating filter 103 is located between the lens module 101 and the photosensitive sensor 104.

[0086] Lens module 101 is used to receive light and transmit the light to rotating filter 103; rotating filter 103 is used to filter the received light during rotation and transmit the filtered light to photosensor 104; wherein, each type of filter unit passes above photosensor 104 during the rotation of rotating filter 103; control unit 105 is used to expose photosensor 104 when each type of filter unit rotates above photosensor 104, so that photosensor 104 receives light intensity information of the color light corresponding to each type of filter unit and generates an image based on the light intensity information.

[0087] Figure 2 This is a schematic diagram of a rotating filter provided in an embodiment of the present invention. Various types of filter units are provided on the rotating filter 103. In one optional embodiment, the rotating filter includes a red filter unit, a green filter unit and a blue filter unit.

[0088] Specifically, the red filter unit area is shown as region R in the figure, the green filter unit area is shown as region G in the figure, and the blue filter unit is shown as region B in the figure. Each filter unit allows only one color of light to pass through; for example, the red filter unit only transmits light in the red wavelength band, thus allowing the photosensor 104 to acquire the intensity information of red light; the green filter unit only transmits light in the green wavelength band, thus allowing the photosensor 104 to acquire the intensity information of green light; and the blue filter unit only transmits light in the blue wavelength band, thus allowing the photosensor 104 to acquire the intensity information of blue light. The filter units are arranged in a fan shape with the center of the rotating filter 103 as the center.

[0089] It should be noted that, depending on the application, the rotating filter 103 can be composed of filter units of different colors. The size of the central angle corresponding to the filter unit area can also be adjusted adaptively according to the requirements. The distribution order is not limited, and the number of filter units of the same color is not limited.

[0090] In practice, light enters the camera through the lens module 101 and is transmitted to the rotating filter 103. The control unit 105 outputs a control signal to the motor drive module, and the rotating motor 102 starts to rotate under the drive signal. The rotating motor 102 drives the rotating filter 103 to rotate via the shaft 106. During the rotation, the rotating filter 103 filters the received light and transmits the filtered light to the photosensor 104. The control unit 105 determines the type of filter unit that rotates onto the photosensitive sensor 104. When it determines that the red filter unit rotates above the photosensitive sensor 104, it exposes the photosensitive sensor 104 and obtains the intensity information of the red light through the photosensitive array on the photosensitive sensor 104 to obtain the R channel image. When it determines that the green filter unit rotates above the photosensitive sensor 104, it exposes the photosensitive sensor 104 and obtains the intensity information of the green light through the photosensitive array on the photosensitive sensor 104 to obtain the G channel image. When it determines that the blue filter unit rotates above the photosensitive sensor 104, it exposes the photosensitive sensor 104 and obtains the intensity information of the blue light through the photosensitive array on the photosensitive sensor 104 to obtain the B channel image. After obtaining the image data from each channel, the ISP chip on the PCB-A board synthesizes the image data from the three RGB channels and performs operations such as black level correction, image defect removal, noise reduction, color transformation, gamma transformation, and sharpening. Finally, the processed image signal is output for display on the monitor or for image processing and recognition by the next level controller.

[0091] like Figure 3 The diagram shown is an overall structural diagram of a camera provided in an embodiment of the present invention, used to determine the type of filter unit above the photosensitive sensor.

[0092] include Figure 1 In addition to the structure shown, the camera also includes: a code disk 201, a code disk light 202, a first photosensitive element 203, a second photosensitive element 204, a first signal amplifier 205, and a second signal amplifier 206;

[0093] The code disk 201 surrounds the outer periphery of the rotating filter 103 and rotates synchronously with the rotating filter 103; the outer ring of the code disk 201 has multiple evenly distributed slit structures, and the inner ring of the code disk 201 has one slit structure.

[0094] like Figure 4 The diagram shown is a schematic representation of a rotating filter and a code disk according to an embodiment of the present invention. The slit structure of the inner ring of the code disk 201 corresponds to a fixed position on the rotating filter 103. In this embodiment, the inner ring slit structure corresponds to the interface between the R and G filter units. In actual use, this position is included but not limited to. The position of the inner ring slit will be used as a reference position in the positioning of the rotating filter 103.

[0095] The code disk lamp 202 and two photosensitive elements are distributed on both sides of the plane where the code disk 201 is located. The line connecting the code disk lamp 202 and the two photosensitive elements is perpendicular to the plane where the code disk 201 is located. The light emitted by the code disk lamp 202 shines on the first photosensitive element 203 through the slit structure of the outer ring of the code disk 201. The light emitted by the code disk lamp 202 shines on the second photosensitive element 204 through the slit structure of the inner ring of the code disk 201.

[0096] It should be noted that the first signal amplifier 205 and the second signal amplifier 206 are in Figure 3 (Not shown in the diagram) A first photosensitive element 203, a second photosensitive element 204, a first signal amplifier 205, and a second signal amplifier 206 are disposed on PCB-A board 107. The arrangement of the photosensitive elements matches the arrangement of the code disk 201 and the code disk lamp 202 to ensure that the code disk lamp 202 can illuminate the photosensitive element after passing through the code disk 201, and the slit structure allows light to pass through. The code disk lamp 202 is disposed on PCB-B board 207. In this embodiment of the invention, PCB-B board 207 should have a hollow structure so that it will not block the light from the lens module 101, ensuring that the formed real image falls on the photosensitive plane of the photosensitive sensor 104. PCB-B board 207 is fixed to the camera housing 108 by a certain structure.

[0097] The first photosensitive element 203 is used to generate a reference signal when it receives light from the code disk lamp 202 through the slit structure of the outer ring of the code disk 201, and outputs it through the first signal amplifier 205; the second photosensitive element 204 is used to generate a synchronization signal when it receives light from the code disk lamp 202 through the slit structure of the inner ring of the code disk 201, and outputs it through the second signal amplifier 206.

[0098] like Figure 5 The diagram shown is a schematic diagram of a code disk lamp and a photosensitive element provided in an embodiment of the present invention.

[0099] Determining the type of filter unit above the photosensitive sensor involves the coordinated operation of the code disk 201, code disk lamp 202, first photosensitive element 203, second photosensitive element 204, first signal amplifier 205, and second signal amplifier 206.

[0100] Optionally, the encoder light 202 can be an LED light.

[0101] In practice, when a photosensitive element is exposed to specific light, its electrical characteristics change, ultimately manifesting as a voltage change. This changed voltage signal is output through signal amplifiers 205 and 206. The encoder lamp 202 emits a relatively unidirectional beam of light. If this light passes through the gap in the encoder 201 and illuminates the photosensitive elements 203 and 204, the photosensitive elements are assumed to be at a high level when illuminated; if the light emitted by the encoder lamp 202 is blocked by the opaque part of the encoder 201, the photosensitive elements are assumed to be at a low level when not illuminated. This is how the signal amplifiers 205 and 206 generate a signal... Figure 5 The periodically changing pulse signal shown has a first signal amplifier 205 outputting a Ref (Reference signal) signal and a second signal amplifier 206 outputting a Syn (Synchronization signal) signal. The Ref signal is generated by the light-transmitting slits on the outer ring of the code disk 201, and the number of pulses in one cycle is consistent with the number of slits on the outer ring of the code disk 201. The Syn signal is a pulse signal generated by the light-transmitting slits on the inner ring of the code disk 201, and it is used to locate the fixed position of the code disk as a reference position.

[0102] When determining the type of filter unit above the photosensitive sensor, one possible implementation is as follows: when a synchronization signal is detected, a control counter counts the reference signal from zero, and increments the counter by 1 for each detected reference signal; based on the number of reference signals, the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk determines the angle through which the rotating filter 103 has rotated from the reference position; based on the angle, the filter unit that has rotated to the top of the photosensitive sensor 104 is determined, and the photosensitive sensor 104 is exposed.

[0103] In practice, the type of filter unit above the photosensitive sensor 104 can be determined based on the Syn signal and the Ref signal. During the rotation of the rotating filter 103, the control unit 105 continuously receives the level signals from the signal amplifiers 205 and 206. When a pulse of the Syn signal is detected, the control unit 105 starts its internal counter. The counter begins to count the number of pulses of the Ref signal. The counter increments by 1 for each pulse detected. The control unit determines the angle that the rotating filter 103 has rotated from the reference position based on the counter value m and the total number of pulses n generated per revolution of the code disk. This is used to determine the type of filter unit currently rotated above the photosensitive sensor 104.

[0104] For example, if the outer ring of the code disk 201 has 72 slits, and the counter count is 24, then the angle through which the rotating filter 103 has rotated from the reference position is determined to be 120 degrees. Assuming the code disk 201 rotates clockwise, the position of the inner ring slits is as follows: Figure 4As shown, the filter unit rotated above the photosensitive sensor is a G filter unit.

[0105] It should be noted that the reference position, the position of the photosensitive sensor, and the rotation direction of the rotating filter provided in the embodiments of the present invention are merely examples and are not specifically limited. In practice, once the installation position of the photosensitive sensor, the rotation direction of the rotating filter, and the number of slits on the code disk are determined, the type of filter unit to be rotated above the photosensitive sensor can be determined based on the counter value. In practice, the correspondence between the counter's numerical range and the filter unit type can also be pre-configured, and a query can be performed directly during image acquisition. When the counter value falls within the numerical range corresponding to a certain filter unit type, exposure is performed. Furthermore, the numerical range corresponding to the filter unit type can be discontinuous, avoiding the intersection of different filter units when rotating above the photosensitive sensor, so that exposure is performed when the filter unit can completely cover the photosensitive sensor.

[0106] In practice, when the controller detects the Syn signal again, it means that the rotating filter 103 has rotated one revolution. At this time, the value in the counter needs to be reset to 0 in order to count the Ref signal for the next cycle.

[0107] like Figure 6 The diagram shown is a schematic representation of a rotating filter according to an embodiment of the present invention. In one optional implementation, the rotating filter includes a red filter unit, a green filter unit, a blue filter unit, and an infrared filter unit. The infrared filter unit area is... Figure 6 The Ir (Infrared ray) region shown in the figure corresponds to the interface between the R and Ir filter units, and is included but not limited to this location in actual use.

[0108] like Figure 7 The diagram shown is an overall structural diagram of a camera provided in an embodiment of the present invention, including... Figure 3 In addition to the structure shown, the camera also includes an infrared fill light 301, which is used to fill light on the subject so that the subject reflects infrared rays.

[0109] The camera provided in this embodiment of the invention has two modes: RGB mode and night vision mode. When the ambient light is low, the camera provided in this embodiment of the invention can enter night vision mode to obtain a clear image.

[0110] In one optional implementation, when the ambient light intensity is detected to be lower than a preset light intensity threshold, the control unit 105 determines the angle through which the rotating filter 103 has rotated from the reference position based on the number of reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk 201. If the angle determines that the filter unit rotating above the photosensitive sensor 104 is an infrared filter unit, the infrared fill light 301 is turned on, and the photosensitive sensor is exposed to obtain the light intensity information of the infrared light reflected by the subject. If the angle determines that the filter unit rotating above the photosensitive sensor 104 is another filter unit other than the infrared filter unit, the photosensitive sensor 104 is not exposed.

[0111] Optionally, the infrared fill light 301 is configured on the PCB-B board 207. The two infrared fill lights 301 are respectively arranged on both sides of the lens module 101, and the camera housing illuminated by the infrared fill light 301 is set as a transparent structure. Optionally, the transparent structure ensures more than 85% light transmittance.

[0112] During implementation, the ambient light intensity is determined based on the output of the photosensitive sensor 104. If the ambient light intensity is not lower than a preset light intensity threshold, it indicates that the ambient light is sufficient, and the RGB mode is selected for imaging. If the ambient light intensity is lower than the preset light intensity threshold, it indicates that the ambient light is dim, and night vision mode is used for imaging. In RGB mode, when it is determined that the filter unit rotated above the photosensitive sensor 104 is an R, G, or B filter unit, the photosensitive sensor 104 is exposed to obtain an RGB three-channel image. When it is determined that the filter unit rotated above the photosensitive sensor 104 is an Ir filter unit, the photosensitive sensor 104 is not exposed. In night vision mode, when the filter unit rotated above the photosensitive sensor 104 is determined to be the Ir filter unit, the photosensitive sensor is exposed. When the other R, G, and B filter units are rotated above the photosensitive sensor 104, they are not exposed. At the same time, the infrared fill light 301 is turned on to provide supplementary light during the camera exposure to obtain the light intensity information of the infrared light reflected by the subject. After the exposure process is completed, the infrared fill light 301 is turned off to reduce the operating power of the camera.

[0113] Specifically, in night vision mode, when the filter unit above the photosensitive sensor 104 is determined to be an Ir filter unit, the control unit 105 outputs a control signal to the drive module of the infrared fill light 301 to turn on the infrared fill light. Then, the photosensitive sensor 104 is exposed to acquire an infrared image. After the exposure is completed, the infrared fill light 301 is turned off. The infrared image obtained is then processed by the ISP chip, undergoing black level correction, dead pixel removal, noise reduction, contrast enhancement, gamma adjustment, and other operations before finally outputting the image. The video image frame signal or image signal obtained through this embodiment of the invention is ultimately transmitted from the camera to the vehicle controller through the video signal output interface 302.

[0114] Optionally, the driver module for the infrared fill light 301 can be set on PCB-B board 207.

[0115] It should be noted that in both night vision mode and RGB mode, the method provided in this embodiment of the invention for determining the rotation angle by using the counter value and the number of gap structures on the outer ring of the code disk can be used to determine the type of filter unit that rotates to the top of the photosensitive sensor, which will not be elaborated here.

[0116] In this embodiment of the invention, after driving the rotary motor 102 and before detecting the synchronization signal, the rotational speed of the rotating filter needs to be adjusted to a certain speed. One optional implementation involves controlling a timer to detect the time interval between adjacent reference signals; determining the rotational speed of the rotary motor 102 based on the time interval between adjacent reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk 201; if the rotational speed of the rotary motor 102 is not within the target speed range, adjusting the drive signal of the rotary motor 102 to adjust the rotational speed so that it reaches the target speed range and remains stable.

[0117] Specifically, the central angle between two adjacent slits can be determined based on the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk 201, and the rotational speed of the rotary motor 102 can be determined based on the time interval between the central angle of two adjacent slits and the adjacent reference signal. The rotational speed of the rotating filter 103 is obtained by dividing the central angle of two adjacent slits by the time interval between the adjacent reference signals.

[0118] In practice, the control unit 105 of PCB-A board 107 first outputs a control signal to the drive module of rotary motor 102. Under the drive signal, rotary motor 102 starts to rotate and starts a timer. As the rotating filter 103 rotates with the rotary motor 102, the controller continuously acquires the Ref signal generated by the code disk 201. The rotational speed of the rotating filter 103 is calculated by the time interval of the Ref signal pulse. This rotational speed can be used as the instantaneous angular velocity of rotary motor 102. It is determined whether the rotational speed has reached the target value and remains stable. If it is not within the target value range, the drive signal output by control unit 105 to the drive module of rotary motor 102 is adjusted, thereby changing the rotational speed of rotating filter 103.

[0119] Once the rotational speed reaches the target range and remains stable, the controller enters a mode waiting for the Syn signal. When a Syn signal pulse is detected, the counter is started and set to 0. The counter increments by one for each Ref pulse encountered. The type of filter unit currently rotating above the photosensitive sensor 104 can be determined based on the value currently stored in the counter.

[0120] like Figure 8The diagram shown is a circuit block diagram provided in an embodiment of the present invention, applicable to the camera provided in an embodiment of the present invention.

[0121] The PCB-A board includes modules such as a power module, a photosensor, an ISP module, a control unit, a photosensitive element, a rotary motor drive module, and a signal amplifier. The power module connects to an external power supply, converting the power to the voltage required by each chip and powering it. The photosensor is the core of image imaging, converting light signals into electrical signals, which are then output to the ISP module for image processing. The processed image signal is then output to the control unit, which includes a serializer function to convert MIPI or DVP format video signals to FPD-Link or GMSL format signals, enabling high-speed video transmission over longer distances between the camera and the vehicle controller. The FPD-Link or GMSL format video signal is transmitted from the camera to the vehicle controller via video signal output interface 1. Furthermore, the control unit receives electrical signals from the signal amplifier connected to the photosensitive element, used to determine the type of filter unit that has rotated above the photosensor on the rotating filter, controlling the photosensor's exposure, and also outputting control signals to the rotary motor drive module to control the rotation speed of the rotary motor.

[0122] PCB-B is electrically connected to PCB-A via a flexible flat cable. PCB-B contains a code disk LED, an infrared fill light driver module, and an infrared fill light. The light emitted by the code disk LED shines through the gaps in the code disk with a rotating filter onto the photosensitive element on PCB-A. The infrared fill light driver module on PCB-B is powered by the power module and drives the infrared fill light to illuminate. It should be noted that... Figure 8 The signal amplifier is not shown.

[0123] like Figure 9 The diagram shown is a flowchart of a method for speed control and filter unit type determination provided by an embodiment of the present invention.

[0124] In step S901, the control unit outputs a drive signal to the rotary motor drive module, and the rotary motor starts to rotate under the drive signal.

[0125] In step S902, the Ref signal is acquired;

[0126] In step S903, the rotational speed is calculated;

[0127] In step S904, it is determined whether the rotational speed has reached the target rotational speed range; if yes, step S905 is executed; if no, return to step S901 and adjust the drive signal.

[0128] In step S905, wait for the Syn signal to be received;

[0129] In step S906, a counter is started to record the number of Ref signals;

[0130] In step S907, the type of filter unit that has rotated to the top of the photosensitive sensor is determined based on the counter value; wherein, the filter unit type is used to control the exposure time;

[0131] In step S908, the counter is reset when the Syn signal is detected again.

[0132] like Figure 10 The diagram shown is a flowchart of a method for exposure control and image output of a photosensitive sensor according to an embodiment of the present invention.

[0133] In step S1001, the ambient light intensity is detected;

[0134] In step S1002, it is determined whether the ambient light intensity is lower than the preset light intensity threshold; if yes, enter night vision mode and execute steps S1003 to S1008; if no, enter RGB mode and execute steps S1009 to S1016.

[0135] In night vision mode:

[0136] In step S1003, the counter value is read;

[0137] In step S1004, it is determined whether the Ir filter unit has rotated to be above the photosensor; if yes, proceed to step S1005; if no, return to step S1003.

[0138] In step S1005, the infrared fill light is turned on;

[0139] In step S1006, the photosensitive sensor is exposed to acquire an infrared channel image;

[0140] In step S1007, the infrared fill light is turned off;

[0141] In step S1008, image processing is performed;

[0142] In RGB mode:

[0143] In step S1009, the counter value is read;

[0144] In step S1010, it is determined whether the R filter unit has rotated to above the photosensor; if yes, proceed to step S1013; if no, return to step S1009.

[0145] In step S1011, it is determined whether the G filter unit has rotated to above the photosensor; if yes, proceed to step S1014; if no, return to step S1009.

[0146] In step S1012, it is determined whether the B filter unit has rotated to above the photosensor; if yes, proceed to step S1015; if no, return to step S1009.

[0147] In step S1013, the photosensitive sensor is exposed to obtain an R-channel image;

[0148] In step S1014, the photosensitive sensor is exposed to acquire a G-channel image;

[0149] In step S1015, the photosensitive sensor is exposed to acquire a B-channel image;

[0150] In step S1016, an RGB image is synthesized and image processing is performed;

[0151] In step S1017, the image is output.

[0152] It should be noted that the methods for entering night vision mode and RGB mode provided in the embodiments of the present invention are merely examples. You can also select whether to enter night vision mode or RGB mode through the mode selection menu. The embodiments of the present invention do not impose specific limitations.

[0153] Corresponding to the above-described device embodiments, this invention provides an image acquisition method, such as... Figure 11 As shown, the method is applied to a camera; the camera includes a rotating filter and a photosensor, the rotating filter including various types of filter units, and the method includes:

[0154] In step S1101, light is received and transmitted to a rotating filter;

[0155] In step S1102, the received light is filtered during the rotation of the rotating filter, and the filtered light is transmitted to the photosensitive sensor.

[0156] Each type of filter unit passes above the photosensitive sensor during the rotation of the rotating filter;

[0157] In step S1103, the photosensitive sensor is exposed when each type of filter unit rotates above the photosensitive sensor, so that the photosensitive sensor receives the light intensity information of the light corresponding to the color of each type of filter unit, and generates an image based on the light intensity information.

[0158] Optionally, the multiple types of filter units include: at least one red filter unit, at least one green filter unit, and one blue filter unit.

[0159] Optionally, the camera further includes: a code disk, a code disk light, a first photosensitive element, a second photosensitive element, the outer ring of the code disk having multiple evenly distributed slit structures, and the inner ring of the code disk having one slit structure;

[0160] The process of exposing the photosensor while each type of filter unit is rotated above the photosensor includes:

[0161] When a synchronization signal is detected, the control counter counts the reference signal from zero. For each detected reference signal, the counter increments the number of reference signals by 1. The reference signal is generated by the first photosensitive element when it receives light from the code disk lamp through the slit structure of the outer ring of the code disk, and the synchronization signal is generated by the second photosensitive element when it receives light from the code disk lamp through the slit structure of the inner ring of the code disk.

[0162] Based on the number of reference signals, the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk determines the angle through which the rotating filter has rotated from the reference position, as shown in the following formula:

[0163]

[0164] in, The angle through which the rotating filter has rotated from the reference position is indicated; m represents the number of reference signals; n represents the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk; and the reference position is the slit structure on the inner ring of the rotating filter code disk.

[0165] The filter unit is rotated to be positioned above the photosensitive sensor based on the angle, and the photosensitive sensor is then exposed.

[0166] Optionally, the camera further includes an infrared fill light, and the various types of filter units further include an infrared filter unit; the infrared fill light is used to provide supplementary lighting for the subject being photographed, so that the subject reflects infrared light;

[0167] When the ambient light intensity is detected to be lower than a preset light intensity threshold, the method includes:

[0168] The angle through which the rotating filter rotates from the reference position is determined based on the number of reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk.

[0169] If the filter unit rotated above the photosensitive sensor is determined to be an infrared filter unit based on the angle, the infrared fill light is turned on, and the photosensitive sensor is exposed to obtain the light intensity information of the infrared light reflected by the photographed object.

[0170] If, based on the angle, it is determined that the filter unit rotated above the photosensitive sensor is a filter unit other than the infrared filter unit, then the photosensitive sensor will not be exposed.

[0171] Optionally, after exposing the photosensor to obtain the light intensity information of the infrared light reflected by the subject, the method further includes: turning off the infrared fill light.

[0172] Optionally, after driving the rotary motor and before detecting the synchronization signal, the method further includes:

[0173] Control the time interval for the timer to detect adjacent reference signals;

[0174] The rotational speed of the rotary motor is determined based on the time interval between the adjacent reference signals and the number of slots in the multiple slot structures evenly distributed on the outer ring of the code disk.

[0175] If the rotational speed of the rotary motor is not within the target speed range, adjust the drive signal of the rotary motor to adjust the rotational speed so that it reaches the target speed range and remains stable.

[0176] Optionally, at least one red filter unit and one infrared filter unit are distributed adjacently on the rotating filter, and the reference position corresponds to the boundary position of the red filter unit and the infrared filter unit.

[0177] Optionally, the camera further includes: a video output interface; the method further includes:

[0178] The serializer function converts MIPI or DVP format video signals into FPD-Link or GMSL format video signals, enabling high-speed video transmission over long distances between the camera and the vehicle controller; the video output interface transmits the FPD-Link or GMSL format video signals from the camera to the vehicle controller.

[0179] Optionally, the first photosensitive element, the second photosensitive element, and the photosensor are integrated on the PCB-A board. The PCB-A board also includes a power module, which is connected to an external power supply to power each chip.

[0180] The encoder light and infrared fill light are integrated on the PCB-B board. The PCB-B board also includes an infrared fill light driver module, which is powered by the power module and is used to drive the infrared fill light to turn on.

[0181] The PCB-A board and the PCB-B board are electrically connected via a flexible flat cable.

[0182] The above method embodiments correspond to the device embodiments and have the same technical effects. For details, please refer to the device embodiments. The method embodiments are based on the device embodiments, and for details, please refer to the method embodiments section, which will not be repeated here.

[0183] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0184] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A camera, characterized in that, include: The system includes a lens module, a rotating motor, a rotating filter, a photosensor, and a control unit. The rotating filter comprises multiple types of filter units, each of which allows a single color of light to pass through. The multiple types of filter units are arranged in a fan shape around the center of the rotating filter. The rotating filter is located between the lens module and the photosensor. The rotating filter is connected to the rotating motor via a shaft and rotates synchronously. The lens module is used to receive light and transmit the light to a rotating filter; The rotating filter is used to filter the received light during rotation and transmit the filtered light to the photosensitive sensor; wherein, each type of filter unit passes above the photosensitive sensor during the rotation of the rotating filter; The control unit is used to expose the photosensitive sensor when each type of filter unit rotates above the photosensitive sensor, so that the photosensitive sensor receives light intensity information of the color light corresponding to each type of filter unit, and generates an image based on the light intensity information; The code disk comprises a code disk lamp, a first photosensitive element, a second photosensitive element, a first signal amplifier, and a second signal amplifier. The code disk surrounds the outer circumference of a rotating filter and rotates synchronously with the rotating filter. The outer ring of the code disk has multiple evenly distributed slit structures, and the inner ring of the code disk has one slit structure. The code disk lamp and two photosensitive elements are distributed on both sides of the plane of the code disk, and the line connecting the code disk lamp and the two photosensitive elements is perpendicular to the plane of the code disk. Light emitted by the code disk lamp passes through the slit structure of the outer ring of the code disk and illuminates the first photosensitive element, and light emitted by the code disk lamp passes through the slit structure of the inner ring of the code disk and illuminates the second photosensitive element. The first photosensitive element generates a reference signal when it receives light from the code disk lamp passing through the slit structure of the outer ring of the code disk, and outputs it through the first signal amplifier. The second photosensitive element generates a synchronization signal when it receives light from the code disk lamp passing through the slit structure of the inner ring of the code disk, and outputs it through the second signal amplifier. The infrared fill light, including an infrared filter unit among the various types of filter units, is used to provide supplemental lighting to the subject, causing the subject to reflect infrared light. The control unit, the first photosensitive element, the second photosensitive element, the first signal amplifier, the second signal amplifier, and the photosensitive sensor are integrated on the PCB-A board. The PCB-A board also includes a power module, which is connected to an external power supply to power each chip. The encoder light and infrared fill light are integrated on the PCB-B board. The PCB-B board also includes an infrared fill light driver module, which is powered by the power module and is used to drive the infrared fill light to turn on. The PCB-A board and the PCB-B board are electrically connected via a flexible flat cable.

2. The camera according to claim 1, characterized in that, The various types of filter units include: at least one red filter unit, at least one green filter unit, and at least one blue filter unit.

3. The camera according to claim 2, characterized in that, The control unit is configured to expose the photosensor when each type of filter unit rotates above the photosensor, wherein the photosensor is exposed. When a synchronization signal is detected, the control counter counts the reference signal from zero, and the counter increments the number of reference signals by 1 for each detected reference signal; Based on the number of reference signals, the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk determines the angle through which the rotating filter has rotated from the reference position, as shown in the following formula: ； in, The angle through which the rotating filter has rotated from the reference position is indicated; m represents the number of reference signals; n represents the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk; and the reference position is the slit structure on the inner ring of the rotating filter code disk. The filter unit is rotated to be positioned above the photosensitive sensor based on the angle, and the photosensitive sensor is then exposed.

4. The camera according to claim 3, characterized in that, When the ambient light intensity is detected to be lower than a preset light intensity threshold, the control unit is used to: The angle through which the rotating filter rotates from the reference position is determined based on the number of reference signals and the number of slits in the multiple slit structures evenly distributed on the outer ring of the code disk. If the filter unit rotated above the photosensitive sensor is determined to be an infrared filter unit based on the angle, the infrared fill light is turned on, and the photosensitive sensor is exposed to obtain the light intensity information of the infrared light reflected by the photographed object. If, based on the angle, it is determined that the filter unit rotated above the photosensitive sensor is a filter unit other than the infrared filter unit, then the photosensitive sensor will not be exposed.

5. The camera according to claim 4, characterized in that, After exposing the photosensitive sensor to obtain the light intensity information of the infrared light reflected by the subject, the control unit is further configured to: turn off the infrared fill light.

6. The camera according to claim 3, characterized in that, After driving the rotary motor and before detecting the synchronization signal, the control unit is also used to: Control the time interval for the timer to detect adjacent reference signals; The rotational speed of the rotary motor is determined based on the time interval between the adjacent reference signals and the number of slots in the multiple slot structures evenly distributed on the outer ring of the code disk. If the rotational speed of the rotary motor is not within the target speed range, adjust the drive signal of the rotary motor to adjust the rotational speed so that it reaches the target speed range and remains stable.

7. The camera according to claim 4, characterized in that, At least one red filter unit and one infrared filter unit are distributed adjacently on the rotating filter, and the reference position corresponds to the boundary position between the red filter unit and the infrared filter unit.

8. The camera according to claim 6, characterized in that, Also includes: Video output interface; The control unit includes a serializer function, which converts MIPI or DVP format video signals into FPD-Link or GMSL format video signals to achieve high-speed video transmission over long distances between the camera and the vehicle controller; the FPD-Link or GMSL format video signals are transmitted from the camera to the vehicle controller through the video output interface.

9. An image acquisition method, characterized in that, The method is applied to the camera according to any one of claims 1 to 8; the camera includes a rotating filter and a photosensor, the rotating filter including various types of filter units, and the method includes: Receives light and transmits the light to a rotating filter; The received light is filtered during the rotation of the rotating filter, and the filtered light is transmitted to the photosensitive sensor; wherein, each type of filter unit passes above the photosensitive sensor during the rotation of the rotating filter; The photosensitive sensor is exposed when each type of filter unit rotates above it, so that the photosensitive sensor receives light intensity information of the color light corresponding to each type of filter unit and generates an image based on the light intensity information.

Images