Image acquisition control method, device, equipment and storage medium

Abstract

The present disclosure relates to an image acquisition control method and device, equipment and a storage medium. The method comprises: acquiring parity indication information of a current image frame; if it is determined according to the parity indication information that the current image frame is an odd frame, then a first light source is controlled to be turned on in a first pulse period, and an image sensing module is controlled to acquire an image of a target object in a second pulse period to obtain the current image frame; if it is determined according to the parity indication information that the current image frame is an even frame, then a second light source is controlled to be turned on in a third pulse period, and the image sensing module is controlled to acquire an image of the target object in a fourth pulse period to obtain the current image frame. According to the present disclosure, the problem of mutual interference of light emitted by two light sources in the prior art can be solved, thereby reducing the algorithm difficulty of subsequent "point lifting" and "line lifting", and improving the calculation accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of scanning technology, and in particular to an image acquisition control method, apparatus, device, and storage medium. Background Technology

[0002] A 3D scanner is a scientific instrument used to detect and analyze the three-dimensional data (i.e., shape and appearance data) of objects or environments in the real world. When scanning an object, a 3D scanner uses a laser projector to project laser lines onto the object, while simultaneously using supplementary lighting to illuminate marker points on the object. Then, it acquires an image of the object and extracts the laser lines and marker points from the acquired image (referred to as "line extraction" and "point extraction," respectively). Finally, it uses algorithms to model the image to obtain the 3D data.

[0003] However, when both the laser projector and the fill light project simultaneously, the extraction of laser lines and markers from a single image frame is subject to interference between the light emitted by the two sources due to optical factors. This increases the computational complexity and reduces the accuracy of line and marker extraction. Currently, there is no effective solution to this problem. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides an image acquisition and control method, apparatus, device, and storage medium.

[0005] In a first aspect, this disclosure provides an image acquisition control method, the method comprising:

[0006] Obtain the parity indicator information of the current image frame;

[0007] If the current image frame is determined to be an odd frame based on the parity indication information, the first light source is controlled to turn on during the first pulse period, and the image sensing module is controlled to acquire the image of the target object during the second pulse period to obtain the current image frame.

[0008] If the current image frame is determined to be an even frame based on the parity indication information, the second light source is controlled to turn on during the third pulse period, and the image sensing module is controlled to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0009] Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light;

[0010] Specifically, the first pulse period and its corresponding second pulse period overlap on the time axis, while the first pulse period and its adjacent fourth pulse period do not overlap on the time axis. The third pulse period and its corresponding fourth pulse period overlap on the time axis, while the third pulse period and its adjacent second pulse period do not overlap on the time axis.

[0011] Secondly, this disclosure provides an image acquisition control device, which includes:

[0012] The acquisition module is used to acquire the parity indicator information of the current image frame;

[0013] The control module is configured to, if the current image frame is determined to be an odd frame according to the parity indication information, control the first light source to turn on during the first pulse period, and control the image sensing module to acquire the image of the target object during the second pulse period to obtain the current image frame.

[0014] The control module is also configured to, if the current image frame is determined to be an even frame according to the parity indication information, control the second light source to turn on during the third pulse period, and control the image sensing module to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0015] Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light;

[0016] Specifically, the first pulse period and its corresponding second pulse period overlap on the time axis, while the first pulse period and its adjacent fourth pulse period do not overlap on the time axis. The third pulse period and its corresponding fourth pulse period overlap on the time axis, while the third pulse period and its adjacent second pulse period do not overlap on the time axis.

[0017] Thirdly, embodiments of this disclosure also provide an electronic device, which includes an image acquisition control module, wherein the image acquisition control module includes:

[0018] processor;

[0019] Memory, used to store executable instructions;

[0020] The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the image acquisition control method described in the first aspect above.

[0021] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the image acquisition control method provided in the first aspect.

[0022] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0023] An image acquisition control method, apparatus, device, and storage medium according to an embodiment of this disclosure can acquire parity indication information of the current image frame. If the current image frame is determined to be an odd-numbered frame based on the parity indication information, a first light source is controlled to turn on during a first pulse period, and an image sensing module is controlled to acquire an image of the target object during a second pulse period to obtain the current image frame. If the current image frame is determined to be an even-numbered frame based on the parity indication information, a second light source is controlled to turn on during a third pulse period, and an image sensing module is controlled to acquire an image of the target object during a fourth pulse period to obtain the current image frame. The first light source is a fill light, and the second light source is a laser projector; or, the first light source is a laser projector, and the second light source is a fill light. The first pulse period and its corresponding second pulse period overlap on the time axis, and the first pulse period and its adjacent fourth pulse period do not overlap on the time axis. The third pulse period and its corresponding fourth pulse period overlap on the time axis, and the third pulse period and its adjacent second pulse period do not overlap on the time axis. As can be seen, by adopting the above technical solution, the first and second light sources can be controlled to alternately turn on according to whether the current image frame is an odd or even frame, avoiding mutual interference between the light emitted by the first and second light sources. Furthermore, the image sensing module can be controlled to acquire images in odd-numbered frames when the first light source projects onto the target object, and in even-numbered frames when the second light source projects onto the target object. This allows for the subsequent extraction of marker points from odd (or even) frames and laser lines from even (or odd) frames. In this way, the problem of mutual interference between the light emitted by the two light sources in the prior art can be solved, thereby reducing the algorithmic difficulty of subsequent "point extraction" and "line extraction" and improving the calculation accuracy. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure;

[0027] Figure 2 This is a schematic flowchart of an image acquisition control method provided in an embodiment of this disclosure;

[0028] Figure 3 This is a timing diagram of an image acquisition control provided in an embodiment of this disclosure;

[0029] Figure 4 This is a schematic flowchart of another image acquisition control method provided in an embodiment of this disclosure;

[0030] Figure 5 This is another image acquisition control timing diagram provided in this embodiment of the disclosure;

[0031] Figure 6 This is a schematic flowchart of an image acquisition control provided in an embodiment of this disclosure;

[0032] Figure 7 This is a schematic diagram of the structure of an image acquisition and control device provided in an embodiment of this disclosure. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0034] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0035] To address the aforementioned problems, this disclosure provides an image acquisition control method, apparatus, device, and storage medium.

[0036] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. For example... Figure 1 As shown, the electronic device includes an image acquisition control module 110, which may include a processor and a memory storing computer program instructions. The processor reads and executes the computer program instructions stored in the memory to perform the steps of the image acquisition control method provided in this embodiment of the present disclosure.

[0037] Specifically, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0038] The memory may include a large-capacity storage device for information or instructions. For example, and not limitingly, the memory may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the integrated gateway device. In a particular embodiment, the memory is a non-volatile solid-state memory. In a particular embodiment, the memory includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable ROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0039] See also Figure 1 Optionally, the electronic device may further include:

[0040] The first light source 120 is connected to the image acquisition control module 110 and is used to be turned on during the first pulse period under the control of the electronic device;

[0041] The second light source 130 is connected to the image acquisition control module 110 and is used to be turned on during the third pulse period under the control of the electronic device;

[0042] The image sensing module 140 is connected to the image acquisition control module 110. When the current image frame is an odd-numbered frame, it acquires an image of the target object during the second pulse period under the control of the electronic device to obtain the current image frame. When the current image frame is an even-numbered frame, it acquires an image of the target object during the fourth pulse period under the control of the electronic device to obtain the current image frame.

[0043] Specifically, the first light source 120 is a supplementary light, and the second light source 130 is a laser projector (e.g., Figure 1 (as shown); or, the first light source 120 is a laser projector and the second light source 130 is a fill light.

[0044] The number of supplementary lights included in the first light source 120 and the number of laser projectors included in the second light source 130 can be set by those skilled in the art according to actual conditions, and are not limited here. For example, Figure 1 As shown, the first light source 120 includes two fill lights: a first fill light and a second fill light, and the second light source 130 includes a laser projector, but is not limited thereto.

[0045] Specifically, the image sensing module 140 includes at least one image sensor, which can be any device capable of image acquisition, such as a camera, webcam, or mobile phone, but is not limited to these.

[0046] The number of image sensors in the image sensing module 140 can be set by those skilled in the art according to actual conditions, and is not limited here. For example, Figure 1 As shown, the image sensing module 140 includes two image sensors: a first image sensor and a second image sensor, but is not limited to these.

[0047] See also Figure 1 Optionally, the electronic device may further include:

[0048] The buffer module 150 is used to receive the current image frame sent by the image sensing module 140 during the fifth pulse period when the current image frame is an odd-numbered frame, and is also used to receive the current image frame sent by the image sensing module 140 during the sixth pulse period when the current image frame is an even-numbered frame.

[0049] Specifically, on the time axis, the fifth pulse period is located after its corresponding second pulse period and before its adjacent fourth pulse period; on the time axis, the sixth pulse period is located after its corresponding fourth pulse period and before its adjacent second pulse period.

[0050] Specifically, the cache module 150 includes at least one cache, which can be any device capable of implementing cache functionality, without limitation.

[0051] The number of caches in cache module 150 can be set by those skilled in the art according to actual conditions, and is not limited here. For example, Figure 1 As shown, the cache module 150 includes two caches: a first cache and a second cache, but is not limited to this.

[0052] The following is combined Figures 2 to 6The image acquisition control method provided in the embodiments of this disclosure will be described. In the embodiments of this disclosure, the image acquisition control method can be executed by an image acquisition control module, for example, it can be executed by... Figure 2 The image acquisition control module 110 in the electronic device shown performs the operation, but is not limited to this.

[0053] Figure 2 This is a flowchart illustrating an image acquisition control method provided in an embodiment of this disclosure.

[0054] like Figure 2 As shown, the image acquisition control method may include the following steps.

[0055] S210. Obtain the parity indicator information of the current image frame.

[0056] Specifically, the current image frame refers to the image frame that will be obtained in this image acquisition.

[0057] Specifically, the parity indicator information is used to indicate whether the current image frame is an odd-numbered frame or an even-numbered frame. Those skilled in the art should understand that during a complete scan of a target object, multiple image acquisitions are required to obtain multiple image frames, in order to obtain the three-dimensional data of the target object from these multiple image frames. Here, an odd-numbered frame refers to the image frame obtained from the odd-numbered image acquisition in the order of image acquisition, and an even-numbered frame refers to the image frame obtained from the even-numbered image acquisition in the order of image acquisition.

[0058] The specific form of the parity indication information can be set by those skilled in the art according to the actual situation, and is not limited here. For example, the parity indication information includes 0 and 1, wherein when the parity indication information is 0, it indicates that the current image frame is an even frame, and when the parity indication information is 1, it indicates that the current image frame is an odd frame, but it is not limited to this.

[0059] In some embodiments, S210 may include: receiving parity indication information of the current image frame sent by the image sensing module.

[0060] In other embodiments, S220 may include: determining the parity indication information of the current image frame according to the image acquisition order of the current image frame in the current scanning process (i.e., the number of image acquisitions); or; determining the parity indication information of the current image frame according to the parity frame determination result of the previous image frame (i.e., whether it is an odd frame or an even frame).

[0061] S220. If the current image frame is determined to be an odd frame according to the parity indication information, the first light source is controlled to turn on during the first pulse period, and the image sensing module is controlled to acquire the image of the target object during the second pulse period to obtain the current image frame.

[0062] S230. If the current image frame is determined to be an even frame based on the parity indication information, the second light source is controlled to turn on during the third pulse period, and the image sensing module is controlled to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0063] Specifically, the first light source can respond to the activation of the first pulse, thereby projecting emitted light onto the target object during the first pulse period.

[0064] Specifically, the image sensing module can perform image acquisition (e.g., exposure) in response to the second pulse, thereby acquiring an odd number of frames of the target object during the second pulse period.

[0065] Specifically, the second light source can respond to the activation of the third pulse, thereby projecting the emitted light onto the target object during the third pulse period.

[0066] Specifically, the image sensing module can perform image acquisition (e.g., exposure) in response to the fourth pulse, thereby acquiring an even number of frames of the target object during the fourth pulse period.

[0067] For example, Figure 3 This is a timing diagram for image acquisition control provided in an embodiment of this disclosure. See also... Figure 3 On the time axis, the first pulse period 311 and its corresponding second pulse period 312 overlap, while the first pulse period 311 and its adjacent fourth pulse period 314 do not overlap. On the time axis, the third pulse period 313 and its corresponding fourth pulse period 314 overlap, while the third pulse period 313 and its adjacent second pulse period 312 do not overlap.

[0068] Specifically, the second pulse period 312 corresponding to the first pulse period 311 refers to the second pulse period 312 corresponding to the same odd-numbered frame as the first pulse period 311, and the fourth pulse period 314 corresponding to the third pulse period 313 refers to the fourth pulse period 314 corresponding to the same even-numbered frame as the third pulse period 313. The fourth pulse period 314 adjacent to the first pulse period 311 refers to the fourth pulse period 314 corresponding to the even-numbered frame adjacent to the odd-numbered frame corresponding to the first pulse period 311. The second pulse period 312 adjacent to the third pulse period 313 refers to the second pulse period 312 corresponding to the odd-numbered frame adjacent to the even-numbered frame corresponding to the third pulse period 313.

[0069] It is understandable that by ensuring that the first pulse period 311 and its adjacent fourth pulse period 314 do not overlap on the time axis, and that the third pulse period 313 and its adjacent second pulse period 312 do not overlap on the time axis, the problem of mutual interference between the light emitted by the first light source and the light emitted by the second light source can be improved. This, in turn, improves the problem of the light emitted by the first light source affecting the image quality of even-numbered frames, and improves the problem of the light emitted by the second light source affecting the image quality of odd-numbered frames, thereby improving the image quality of both odd-numbered and even-numbered frames, i.e., improving the image quality of the frames used for extracting marker points and laser lines. In this way, the algorithmic complexity of the scanner for "point extraction" and "line extraction" can be reduced, the computational power requirements of the scanner are low, and the increase in hardware costs can be avoided.

[0070] See also Figure 3 Optionally, on the time axis, the first pulse period 311 is located within the corresponding second pulse period 312; and the third pulse period 313 is located within the corresponding fourth pulse period 314.

[0071] Understandably, by positioning the first pulse period 311 within its corresponding second pulse period 312 on the time axis, the first light source will not be activated when the image sensor is not acquiring images. That is, the first light source will not emit light onto the target object when the image sensor is not acquiring images, thus avoiding energy waste. Furthermore, since the first pulse period 311 and the third pulse period 313 do not overlap on the time axis, positioning the first pulse period 311 within its corresponding second pulse period 312 helps to reduce the time interval between the second pulse period 312 and its adjacent fourth pulse period 314, reducing the latency between two adjacent image frames and thus lowering the risk of gaps between adjacent image frames. The same principle applies to the third pulse period 313 being positioned within its corresponding fourth pulse period 314 on the time axis, and will not be elaborated further here.

[0072] Of course, the first pulse period 311 on the time axis may also include moments that do not overlap with the second pulse period 312, and there is no limitation on this.

[0073] See also Figure 3 Optionally, the end time of the first pulse period 311 and the end time of the corresponding second pulse period 312 are aligned on the time axis; the start time of the third pulse period 313 and the start time of the corresponding fourth pulse period 314 are aligned on the time axis.

[0074] It should be noted that the alignment mentioned here refers to the two moments being the same or the time interval between the two moments being within the allowable error range, which can be, for example, less than 10 microseconds.

[0075] It is understandable that the image frame used to extract marker points needs to include the marker points, and the clarity of the marker points is affected by the illumination of the supplementary light. Similarly, the image frame used to extract laser lines needs to include the laser lines, which are projected by the laser projector. Therefore, the time delay between adjacent image frames used to extract marker points and those used to extract laser lines is mainly affected by the time interval between the activation of the supplementary light and the activation of the laser projector. By aligning the end time of the first pulse period 311 and the end time of its corresponding second pulse period 312 on the time axis, and aligning the start time of the third pulse period 313 and the start time of its corresponding fourth pulse period 314 on the time axis, the end time of the light emitted by the first light source projecting onto the target object and the start time of the light emitted by the second light source projecting onto the target object can be made as close as possible. In other words, the time interval between the activation of the supplementary light and the activation of the laser projector should be minimized. This helps to reduce the time delay between two adjacent image frames, thereby reducing the risk of tomography between adjacent image frames.

[0076] Specifically, the specific values ​​of the pulse width of the first pulse period 311, the pulse width of the second pulse period 312, the pulse width of the third pulse period 313, and the pulse width of the fourth pulse period 314 on the time axis can be set by those skilled in the art according to the actual situation, and are not limited here.

[0077] Optionally, the pulse widths of the first pulse period 311, the second pulse period 312, the third pulse period 313, and the fourth pulse period 314 on the time axis are all in the microsecond range.

[0078] Understandably, setting the pulse width to the microsecond level reduces the time required for image acquisition of odd and even frames, thus decreasing the latency between adjacent image frames and lowering the risk of frame drops. Furthermore, it reduces the operating time of the laser projector and supplementary lighting, lowering energy consumption.

[0079] Optionally, the time interval between the second pulse period 312 and the adjacent fourth pulse period 314 on the time axis is on the microsecond level.

[0080] It is understandable that by setting the time interval between the second pulse period 312 and the adjacent fourth pulse period 314 on the time axis to the microsecond level, it is beneficial to reduce the time delay between two adjacent image frames, thereby reducing the risk of tomography between two adjacent image frames.

[0081] Further optionally, the time interval between the end of the second pulse period 312 and the start of the adjacent fourth pulse period 314 on the time axis is less than 100 microseconds.

[0082] In this embodiment of the present disclosure, during a complete scan, the image acquisition control module can control the image sensing module to perform multiple image acquisitions of the target object. During each image acquisition, if the image acquisition control module determines that the current image frame is an odd-numbered frame based on the parity indication information, it sends a first pulse to the first light source to control the first light source to turn on during the first pulse period, so that the light emitted by the first light source is projected onto the target object. It then sends a second pulse to the image sensing module to control the image sensing module to acquire an image of the target object during the second pulse period, obtaining an odd-numbered frame. If the image acquisition control module determines that the current image frame is an even-numbered frame based on the parity indication information, it sends a third pulse to the second light source to control the second light source to turn on during the third pulse period, so that the light emitted by the first light source is projected onto the target object. Finally, it sends a fourth pulse to the image sensing module to control the image sensing module to acquire an image of the target object during the fourth pulse period, obtaining an even-numbered frame. Thus, during a complete scan, the image acquisition control module can control the first and second light sources to turn on alternately, and control the image sensing module to alternately acquire image frames used for extracting laser lines and image frames used for extracting marker points.

[0083] In this embodiment, the first and second light sources can be controlled to alternately turn on depending on whether the current image frame is an odd or even frame, avoiding mutual interference between the light emitted by the first and second light sources. Furthermore, the image sensing module can be controlled to acquire images in odd-numbered frames when the first light source projects onto the target object, and in even-numbered frames when the second light source projects onto the target object. This allows for the extraction of laser lines from different odd (or even) frames and the extraction of marker points from even (or odd) frames. This solves the problem of mutual interference between the light emitted by the two light sources in the prior art, thereby reducing the algorithmic difficulty of subsequent "line extraction" and "point extraction" and improving computational accuracy.

[0084] Figure 4 This is a schematic flowchart of another image acquisition control method provided in this disclosure. This disclosure optimizes the above embodiments and can be combined with various optional solutions from one or more of the above embodiments.

[0085] like Figure 4 As shown, the image acquisition control method may include the following steps.

[0086] S410. Obtain the parity indicator information of the current image frame.

[0087] Specifically, S410 is similar to S210, and will not be described in detail here.

[0088] S420. If the current image frame is determined to be an odd frame based on the parity indication information, the first light source is controlled to turn on during the first pulse period, and the image sensing module is controlled to acquire the image of the target object during the second pulse period to obtain the current image frame.

[0089] Specifically, S420 is similar to S220, and will not be described in detail here.

[0090] S430. If the current image frame is determined to be an odd frame based on the parity indication information, the image sensing module is controlled to transmit the current image frame to the buffer module during the fifth pulse period.

[0091] Specifically, the image sensing module can transmit images to odd-numbered frames in response to the fifth pulse.

[0092] For example, Figure 5 This is another image acquisition control timing diagram provided in an embodiment of this disclosure. See also... Figure 5 On the time axis, the fifth pulse period 315 is located after the corresponding second pulse period 312 and before the adjacent fourth pulse period 314.

[0093] Specifically, the second pulse period 312 corresponding to the fifth pulse period 315 mentioned here refers to the second pulse period 312 corresponding to the same odd-numbered frame as the fifth pulse period 315. The fourth pulse period 314 adjacent to the fifth pulse period 315 mentioned here refers to the fourth pulse period 314 corresponding to the even-numbered frame adjacent to the odd-numbered frame corresponding to the fifth pulse period 315.

[0094] S440. If the current image frame is determined to be an even frame based on the parity indication information, the second light source is controlled to turn on during the third pulse period, and the image sensing module is controlled to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0095] Specifically, S440 is similar to S230, and will not be described in detail here.

[0096] S450. If the current image frame is determined to be an even frame based on the parity indication information, the image sensing module is controlled to transmit the current image frame to the buffer module within the sixth pulse period.

[0097] Specifically, the image sensing module can transmit images in response to the sixth pulse on even-numbered frames.

[0098] See also Figure 5On the time axis, the sixth pulse period 316 is located after the corresponding fourth pulse period 314 and before the adjacent second pulse period 312.

[0099] Specifically, the fourth pulse period 314 corresponding to the sixth pulse period 316 mentioned here refers to the fourth pulse period 314 that corresponds to the same even-numbered frame as the sixth pulse period 316. The second pulse period 312 adjacent to the sixth pulse period 316 mentioned here refers to the second pulse period 312 corresponding to the odd-numbered frame adjacent to the even-numbered frame corresponding to the sixth pulse period 316.

[0100] It is understandable that by setting the fifth pulse period 315 on the time axis after its corresponding second pulse period 312 and before its adjacent fourth pulse period 314, the current image frame (i.e., odd-numbered frame) can be transmitted to the buffer module as soon as possible after the image sensing module acquires it. This releases the storage resources of the image sensing module and avoids the risk that the next image frame (i.e., even-numbered frame) cannot be acquired due to the image sensor's storage resources being full. The same principle applies to the sixth pulse period 316 on the time axis, which is after its corresponding fourth pulse period 314 and before its adjacent second pulse period 312, and will not be elaborated here. Furthermore, since the data transmission width of the buffer module is usually wide (e.g., 32-bit, 64-bit, or even wider), transmitting the current image frame to the buffer module instead of directly to the image acquisition control module reduces the transmission time of the current image frame, releases the storage resources of the image sensing module as soon as possible, and facilitates the acquisition of the next image frame quickly. This reduces the latency between two adjacent image frames and thus reduces the risk of gaps between adjacent image frames.

[0101] Optionally, the distance between the image sensing module and the cache module is on the order of millimeters.

[0102] It is understandable that by setting the distance between the image sensing module and the cache module to the millimeter level, the transmission path of the current image frame can be shortened, thereby reducing the transmission time of the current image frame. This allows the storage resources of the image sensing module to be released as soon as possible, which is conducive to acquiring the next image frame as soon as possible. This reduces the latency between two adjacent image frames and thus reduces the risk of a gap between two adjacent image frames.

[0103] Alternatively, the distance between the image sensing module and the cache module is less than 10 millimeters.

[0104] Optionally, the method further includes:

[0105] If the current image frame is determined to be an odd frame based on the parity indicator information, then the current image frame is read from the buffer module during the seventh pulse period.

[0106] If the current image frame is determined to be an even frame based on the parity indicator information, the current image frame is read from the buffer module during the eighth pulse period.

[0107] See also Figure 5 On the timeline, the seventh pulse period 317 follows the corresponding fifth pulse period 315, and the eighth pulse period 318 follows the corresponding sixth pulse period 316. Alternatively, see further... Figure 5 On the timeline, the seventh pulse period 317 is located before the sixth pulse period 316 that follows it, and the eighth pulse period 318 is located before the fifth pulse period 315 that follows it.

[0108] Specifically, the fifth pulse period 315 corresponding to the seventh pulse period 317 mentioned here refers to the fifth pulse period 315 corresponding to the same odd-numbered frame as the seventh pulse period 317. The sixth pulse period 316 adjacent to the seventh pulse period 317 mentioned here refers to the sixth pulse period 316 corresponding to the even-numbered frame adjacent to the odd-numbered frame corresponding to the seventh pulse period 317. The sixth pulse period 316 corresponding to the eighth pulse period 318 mentioned here refers to the sixth pulse period 316 corresponding to the same even-numbered frame as the eighth pulse period 318. The fifth pulse period 315 adjacent to the eighth pulse period 318 mentioned here refers to the fifth pulse period 315 corresponding to the odd-numbered frame adjacent to the even-numbered frame corresponding to the eighth pulse period 318.

[0109] In this way, the storage resources of the cache module can be released as soon as possible, avoiding the risk that the next image frame (i.e., even-numbered frames) cannot be stored in the cache module because the storage resources of the cache module are full.

[0110] In this embodiment, after the image sensing module acquires the current image frame (i.e., an odd-numbered frame), it transmits the current image frame to the cache module as early and quickly as possible. This releases the storage resources of the image sensing module, avoiding the risk that the next image frame (i.e., an even-numbered frame) cannot be acquired due to the image sensor's storage resources being full. This reduces the latency between two adjacent image frames, thereby lowering the risk of gaps between adjacent image frames. Furthermore, the current image frame can be read from the cache module as early as possible, avoiding the risk that the next image frame (i.e., an even-numbered frame) cannot be stored in the cache module due to the cache module's storage resources being full.

[0111] The image registration process provided in this disclosure will now be described in detail based on a specific example.

[0112] For example, Figure 6This is a schematic flowchart illustrating an image acquisition control method provided in an embodiment of this disclosure. See also... Figure 5 and Figure 6 The image sensing module enters a fast exposure mode. Then, in response to the user's settings, the image acquisition module sets parameters such as exposure time (i.e., the pulse width of the second pulse period 312 and the pulse width of the fourth pulse period 314), frame rate, transmission rate, and gain. Those skilled in the art should understand that these parameters can be set separately for odd and even frames. Then, the image acquisition control module determines whether the current image frame is an odd or even frame based on the odd / even indication information. If it is determined to be an odd frame, the image acquisition control module turns on the fill light and controls the image sensing module to expose. Specifically, the image acquisition control module controls the fill light to turn on during the first pulse period 311 to illuminate the marker points on the target object, and controls the image sensing module to expose during the second pulse period 312 to acquire an image of the target object, obtaining an image frame used to extract the marker points. If the frame is determined to be an even number, the image acquisition control module activates the laser projector. Specifically, the image acquisition control module controls the laser projector to activate during the third pulse period 313 to project a laser line onto the target object, and controls the image sensing module to expose during the fourth pulse period 314 to acquire an image of the target object, obtaining an image frame for extracting the laser line. Then, the image acquisition control module controls the image sensing module to transmit the current image frame to the buffer module. Specifically, if the frame is determined to be an odd number, the image acquisition control module controls the image sensing module to transmit the current image frame to the buffer module during the fifth pulse period 315; if the frame is determined to be an even number, the image acquisition control module controls the image sensing module to transmit the current image frame to the buffer module during the sixth pulse period 316. Then, the image acquisition control module reads the current image frame from the buffer module. Specifically, if the frame is determined to be an odd number, the image acquisition control module reads and transmits the current image frame from the buffer module during the seventh pulse period 317; if the frame is determined to be an even number, the image acquisition control module reads and transmits the current image frame from the buffer module during the eighth pulse period 318.

[0113] Figure 7 This is a schematic diagram of the structure of an image acquisition and control device provided in an embodiment of this disclosure.

[0114] like Figure 7 As shown, the image acquisition control device 700 may include:

[0115] The acquisition module 710 is used to acquire the parity indication information of the current image frame;

[0116] The control module 720 is used to control the first light source to turn on during the first pulse period and control the image sensing module to acquire the image of the target object during the second pulse period if the current image frame is determined to be an odd frame according to the parity indication information.

[0117] The control module 720 is also used to control the second light source to turn on during the third pulse period if the current image frame is determined to be an even frame according to the parity indication information, and to control the image sensing module to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0118] Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light;

[0119] Specifically, the first pulse period and its corresponding second pulse period overlap on the time axis, while the first pulse period and its adjacent fourth pulse period do not overlap on the time axis. The third pulse period and its corresponding fourth pulse period overlap on the time axis, while the third pulse period and its adjacent second pulse period do not overlap on the time axis.

[0120] In another embodiment of this disclosure,

[0121] On the timeline, the first pulse period is located within its corresponding second pulse period;

[0122] On the timeline, the third pulse period is located within its corresponding fourth pulse period.

[0123] In yet another embodiment of this disclosure,

[0124] The end time of the first pulse period and the end time of the corresponding second pulse period are aligned on the time axis;

[0125] The start time of the third pulse period is aligned with the start time of its corresponding fourth pulse period on the time axis.

[0126] In yet another embodiment of this disclosure,

[0127] The time interval between the second pulse period and the adjacent fourth pulse period on the time axis is less than 100 microseconds.

[0128] In another embodiment of this disclosure, the device includes:

[0129] The transmission control module is used to control the image sensing module to transmit the current image frame to the buffer module within the fifth pulse period if the current image frame is determined to be an odd frame based on the parity indication information.

[0130] The transmission control module is also used to control the image sensing module to transmit the current image frame to the buffer module within the sixth pulse period if the current image frame is determined to be an even frame according to the parity indication information.

[0131] Specifically, on the time axis, the fifth pulse period is located after its corresponding second pulse period and before its adjacent fourth pulse period; on the time axis, the sixth pulse period is located after its corresponding fourth pulse period and before its adjacent second pulse period.

[0132] In yet another embodiment of this disclosure,

[0133] The distance between the image sensing module and the cache module is less than 10 millimeters.

[0134] In another embodiment of this disclosure, the device includes:

[0135] The reading module is used to read the current image frame from the buffer module during the seventh pulse period if the current image frame is determined to be an odd frame based on the parity indication information.

[0136] The reading module is also used to read the current image frame from the buffer module during the eighth pulse period if the current image frame is determined to be an even frame based on the parity indication information.

[0137] In this context, the seventh pulse period on the time axis is located after the fifth pulse period, and the eighth pulse period on the time axis is located after the sixth pulse period.

[0138] It should be noted that, Figure 7 The image acquisition control device 600 shown can execute each step in any of the above method embodiments and achieve each process and effect in any of the above method embodiments, which will not be elaborated here.

[0139] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium belongs to the same inventive concept as the image acquisition control methods in the above embodiments. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the above image acquisition control methods.

[0140] This embodiment provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform an image acquisition control method, which includes:

[0141] Obtain the parity indicator information of the current image frame;

[0142] If the current image frame is determined to be an odd frame based on the parity indication information, the first light source is controlled to turn on during the first pulse period, and the image sensing module is controlled to acquire the image of the target object during the second pulse period to obtain the current image frame.

[0143] If the current image frame is determined to be an even frame based on the parity indication information, the second light source is controlled to turn on during the third pulse period, and the image sensing module is controlled to acquire the image of the target object during the fourth pulse period to obtain the current image frame.

[0144] Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light;

[0145] Specifically, the first pulse period and its corresponding second pulse period overlap on the time axis, while the first pulse period and its adjacent fourth pulse period do not overlap on the time axis. The third pulse period and its corresponding fourth pulse period overlap on the time axis, while the third pulse period and its adjacent second pulse period do not overlap on the time axis.

[0146] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also perform related operations in the image acquisition control method provided in any embodiment of this disclosure.

[0147] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the image acquisition and control methods provided in the various embodiments of this disclosure.

[0148] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. An image acquisition control method, characterized in that, include: Obtain the parity indicator information of the current image frame; If the current image frame is determined to be an odd frame based on the parity indication information, the first light source is controlled to turn on during the first pulse period, and the image sensing module is controlled to acquire the image of the target object during the second pulse period to obtain the current image frame. If the current image frame is determined to be an even frame based on the parity indication information, the second light source is controlled to turn on during the third pulse period, and the image sensing module is controlled to acquire the image of the target object during the fourth pulse period to obtain the current image frame. Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light; In this process, the first pulse period and the corresponding second pulse period overlap on the time axis, and the first pulse period and the adjacent fourth pulse period do not overlap on the time axis; the third pulse period and the corresponding fourth pulse period overlap on the time axis, and the third pulse period and the adjacent second pulse period do not overlap on the time axis. The end time of the first pulse period and the end time of the corresponding second pulse period are aligned on the time axis; The start time of the third pulse period and the start time of the corresponding fourth pulse period are aligned on the time axis.

2. The method according to claim 1, characterized in that, On the time axis, the first pulse period is located within the corresponding second pulse period; The third pulse period on the time axis is located within the corresponding fourth pulse period.

3. The method according to claim 1, characterized in that, The time interval between the second pulse period and the adjacent fourth pulse period on the time axis is less than 100 microseconds.

4. The method according to any one of claims 1-3, characterized in that, Also includes: If the current image frame is determined to be an odd frame based on the parity indication information, then the image sensing module is controlled to transmit the current image frame to the buffer module during the fifth pulse period; If the current image frame is determined to be an even frame based on the parity indication information, then the image sensing module is controlled to transmit the current image frame to the buffer module within the sixth pulse period; In this context, the fifth pulse period on the time axis is located after the corresponding second pulse period and before the adjacent fourth pulse period. On the timeline, the sixth pulse period is located after the corresponding fourth pulse period and before the second pulse period that is adjacent to it.

5. The method according to claim 4, characterized in that, Also includes: If the current image frame is determined to be an odd frame based on the parity indication information, then the current image frame is read from the cache module during the seventh pulse period; If the current image frame is determined to be an even frame based on the parity indication information, then the current image frame is read from the cache module during the eighth pulse period; Specifically, the seventh pulse period on the time axis is located after the fifth pulse period corresponding to it, and the eighth pulse period on the time axis is located after the sixth pulse period corresponding to it.

6. An image acquisition and control device, characterized in that, include: The acquisition module is used to acquire the parity indicator information of the current image frame; The control module is configured to, if the current image frame is determined to be an odd frame according to the parity indication information, control the first light source to turn on during the first pulse period, and control the image sensing module to acquire the image of the target object during the second pulse period to obtain the current image frame. The control module is further configured to, if the current image frame is determined to be an even frame according to the parity indication information, control the second light source to turn on during the third pulse period, and control the image sensing module to acquire the image of the target object during the fourth pulse period to obtain the current image frame. Wherein, the first light source is a fill light and the second light source is a laser projector; or, the first light source is a laser projector and the second light source is a fill light; In this process, the first pulse period and the corresponding second pulse period overlap on the time axis, and the first pulse period and the adjacent fourth pulse period do not overlap on the time axis; the third pulse period and the corresponding fourth pulse period overlap on the time axis, and the third pulse period and the adjacent second pulse period do not overlap on the time axis. The end time of the first pulse period and the end time of the corresponding second pulse period are aligned on the time axis; The start time of the third pulse period and the start time of the corresponding fourth pulse period are aligned on the time axis.

7. An electronic device, characterized in that, The image acquisition control module includes: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the image acquisition control method according to any one of claims 1-5.

8. The electronic device according to claim 7, characterized in that, Also includes: A first light source is connected to the image acquisition and control module and is used to be turned on during a first pulse period under the control of the electronic device. The second light source is connected to the image acquisition and control module and is used to be turned on during the third pulse period under the control of the electronic device; The image sensing module, connected to the image acquisition control module, is used to acquire an image of the target object during a second pulse period under the control of the electronic device when the current image frame is an odd-numbered frame. It is also used to acquire an image of the target object during a fourth pulse period under the control of the electronic device when the current image frame is an even-numbered frame.

9. The electronic device according to claim 8, characterized in that, Also includes: The buffer module is configured to receive the current image frame sent by the image sensing module during the fifth pulse period when the current image frame is an odd-numbered frame, and to receive the current image frame sent by the image sensing module during the sixth pulse period when the current image frame is an even-numbered frame. In this context, the fifth pulse period on the time axis is located after the corresponding second pulse period and before the adjacent fourth pulse period. On the timeline, the sixth pulse period is located after the corresponding fourth pulse period and before the second pulse period that is adjacent to it.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the processor implements the image acquisition control method according to any one of claims 1-5.

Images