Flight shooting method and device capable of adjusting parameters at high speed in real time and storage medium

Abstract

The invention relates to a high-speed real-time parameter adjustment flying shooting method and device and a storage medium. The method comprises the steps that an upper computer sends a flying shooting enable signal; the upper computer sends preset light source parameters, and the main control module explains and updates the preset light source parameters; the light source trigger module updates the connection state of the light source controller; the camera executes shooting and sends a frame exposure signal to the flying shooting controller, and the light source controller lightens the corresponding light source; the signal scanning module scans a frame exposure signal of each camera every preset time interval, and when it is detected that a rising edge appears in the frame exposure signal corresponding to the camera, a corresponding trigger counter in the main control module automatically increases 1; whenever the signal scanning module detects a frame exposure signal of the camera, the flying shooting controller calls and sets a new light source parameter of each camera at the next shooting position; and repeating the steps until the flyer enable signal is invalid. Flight shooting signals are responded in real time, light source parameters are switched at a high speed in real time, and the purpose of high-speed real-time parameter adjustment is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of flying photography, and in particular relates to a flying photography method, device and storage medium for high-speed real-time parameter adjustment. Background Art

[0002] At present, the systems that realize high-speed and accurate flying photography generally use the motion controller to control the camera to take pictures through hard triggering. The camera controls the light source to turn on and off while taking pictures, and the host computer is only responsible for receiving the collected pictures, so as to achieve the purpose of accurate photography during high-speed movement. In conventional flying photography systems, the motion controller can only trigger the camera to take pictures but cannot adjust the parameters, while the host computer is responsible for heavy image processing tasks, which often cannot meet the requirements of real-time control of the camera and light source. Therefore, after setting the flying photography parameters, only the same parameters can be used for shooting during a certain period of flying photography, and the collected pictures cannot adapt to the scene of high-speed parameter switching. Summary of the invention

[0003] The present invention provides a high-speed real-time parameter adjustment flying shooting method, device and storage medium, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention relates to a high-speed real-time parameter adjustment flying camera method, the high-speed real-time parameter adjustment flying camera method is applied to a high-speed real-time parameter adjustment flying camera device, the high-speed real-time parameter adjustment flying camera device comprises a host computer; a flying camera controller, the flying camera controller is electrically connected to the host computer, the flying camera controller comprises a main control module, a host computer communication module, a signal scanning module, a light source trigger module and a light source communication module, the host computer communication module, the signal scanning module, the light source trigger module and the light source communication module are respectively connected to the main control module, the host computer communication module is electrically connected to the host computer, and the flying camera controller comprises a main control module, a host computer communication module, a signal scanning module, a light source trigger module and a light source communication module, Electromechanical connection; camera, the number of cameras is at least one, the host computer and the signal scanning module of the flying controller are respectively and individually connected to each camera, wherein a trigger counter is provided in the main control module of the flying controller, and the number of the trigger counter is consistent with the number of the cameras; light source module, the number of light source modules is at least one, the light source module includes a light source controller and a light source connected in sequence, the light source trigger module and the light source communication module are respectively and individually connected to the front end of the light source controller of each light source module, and the method comprises the following steps: S100, the host computer sends a flying camera enable signal to the host computer communication module of the flying camera controller, and the main control module of the flying camera controller resets the trigger counter corresponding to each camera; S200, the host computer sends the preset light source parameters of each camera at the current shooting point to the host computer communication module of the flying controller, and the main control module of the flying controller interprets and updates the preset light source parameters of each camera at the current shooting point to the corresponding light source controller; S300, the light source triggering module updates the connection status between each camera and the corresponding light source controller according to the preset light source parameters of the current shooting point; S400, each of the cameras performs shooting under the control of the host computer or the preset time control. Each time shooting is started, the corresponding camera sends a frame exposure signal to the signal scanning module of the flying controller, and the light source controller of the corresponding light source module receives the frame exposure signal and lights up the corresponding light source according to the preset light source parameters; S500, under the condition that the flying camera enable signal is valid, the signal scanning module of the flying camera controller scans the frame exposure signal of each camera at a preset time interval, and when the signal scanning module detects a rising edge of the frame exposure signal corresponding to the camera, the corresponding trigger counter in the main control module of the flying camera controller increments; S600, whenever the signal scanning module detects a frame exposure signal of a camera, the flying controller retrieves and sets a new light source parameter for each camera at the next photographing position; S700, repeat steps S200 to S600 until the flying shot enable signal is invalid.

[0005] Further, in step S200, The number of the preset light source parameters is consistent with the number of light source modules, the number of the photographing points is at least one, and the preset light source parameter of each camera at each photographing point is the lighting duration of the light source.

[0006] Further, when the number of the light source modules is 4 and the number of the cameras is 2, the cameras are respectively a first camera and a second camera, When the first camera is at the first photographing point, the preset light source parameters are expressed as: C1P1(T1,T2,T3,T4), Wherein, T1, T2, T3 and T4 are respectively the lighting durations of the light sources of the four light source modules of the first camera at the first photographing point, and the lighting durations of the light sources are greater than zero; The preset light source parameters of the first camera at each photo point are expressed as C1P1, C1P2...C1Pn, where n is the number of photo points; the preset light source parameters of the second camera at each photo point are expressed as C2P1, C2P2...C2Pn, where n is the number of photo points.

[0007] Furthermore, the step S200 further includes: If the light source controller of the corresponding light source module does not have the latest preset light source parameters, the preset light source parameters are forwarded to the light source controller of the corresponding light source module through the light source communication module.

[0008] Further, in step S300, If one or more parameters in the preset light source parameters are greater than zero, the connection between the camera and the corresponding light source controller is closed; if one or more parameters in the preset light source parameters are less than or equal to zero, the connection between the camera and the corresponding light source controller is disconnected.

[0009] Further, the step S600 includes: S610, the main control module of the flying controller queries the count in the corresponding trigger counter according to the trigger port number of the signal scanning module; S620, according to the count in the trigger counter obtained by query, retrieve new light source parameters for the next photographing position, and after a preset delay, send the new light source parameters to the light source controller of the corresponding light source module through the light source communication module; S630: The main control module of the flying controller updates the connection status of the light source trigger dynamic connection module to prepare for the hard trigger of the next exposure.

[0010] Furthermore, the present invention also proposes a high-speed real-time parameter adjustment flying device, which is used to implement the high-speed real-time parameter adjustment flying method. The high-speed real-time parameter adjustment flying device includes: Host computer; A flying controller, the flying controller is electrically connected to the host computer, the flying controller includes a main control module, a host computer communication module, a signal scanning module, a light source trigger module and a light source communication module, the host computer communication module, the signal scanning module, the light source trigger module and the light source communication module are respectively connected to the main control module, and the host computer communication module is electrically connected to the host computer; The number of cameras is at least one, and the host computer and the signal scanning module of the flying controller are connected to each camera separately. Wherein, a trigger counter is provided in the main control module of the flying controller, and the number of the trigger counter is consistent with the number of the cameras; The light source module is provided with at least one light source module, the light source module comprises a light source controller and a light source connected in sequence, the light source trigger module and the light source communication module are respectively and individually connected to the front end of the light source controller of each light source module.

[0011] Furthermore, the frame exposure signal of each camera is connected to the light source controller of each light source module respectively.

[0012] Furthermore, the camera and the light source module are arranged on a motion control platform.

[0013] Furthermore, the present invention also proposes a computer-readable storage medium on which program instructions are stored, and when the program instructions are executed by a processor, the high-speed real-time parameter adjustment flying shooting method is implemented.

[0014] Compared with the prior art, the present invention has the following characteristics: The present invention provides a high-speed real-time parameter adjustment flying shooting method, device and storage medium, which are mainly used for high-speed detection of multi-faceted objects. In the detection of multi-faceted objects, different postures need to present different features with different brightness and light source combinations, and it is necessary to quickly and accurately switch the shooting parameters between two shooting positions during high-speed flying shooting. The present invention uses a flying shooting controller as a real-time control system, and connects a motion controller, a host computer and a light source at the same time, and achieves the purpose of high-speed real-time parameter adjustment by responding to the flying shooting signal in real time and switching the light source parameters at high speed in real time. While achieving high-speed and accurate flying shooting, it is also necessary to adjust the shooting parameters in real time, so that different brightness and light source combinations are used for different shooting positions during the flying shooting process to present different features of the object, so as to meet the requirements of high-speed full inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is an overall flow chart of a high-speed real-time parameter adjustment flying shooting method.

[0016] Figure 2 A schematic diagram of a flying camera device with high-speed real-time parameter adjustment.

[0017] Figure 3 The present invention is a schematic diagram of the wiring connection between the frame exposure signal output of one of the cameras in a high-speed real-time parameter adjustment flying camera device and the exposure signal trigger of the flying camera controller.

[0018] Figure 4 This is a circuit connection block diagram of the light source trigger module in a high-speed real-time parameter adjustment flying shooting method.

[0019] Figure 5 The present invention is a schematic diagram of a flying shot of an embodiment of a flying shot method for high-speed real-time parameter adjustment.

[0020] Figure 6 This is a timing diagram of camera triggering, light source lighting, and switching of light source parameters during flying photography in a high-speed real-time parameter adjustment flying photography method. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in combination with the embodiments and drawings to fully understand the purpose, scheme and effect of the present invention.

[0023] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to another feature, or it may be indirectly fixed or connected to another feature. The singular forms "a", "said" and "the" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" used herein includes any combination of one or more of the related listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as", etc.) provided herein is intended only to better illustrate embodiments of the present invention, and unless otherwise required, will not impose limitations on the scope of the present invention. In addition, the industry term "posture" used herein refers to the position and attitude of a certain element relative to a spatial coordinate system.

[0025] Reference Figures 1 to 6 The embodiment of the present invention provides a high-speed real-time parameter adjustment method for flying shooting, referring to Figure 1The high-speed real-time parameter adjustment flying shooting method is applied to a high-speed real-time parameter adjustment flying shooting device, which includes a host computer PC; a flying shooting controller, which is electrically connected to the host computer PC, and includes a main control module, a host computer PC communication module, a signal scanning module, a light source triggering module and a light source communication module, and the host computer PC communication module, the signal scanning module, the light source triggering module and the light source communication module are respectively connected to the main control module, and the host computer PC communication module is electrically connected to the host computer PC; a camera, the number of cameras set is at least one, and the host computer PC and the signal scanning module of the flying shooting controller are respectively connected to each camera separately, wherein a trigger counter is set in the main control module of the flying shooting controller, and the number of the trigger counter is consistent with the number of the cameras; a light source module, the number of light source modules set is at least one, and the light source module includes a light source controller and a light source connected in sequence, and the light source triggering module and the light source communication module are respectively and separately connected to the front end of the light source controller of each light source module, and the method includes the following steps: S100, the host computer PC sends a flying camera enable signal to the host computer PC communication module of the flying camera controller, and the main control module of the flying camera controller resets the trigger counter corresponding to each camera; S200, the host computer PC sends the preset light source parameters of each camera at the current shooting point to the host computer PC communication module of the flying controller, and the main control module of the flying controller interprets and updates the preset light source parameters of each camera at the current shooting point to the corresponding light source controller; S300, the light source triggering module updates the connection status between each camera and the corresponding light source controller according to the preset light source parameters of the current shooting point; S400, each of the cameras performs shooting under the control of the host computer PC or the preset time control. Each time shooting is started, the corresponding camera sends a frame exposure signal to the signal scanning module of the flying controller, and the light source controller of the corresponding light source module receives the frame exposure signal and lights up the corresponding light source according to the preset light source parameters; S500, under the condition that the flying camera enable signal is valid, the signal scanning module of the flying camera controller scans the frame exposure signal of each camera at a preset time interval, and when the signal scanning module detects a rising edge of the frame exposure signal corresponding to the camera, the corresponding trigger counter in the main control module of the flying camera controller increments; S600, whenever the signal scanning module detects a frame exposure signal of a camera, the flying controller retrieves and sets a new light source parameter for each camera at the next photographing position; S700, repeat steps S200 to S600 until the flying shot enable signal is invalid.

[0026] Compared with the prior art, the present invention has the following characteristics: The present invention provides a high-speed real-time parameter adjustment flying shooting method, device and storage medium, which are mainly used for high-speed detection of multi-faceted objects. In the detection of multi-faceted objects, different postures need to present different features with different brightness and light source combinations, and it is necessary to quickly and accurately switch the shooting parameters between two shooting positions in high-speed flying shooting. The present invention uses a flying shooting controller as a real-time control system, and connects a motion controller, a host computer PC and a light source at the same time, and achieves the purpose of high-speed real-time parameter adjustment by responding to the flying shooting signal in real time and switching the light source parameters at high speed in real time. While achieving high-speed and accurate flying shooting, it is also necessary to adjust the shooting parameters in real time, so that different brightness and light source combinations are used for different shooting positions during the flying shooting process to present different features of the object, so as to meet the requirements of high-speed full inspection.

[0027] Specifically, the present invention uses a flying controller as a real-time control system, and simultaneously connects a motion controller, a host computer PC and a light source, and achieves the purpose of high-speed real-time parameter adjustment by responding to the flying signal in real time and switching the light source parameters at high speed in real time. The purpose of the present invention is to achieve high-speed and accurate flying while also adjusting the shooting parameters in real time, so that different brightness and light source combinations are used for different shooting positions during the flying process to present different features of the object, so as to meet the requirements of high-speed full inspection.

[0028] In step S100, in a specific embodiment, the host computer PC sends a flying camera enable signal to the host computer PC communication module of the flying camera controller, and the main control module of the flying camera controller sets the trigger counter corresponding to each camera to 0.

[0029] In step S500, in order to record the current shooting sequence number of each camera, each camera has an independent trigger counter in the main control module; before starting the flying shot, the main control module first sends the light source parameters (C1P1, C2P1) of the first point of each camera to the corresponding light source controller through the light source communication module, and at the same time, the light source triggers the dynamic connection module to update the connection status, and the trigger counter corresponding to each camera is reset to 0; whenever the signal scanning module detects a rising edge on the trigger input corresponding to the camera, the count of its corresponding trigger counter is increased by 1.

[0030] In step S600, each time the signal scanning module detects a trigger signal from the camera, the main control module queries the count n in the corresponding counter according to the trigger port number, and then retrieves the light source parameter CNPn+1 of the next photographing position according to the count (for example, the third trigger of the second camera, calling C2P4), and sends the light source parameter to each light source controller through the light source communication module after a delay of 5ms. At the same time, the light source trigger dynamic connection module updates the connection status to prepare for the hard trigger of the next exposure.

[0031] Further, in step S200, The number of the preset light source parameters is consistent with the number of light source modules, the number of the photographing points is at least one, and the preset light source parameter of each camera at each photographing point is the lighting duration of the light source.

[0032] Further, when the number of the light source modules is 4 and the number of the cameras is 2, the cameras are respectively a first camera and a second camera, When the first camera is at the first photographing point, the preset light source parameters are expressed as: C1P1(T1,T2,T3,T4), Wherein, T1, T2, T3 and T4 are respectively the lighting durations of the light sources of the four light source modules of the first camera at the first photographing point, and the lighting durations of the light sources are greater than zero; The preset light source parameters of the first camera at each photo point are expressed as C1P1, C1P2...C1Pn, where n is the number of photo points; the preset light source parameters of the second camera at each photo point are expressed as C2P1, C2P2...C2Pn, where n is the number of photo points.

[0033] In a specific embodiment, the host computer PC is connected to the flying controller via a network cable, and the host computer communication module of the flying controller receives the preset light source parameters of each camera point sent by the host computer PC via TCP\IP. For example, the parameter composition of the first camera at the first shooting point is C1P1 (T1, T2, T3, T4), where T1~T4 is the lighting duration of the four light sources of the first camera at the first shooting point, in units of us (T<=0 means that the light source is not enabled at this point), and each camera can independently set the lighting parameters of the four light sources at each shooting position.

[0034] Furthermore, the step S200 further includes: If the light source controller of the corresponding light source module does not have the latest preset light source parameters, the preset light source parameters are forwarded to the light source controller of the corresponding light source module through the light source communication module.

[0035] Further, in step S300, If one or more parameters in the preset light source parameters are greater than zero, the connection between the camera and the corresponding light source controller is closed; if one or more parameters in the preset light source parameters are less than or equal to zero, the connection between the camera and the corresponding light source controller is disconnected.

[0036] Specifically, in order to ensure high synchronization between camera exposure and light source lighting, the exposure signal output of the camera needs to be directly connected to the light source controller's lighting trigger input. Through the light source trigger module, the direct connection state between the camera output and the light source controller trigger input can be dynamically switched as needed. Figure 4 In the circuit diagram, if the lighting duration of a light source in the light source parameters is 0us, the direct connection switch corresponding to the point is disconnected, otherwise the direct connection switch is closed.

[0037] Reference Figure 4 In a specific embodiment, the light source parameter of the first camera at the second shooting point is C1P2 (80, 0, 70, 0). 5 ms after receiving the first trigger pulse of the first camera, C1L1 and C1L3 are closed, and C1L2 and C1L4 are opened.

[0038] Further, the step S600 includes: S610, the main control module of the flying controller queries the count in the corresponding trigger counter according to the trigger port number of the signal scanning module; S620, according to the count in the trigger counter obtained by query, retrieve new light source parameters for the next photographing position, and after a preset delay, send the new light source parameters to the light source controller of the corresponding light source module through the light source communication module; S630: The main control module of the flying controller updates the connection status of the light source trigger dynamic connection module to prepare for the hard trigger of the next exposure.

[0039] In a specific case of flying shooting, refer to Figure 5 , it is necessary to detect the top, bottom, left, front and back of the object to be tested. The first photo point is shown in the figure below. Turn 90° each time, turn 3 times and take 4 photos. The parameters of each photo position are as follows (the absence of light source parameters means that the light source is not enabled at the photo position): Photo position 1: Camera 1 + light source 2 (100us) + light source 3 (100us); Camera 2 + light source 4 (30us); Photo position 2: Camera 1 + light source 1 (80us) + light source 3 (70us); Camera 2 + light source 4 (100us); Photo position 3: Camera 1 + light source 2 (50us); Camera 2 does not take pictures; Photo position 4: Camera 1 + light source 1 (50us); Camera 2 does not take pictures.

[0040] The parameters of each shooting point of camera 1 are obtained as follows: C1P1 (0,100,100,0), C1P2 (80,0,70,0), C1P3 (0,50,0,0), C1P4 (50,0,0,0); The parameters of each photo point of camera 2 are: C2P1 (0,0,0,30), C2P2 (0,0,0,100), C2P3 (0,0,0,0), C2P4 (0,0,0,0).

[0041] Reference Figure 6 , and obtain the timing diagram of camera triggering, light source lighting, and switching light source parameters during flying shooting.

[0042] Furthermore, the present invention also proposes a high-speed real-time parameter adjustment flying device, which is used to implement the high-speed real-time parameter adjustment flying method. The high-speed real-time parameter adjustment flying device includes: Host computer PC; A flying controller, the flying controller is electrically connected to the host computer PC, the flying controller includes a main control module, a host computer PC communication module, a signal scanning module, a light source trigger module and a light source communication module, the host computer PC communication module, the signal scanning module, the light source trigger module and the light source communication module are respectively connected to the main control module, and the host computer PC communication module is electrically connected to the host computer PC; The number of cameras is at least one, and the host computer PC and the signal scanning module of the flying controller are connected to each camera separately. Wherein, a trigger counter is provided in the main control module of the flying controller, and the number of the trigger counter is consistent with the number of the cameras; The light source module is provided with at least one light source module, the light source module comprises a light source controller and a light source connected in sequence, the light source trigger module and the light source communication module are respectively and individually connected to the front end of the light source controller of each light source module.

[0043] In a specific embodiment, the exposure signal output of each camera is connected to the exposure signal trigger input of the flying controller. Each camera occupies one trigger port. Each camera can be triggered separately and independently. The signal scanning module in the flying controller scans the frame exposure electrical signal every 2ms.

[0044] Reference Figure 3 , the exposure signal output of one camera is connected to the exposure signal trigger wiring of the flying controller, and the output of the camera is connected to the signal scanning module and the light source trigger module.

[0045] Furthermore, the frame exposure signal of each camera is connected to the light source controller of each light source module respectively.

[0046] Specifically, in order to ensure high synchronization between camera exposure and light source lighting, the exposure signal output of the camera needs to be directly connected to the light source controller's lighting trigger input. Through the light source trigger module, the direct connection state between the camera output and the light source controller trigger input can be dynamically switched as needed. Figure 4 In the circuit diagram, if the lighting duration of a light source in the light source parameters is 0us, the direct connection switch corresponding to the point is disconnected, otherwise the direct connection switch is closed.

[0047] Furthermore, the camera and the light source module are arranged on a motion control platform.

[0048] In a specific embodiment, the high-speed real-time parameter adjustment flying shooting method described in the present invention can be applied in the invention patent application document previously published by the applicant, wherein the motion control platform in the high-speed real-time parameter adjustment flying shooting device described in the present invention can at least execute xyz three-axis motion in three-dimensional space (the first direction is the X-axis direction, the second direction is the Y-axis direction and the third direction is the Z-axis vertical direction), and motion in the U-axis (the rotation axis of the rotating frame) direction.

[0049] Furthermore, the present invention also proposes a computer-readable storage medium on which program instructions are stored, and when the program instructions are executed by a processor, the high-speed real-time parameter adjustment flying shooting method is implemented.

[0050] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level process or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in an assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, the program can be run on a programmed ASIC for this purpose.

[0051] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions that may be executed by one or more processors.

[0052] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, a RAM, a ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0053] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

[0054] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical scheme and / or implementation method may have various modifications and changes.

Claims

1. A high-speed real-time parameter adjustment flying method, the high-speed real-time parameter adjustment flying method is applied to a high-speed real-time parameter adjustment flying device, the high-speed real-time parameter adjustment flying device comprises a host computer; a flying controller, the flying controller is electrically connected to the host computer, the flying controller comprises a main control module, a host computer communication module, a signal scanning module, a light source trigger module and a light source communication module, the host computer communication module, the signal scanning module, the light source trigger module and the light source communication module are respectively connected to the main control module, the host computer communication module is electrically connected to the host computer; a camera, the number of cameras is at least one, the host computer and the signal scanning module of the flying controller are respectively connected to each camera, wherein, A trigger counter is provided in the main control module of the flying controller, and the number of the trigger counter is consistent with the number of the camera; the number of light source modules is at least one, and the light source module includes a light source controller and a light source connected in sequence, and the light source trigger module and the light source communication module are respectively and separately connected to the front end of the light source controller of each light source module, characterized in that the method comprises the following steps: S100, the host computer sends a flying camera enable signal to the host computer communication module of the flying camera controller, and the main control module of the flying camera controller resets the trigger counter corresponding to each camera; S200, the host computer sends the preset light source parameters of each camera at the current shooting point to the host computer communication module of the flying controller, and the main control module of the flying controller interprets and updates the preset light source parameters of each camera at the current shooting point to the corresponding light source controller; S300, the light source triggering module updates the connection status between each camera and the corresponding light source controller according to the preset light source parameters of the current shooting point; S400, each of the cameras performs shooting under the control of the host computer or the preset time control. Each time shooting is started, the corresponding camera sends a frame exposure signal to the signal scanning module of the flying controller, and the light source controller of the corresponding light source module receives the frame exposure signal and lights up the corresponding light source according to the preset light source parameters; S500, under the condition that the flying camera enable signal is valid, the signal scanning module of the flying camera controller scans the frame exposure signal of each camera at a preset time interval, and when the signal scanning module detects a rising edge of the frame exposure signal corresponding to the camera, the corresponding trigger counter in the main control module of the flying camera controller increments; S600, whenever the signal scanning module detects a frame exposure signal of a camera, the flying controller retrieves and sets a new light source parameter for each camera at the next photographing position; S700, repeat steps S200 to S600 until the flying shot enable signal is invalid.

2. The high-speed real-time parameter adjustment flying shooting method according to claim 1, characterized in that: In the step S200, The number of the preset light source parameters is consistent with the number of light source modules, the number of the photographing points is at least one, and the preset light source parameter of each camera at each photographing point is the lighting duration of the light source.

3. The high-speed real-time parameter adjustment flying shooting method according to claim 2 is characterized in that: When the number of the light source modules is 4 and the number of the cameras is 2, the cameras are respectively a first camera and a second camera, When the first camera is at the first photographing point, the preset light source parameters are expressed as: C1P1(T1,T2,T3,T4), Wherein, T1, T2, T3 and T4 are respectively the lighting durations of the light sources of the four light source modules of the first camera at the first photographing point, and the lighting durations of the light sources are greater than zero; The preset light source parameters of the first camera at each photographing point are represented as C1P1, C1P2 to C1Pn, and the preset light source parameters of the second camera at each photographing point are represented as C2P1, C2P2 to C2Pn, where n is the number of photographing points.

4. The high-speed real-time parameter adjustment flying method according to claim 1, characterized in that: The step S200 further includes: If the light source controller of the corresponding light source module does not have the latest preset light source parameters, the preset light source parameters are forwarded to the light source controller of the corresponding light source module through the light source communication module.

5. The high-speed real-time parameter adjustment flying method according to claim 1, characterized in that: In the step S300, If one or more parameters in the preset light source parameters are greater than zero, the connection between the camera and the corresponding light source controller is closed; if one or more parameters in the preset light source parameters are less than or equal to zero, the connection between the camera and the corresponding light source controller is disconnected.

6. The high-speed real-time parameter adjustment flying shooting method according to claim 1, characterized in that: The step S600 includes: S610, the main control module of the flying controller queries the count in the corresponding trigger counter according to the trigger port number of the signal scanning module; S620, according to the count in the trigger counter obtained by query, retrieve new light source parameters for the next photographing position, and after a preset delay, send the new light source parameters to the light source controller of the corresponding light source module through the light source communication module; S630: The main control module of the flying controller updates the connection status of the light source trigger dynamic connection module to prepare for the hard trigger of the next exposure.

7. A high-speed real-time parameter adjustment flying device, used to implement a high-speed real-time parameter adjustment flying method as claimed in any one of claims 1 to 6, characterized in that: The high-speed real-time parameter adjustment flying device comprises: Host computer; A flying controller, the flying controller is electrically connected to the host computer, the flying controller includes a main control module, a host computer communication module, a signal scanning module, a light source trigger module and a light source communication module, the host computer communication module, the signal scanning module, the light source trigger module and the light source communication module are respectively connected to the main control module, and the host computer communication module is electrically connected to the host computer; The number of cameras is at least one, and the host computer and the signal scanning module of the flying controller are connected to each camera separately. Wherein, a trigger counter is provided in the main control module of the flying controller, and the number of the trigger counter is consistent with the number of the cameras; The light source module is provided with at least one light source module, the light source module comprises a light source controller and a light source connected in sequence, the light source trigger module and the light source communication module are respectively and individually connected to the front end of the light source controller of each light source module.

8. The high-speed real-time parameter adjustment flying device according to claim 7, characterized in that: The frame exposure signal of each camera is connected to the light source controller of each light source module respectively.

9. The high-speed real-time parameter adjustment flying device according to claim 7, characterized in that: The camera and the light source module are arranged on a motion control platform. 10 . A computer-readable storage medium having program instructions stored thereon, wherein the program instructions are executed by a processor to implement the method according to claim 1 .

Images