Synchronous verification method, device, electronic device, and storage medium

Abstract

Embodiments of the present disclosure provide a synchronization verification method, apparatus, electronic device, and storage medium. The method is applied to a scanning device including at least two image capture devices. The method includes the following steps. At least one image capture device receives a trigger command including image frame period data. A plurality of image capture devices generate corresponding square wave synchronization signals based on the image frame period data, and the plurality of image capture devices obtain image frames based on the corresponding square wave synchronization signals and determine the number of captures within the unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capture devices are synchronized according to a preset synchronization frequency, and a synchronization verification result of the image capture device is generated based on the square wave synchronization signals and the number of captures of the plurality of image capture devices. According to the above configuration, double verification of timing and frame rate can be performed on the image capture device, the synchronization accuracy can be guaranteed, the needs for different scenes can be further satisfied, and the data capture efficiency can be improved.

Description

Technical Field

[0001] This disclosure claims the priority of a Chinese patent application with application number 2022210753912.0, titled "Synchronization Verification Method, Apparatus, Electronic Device, and Storage Medium", filed with the Chinese Patent Office on June 28, 2022, the entire content of which is incorporated herein by reference.

[0002] This disclosure relates to the field of data processing technology, and in particular, to a synchronization verification method, apparatus, electronic device, and storage medium.

Background Art

[0003] The current scanning technology is developing rapidly. For example, three-dimensional scanning of an object by three-dimensional scanning can be widely applied in fields such as machinery and medical plastic surgery.

[0004] In related technologies, a three-dimensional data image capturing device for three-dimensional scanning must capture images simultaneously with a spatial position tracking device during operation to ensure the capturing accuracy. Also, cluster collaborative work in application scenarios including multiple spatial position tracking devices and multiple three-dimensional data image capturing devices is increasing. However, image synchronization cannot be guaranteed during capturing, resulting in inaccurate scanning results and relatively low scanning efficiency.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The problem to be solved by this disclosure is to solve the problem that the scanning result is inaccurate and the scanning efficiency is relatively low because image synchronization in the process of capturing three-dimensional data images cannot be guaranteed conventionally.

Means for Solving the Problems

[0006] To solve the above problems, embodiments of this disclosure provide a synchronization verification method, apparatus, electronic device, and storage medium.

[0007] In a first aspect, embodiments of the present disclosure provide a synchronization verification method applicable to a scanning device including at least two image capturing devices. The method includes the following steps. At least one of the image capturing devices simultaneously receives a trigger command including image frame period data.

[0008] A plurality of the image capturing devices generate corresponding square wave synchronization signals based on the image frame period data.

[0009] A plurality of the image capturing devices acquire image frames based on the corresponding square wave synchronization signals and determine the number of captures per unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency.

[0010] Based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices, a synchronization verification result of the plurality of image capturing devices is generated.

[0011] In a second aspect, embodiments of the present disclosure further provide a synchronization verification device applicable to a scanning device including at least two image capturing devices. The synchronization verification device includes a receiving module, a generating module, a capturing module, and a processing module.

[0012] The receiving module receives a trigger command including image frame period data from at least one of the image capturing devices.

[0013] The generating module causes a plurality of the image capturing devices to generate corresponding square wave synchronization signals based on the image frame period data.

[0014] The capturing module causes a plurality of the image capturing devices to capture image frames based on the corresponding square wave synchronization signals and acquire the number of captures per unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency.

[0015] The processing module generates a synchronization verification result of a plurality of the image capturing devices based on the square wave synchronization signal and the number of captures of the plurality of the image capturing devices.

[0016] In a third aspect, an embodiment of the present disclosure provides an electronic device including a processor and a memory storing instructions executable by the processor. The processor reads and executes the executable instructions from the memory to implement the synchronization verification method according to the embodiment of the first aspect of the present disclosure.

[0017] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. The computer program executes the synchronization verification method provided in the embodiment of the first aspect.

Advantages of the Invention

[0018] The above aspects provided by the embodiments of the present disclosure have the following advantages compared with the prior art.

[0019] The synchronization verification method according to the embodiment of the present disclosure is applied to a scanning device including at least two image capturing devices. The method includes the following steps. At least one image capturing device receives a trigger command including image frame period data. A plurality of image capturing devices generate corresponding square wave synchronization signals based on the image frame period data, and the plurality of image capturing devices acquire image frames based on the corresponding square wave synchronization signals and obtain the number of captures within the unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency, and a synchronization verification result of the image capturing devices is generated based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices. According to the above configuration, double verification of timing and frame rate is performed on the image capturing device, asynchronous of captured data due to cumulative error based on the time reference or frame loss is reduced, synchronization accuracy is guaranteed, further the needs for different scenes are satisfied, and the data capturing efficiency can be improved.

[0020] Note that the above general description and the detailed description to be described later are merely illustrative and explanatory, and do not limit the present disclosure.

[0021] The drawings are incorporated into the specification and form a part of the specification, showing those that conform to the embodiments of the present disclosure, and are used to explain the principles of the present disclosure together with the specification.

[0022] Hereinafter, in order to more clearly explain the embodiments of the present disclosure or the configurations of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced. Note that those skilled in the art can obtain other drawings from these drawings without creative labor.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3a

Figure 3b

Figure 3c

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0024] To make the objectives, technical means, and advantages of an embodiment of the present disclosure clearer, the technical means of an embodiment of the present disclosure will be explicitly and fully described below. It is obvious that the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, those skilled in the art can obtain all other embodiments without creative efforts and belong to the scope of the present disclosure.

[0025] The application environment of the synchronization verification method of the present disclosure is a scanning device equipped with at least two image capture devices. Among them, in the scanning device including at least two image capture devices, at least one image capture device is a main image capture device such as a spatial position tracking device, and at least one image capture device may be a subordinate image capture device such as a three-dimensional data image capture device.

[0026] At least one image capture device receives a trigger command including image frame period data. A plurality of image capture devices generate corresponding square wave synchronization signals based on the image frame period data. The plurality of image capture devices acquire image frames based on the corresponding square wave synchronization signals and calculate the number of captures within the unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capture devices are synchronized according to a preset synchronization frequency, and based on the square wave synchronization signals and the number of captures of the plurality of image capture devices, a synchronization verification result of the image capture device is generated.

[0027] Thereby, double verification of timing and frame rate can be performed on the image capture device, asynchronous of the captured data due to cumulative error based on the time reference or frame loss can be reduced, synchronization accuracy can be guaranteed, further meeting the needs of different scenes, and the data capture efficiency can be improved.

[0028] FIG. 1 is a flowchart of the synchronization verification method according to an embodiment of the present disclosure. The method can be executed by a synchronization verification device, and the device can generally be realized using software and / or hardware that can be integrated into an electronic device. As shown in FIG. 1, this method includes steps 101 to 104.

[0029] Step 101: At least one image capturing device receives a trigger command including image frame period data.

[0030] Here, the image capturing device refers to an image capturing module having a capturing device such as a camera. In the present disclosure, that the scanning device includes at least two image capturing devices means that it includes at least one three-dimensional data image capturing device for capturing an image of the object to be scanned, and at least one spatial position tracking device for capturing an image at the scanning position.

[0031] In the embodiments of the present disclosure, the ways in which the image capturing devices receive the trigger command simultaneously are various, and in different application scenarios, the ways in which the image capturing devices receive the trigger command simultaneously are different. In some embodiments, the image capturing device includes a wireless synchronization module. At least two image capturing devices include one main image capturing device and at least one slave image capturing device. That at least one image capturing device receives the trigger command includes that the main image capturing device receives the trigger command to generate a trigger signal, and the wireless synchronization module transmits the trigger signal to at least one slave image capturing device.

[0032] In some embodiments, the image capturing device includes a wireless synchronization module. At least two image capturing devices include one main image capturing device and at least one slave image capturing device. That at least one image capturing device receives the trigger command includes that each main image capturing device receives the trigger command to generate a trigger signal, and the wireless synchronization module transmits the trigger signal to the slave image capturing devices communicatively connected thereto.

[0033] The above two modes are only examples in which at least one image capturing device receives the trigger command, and the embodiments of the present disclosure do not particularly limit the mode in which at least one image capturing device receives the trigger command.

[0034] In one embodiment of the present disclosure, the trigger command includes image frame period data, and the image frame period data is the shooting frequency such as how many frames of images are captured per second.

[0035] Step 102: A plurality of image capturing devices generate corresponding square wave synchronization signals based on the image frame period data.

[0036] Here, the square wave synchronization signal means a pulse train that is periodically repeated, the square wave pulse period means the time interval between two adjacent pulses, and it is possible to determine the shooting frequency based on the square wave pulse period. In the embodiment of the present disclosure, the square wave synchronization signal is for controlling the image capturing device to capture an image frame based on the square wave synchronization signal, that is, it is used to acquire an image frame at a certain period.

[0037] Step 103: A plurality of image capturing devices capture image frames based on the corresponding square wave synchronization signals and obtain the number of captured image frames per unit time. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency.

[0038] Here, the number of captured frames means how many frames of image frames are obtained by capturing image frames according to the square wave synchronization signal within a unit time. For example, if two frames of image frames are captured per second according to the square wave synchronization signal, the number of captured frames within the unit time is 2. Further, for example, if five frames of image frames are captured per second according to the square wave synchronization signal, the number of captured frames within the unit time is 5.

[0039] In one embodiment of the present disclosure, the square wave synchronization signals of the plurality of image capturing devices are synchronized at a predetermined synchronization frequency, and the preset synchronization frequency can be selected and set according to the application scenario. For example, by outputting a pulse signal at a per-second timing and resynchronizing the square wave synchronization signals, the cumulative error during synchronization can be effectively reduced.

[0040] Step 104: Generate a synchronization verification result of the image capturing device based on the square wave synchronization signals and the number of captures of multiple image capturing devices.

[0041] Here, there are various ways to generate a synchronization verification result of the image capturing device based on the square wave synchronization signals and the number of captures of multiple image capturing devices. In some embodiments, calculations are performed based on the square wave synchronization signal to obtain the number of references within the unit time of the image frame. If the number of captures is the same as the number of references, it is determined that the captured data of the image capturing device is synchronized. If the number of captures is not the same as the number of references, it is determined that the captured data of the image capturing device is not synchronized.

[0042] In some other embodiments, the number of captures is calculated to obtain the image capture frequency, the reference frequency is determined based on the square wave synchronization signal, and when the image capture frequency is the same as the reference frequency, it is determined that the captured data of the image capturing device is synchronized. When the image capture frequency is not the same as the reference frequency, it is determined that the captured data of the image capturing device is not synchronized.

[0043] The above two methods are merely examples of generating a synchronization verification result of multiple image capturing devices based on the square wave synchronization signals and the number of captures of multiple image capturing devices, and the present disclosure does not particularly limit the method of generating a synchronization verification result of multiple image capturing devices based on the square wave synchronization signals and the number of captures of multiple image capturing devices.

[0044] The synchronization verification method according to an embodiment of the present disclosure is applicable to a scanning device including at least two image capturing devices. The method includes the following steps. At least one image capturing device receives a trigger command including image frame period data. A plurality of image capturing devices generate corresponding square wave synchronization signals based on the image frame period data, and the plurality of image capturing devices obtain image frames based on the corresponding square wave synchronization signals and determine the number of captures within the unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency, and based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices, a synchronization verification result of the image capturing devices is generated. According to the above configuration, double verification of timing and frame rate is performed on the image capturing devices, asynchronous of captured data due to cumulative error based on the time reference or frame loss is reduced, synchronization accuracy is guaranteed, further the needs for different scenes are satisfied, and the data capture efficiency can be improved.

[0045] Specifically, in a 3D scanner, the 3D data image capturing device needs to capture images at the same time as the spatial position tracking device during operation. Also, in many application scenarios, a plurality of spatial position tracking devices and a plurality of 3D data image capturing devices are included to perform cluster cooperation work to improve the image capturing efficiency. However, the synchronous communication of the plurality of image capturing devices cannot be performed, the capturing efficiency is low, that is, the monitoring of the capturing signal cannot be performed in real time, there are temporal cumulative errors and frame loss errors in the imaging signal, and the validity of the synchronous image data cannot be guaranteed.

[0046] Regarding the problem that the shooting signal cannot be monitored and verified in real time during the shooting process, and the image synchronization during the shooting process cannot be guaranteed, in the above embodiment, a method for synchronizing the data captured by a cluster-type image capturing device at the same time in any scanning scene is proposed. Thereby, it can satisfy the combination of one spatial position tracking device with a plurality of three-dimensional data image capturing devices, and can also satisfy the scene requirements of the combination of a plurality of spatial position tracking devices with a plurality of three-dimensional data image capturing devices, improving the cluster-type cooperation work efficiency. That is, the timing (time reference) and frame rate of the shooting signal per second are double-verified to ensure the high precision of the synchronization signal. During synchronization, if wireless communication is interrupted or an asynchronous phenomenon occurs, the image capturing device immediately reports it to reduce invalid image data caused by asynchrony. Hereinafter, it will be described in detail with reference to FIG. 2.

[0047] FIG. 2 is a flowchart of another synchronization verification method according to this embodiment. This synchronization verification method further optimizes the above-described synchronization verification method in addition to the above-described embodiment. As shown in FIG. 2, this method includes steps 201 to 207.

[0048] Step 201: The image capturing device receives a communication command transmitted from the target device. Here, the communication command includes a device identifier, and the wireless synchronization module of the image capturing device establishes a communicable connection with the wireless synchronization module of the image capturing device corresponding to the device identifier.

[0049] Step 202: At least two image capturing devices include one main image capturing device and at least one slave image capturing device. When the main image capturing device receives a trigger command, it generates a trigger signal and transmits the trigger signal to at least one slave image capturing device by the wireless synchronization module.

[0050] Step 203: The at least two image capturing devices include at least one main image capturing device and at least one slave image capturing device. When each main image capturing device receives a trigger command, it generates a trigger signal and transmits the trigger signal to the slave image capturing devices communicatively connected by a wireless synchronization module.

[0051] After step 201, step 202 or step 203 is executed.

[0052] Specifically, a target device (such as a computer, a computer cluster, a cloud, etc.) transmits a trigger command so that the spatial position tracking device and the three-dimensional data image capturing device communicate via a wireless synchronization module. The target device can arbitrarily specify any two or more communications in the above image capturing devices and perform a synchronization operation after successful communication.

[0053] FIG. 3a is a schematic diagram showing a connection configuration of an image capturing device according to an embodiment of the present disclosure. As shown in FIG. 3a, it is composed of a spatial position tracking device and a three-dimensional data image capturing device. One spatial position tracking device and one three-dimensional data image capturing device are respectively connected to a PC (Personal Computer). The receiving module of the spatial position tracking device receives a trigger signal generated by a trigger command and transmits it to the wireless synchronization module of the three-dimensional data image capturing device. Here, the controller controls the trigger module based on the generation of a square wave synchronization signal, and the trigger module triggers the camera to perform image capturing.

[0054] FIG. 3b is a schematic diagram showing a connection configuration of another image capturing device according to an embodiment of the present disclosure. As shown in FIG. 3b, it includes one spatial position tracking device and four three-dimensional data image capturing devices. That is, one spatial position tracking device receives a trigger command as a master, generates a trigger signal, and transmits it to the wireless communication modules of the four three-dimensional data image capturing devices by a wireless synchronization module. Similarly, the controller controls the trigger module based on the generation of a square wave synchronization signal, and the trigger module triggers the camera to perform image capturing.

[0055] Figure 3c is a schematic diagram showing a connection configuration of still another image capturing device according to an embodiment of the present disclosure. As shown in Figure 3c, it includes two spatial position tracking devices and three three-dimensional data image capturing devices. One spatial position tracking device 1 is communicably connected to a three-dimensional data image capturing device 1-1 and a three-dimensional data image capturing device 1-2. One spatial position tracking device 2 is communicably connected to one three-dimensional data image capturing device 2-1. That is, the two spatial position tracking devices, as masters, simultaneously receive a trigger command sent by a computer to generate a trigger signal. The spatial position tracking device 1 transmits to the wireless communication modules of the three-dimensional data image capturing device 1-1 and the three-dimensional data image capturing device 1-2 respectively via a wireless synchronization module, and the spatial position tracking device 2 transmits to the wireless communication module of the three-dimensional data image capturing device 2-1 via a wireless synchronization module. Similarly, the controller controls a trigger module based on the generation of a square wave synchronization signal, and the trigger module triggers a camera to perform image capturing.

[0056] Thus, the synchronization verification method of the embodiment of the present disclosure can satisfy both the application scenario of a single device (i.e., one spatial position tracking device and one three-dimensional data image capturing device) and the application scenario of a cluster (i.e., one spatial position tracking device and multiple three-dimensional data image capturing devices), and can improve the image capturing efficiency.

[0057] Step 204: A plurality of image capturing devices generate a square wave synchronization signal based on the image frame period data, capture an image frame based on the square wave synchronization signal, and obtain the number of images captured per unit time of the image frame. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency.

[0058] Specifically, the spatial position tracking device receives an image capture trigger command, generates a trigger signal, and transmits it to the three-dimensional data image capture device via the wireless module. The wireless modules of the spatial position tracking device and the three-dimensional data image capture device generate corresponding square wave synchronization signals based on the image frame period data in the trigger command. Both image capture devices are triggered by this square wave synchronization signal, and at the same time, frame counting is performed to obtain the number of captures within the unit time of the image frame. That is, the square wave pulse period is determined based on the square wave synchronization signal, and based on the square wave pulse period, for example, it can be confirmed how many frames of images are captured per second. Thereby, the number of captures is obtained.

[0059] At the same time, the wireless synchronization module outputs a pulse signal at a timing of every second, and by resynchronizing the square wave synchronization signal, the cumulative error in the synchronization process is effectively reduced.

[0060] Step 205: The plurality of image capture devices perform calculations based on the corresponding square wave synchronization signals to obtain the reference number within the unit time of the image frame. If the number of captures is the same as the reference number, it is determined that the capture data of the image capture device is synchronized. If the number of captures is not the same as the reference number, it is determined that the capture data of the image capture device is not synchronized.

[0061] Step 206: If the synchronization verification result is a verification error, report the synchronization verification result to the target device.

[0062] Specifically, compare the reference number obtained by calculation using the square wave synchronization signal with the number of captures. If the reference number and the number of captures within the unit time, for example, one second, match, it is normal; otherwise, it is reported that there is an error.

[0063] Step 207: The target device performs verification based on the corresponding number of captures of at least two image capture devices, and reports the number of captures to the target device so as to generate an overall synchronization verification result.

[0064] Specifically, each image capturing device may report the number of frames captured, i.e., the number of captures, to the target device. In the case of synchronization, since the received number of captures is the same, it may be verified based on the received number of captures. If a non-matching number of captures occurs, there is a possibility that the corresponding image capturing device is not synchronized, and further processing is required. Thereby, the shooting frequency of the corresponding image capturing device can be adjusted in real time, image synchronous shooting can be guaranteed, and the image shooting accuracy and efficiency can be improved.

[0065] Specifically, in the case of including a plurality of image capturing devices, a computer can directly specify that any one of them is the master device and the rest are slave devices. The master and slave devices can also achieve quasi-synchronization of image capturing according to the method of the above embodiment. And the master and slave devices can immediately detect errors through double verification, that is, ensure the synchronization of the images captured by the master and slave image capturing devices during scanning. Thereby, it has a real-time synchronization signal double verification function, and the accuracy and effectiveness of the captured data can be effectively improved.

[0066] After step 204, step 205-206 and / or step 207 can be executed, which is only an illustration in FIG. 2.

[0067] In a synchronization verification method according to an embodiment of the present disclosure, an image capturing device receives a communication command transmitted from a target device. Here, the communication command includes a device identifier, and the wireless synchronization module of the image capturing device establishes a communicable connection with the wireless synchronization module of the image capturing device corresponding to the device identifier. At least two image capturing devices include one main image capturing device and at least one slave image capturing device. When the main image capturing device receives a trigger command, it generates a trigger signal and transmits the trigger signal to at least one slave image capturing device through the wireless synchronization module. At least two image capturing devices include at least one main image capturing device and at least one slave image capturing device. When each main image capturing device receives a trigger command, it generates a trigger signal and transmits the trigger signal to the slave image capturing device communicably connected by the wireless synchronization module. A plurality of image capturing devices generate a square wave synchronization signal based on the image frame period data, capture an image frame based on the square wave synchronization signal, and obtain the number of captures per unit time of the image frame. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency. A plurality of image capturing devices perform calculations based on the corresponding square wave synchronization signals to obtain the number of references within the unit time of the image frame. If the number of captures is the same as the number of references, it is determined that the captured data of the image capturing device is synchronized. If the number of captures is not the same as the number of references, it is determined that the captured data of the image capturing device is not synchronized. If the synchronization verification result is a verification error, the synchronization verification result is reported to the target device. The number of captures is reported to the target device so that the target device performs verification based on the corresponding number of captures of at least two image capturing devices and generates an overall synchronization verification result.

[0068] Thereby, in the image capturing process, the embodiment of the present disclosure can perform double verification of the time reference and the frame rate for the capture signal, and reduce the asynchronization of the captured data due to the cumulative error based on the time reference or the frame loss. The synchronization accuracy is ensured. When a phenomenon occurs in which the wireless synchronization is interrupted or becomes asynchronous during the image capturing process, the image capturing device immediately reports it, and the validity and accuracy of the synchronized image data can be ensured.

[0069] FIG. 4 is a diagram showing the configuration of a synchronization verification device according to an embodiment of the present disclosure. The device can be realized using software and / or hardware and can generally be integrated into an electronic device. As shown in FIG. 4, the synchronization verification device is applied to a scanning device including at least two image capturing devices. The synchronization verification device includes a receiving module 301, a generating module 302, a capturing module 303, and a processing module 304.

[0070] The receiving module 301 receives a trigger command including image frame period data from at least one of the image capturing devices.

[0071] The generating module 302 generates corresponding square wave synchronization signals for the plurality of image capturing devices based on the image frame period data.

[0072] The capturing module 303 captures image frames for the plurality of image capturing devices based on the corresponding square wave synchronization signals and obtains the number of captures per unit time of the image frames. Here, the square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency.

[0073] The processing module 304 generates a synchronization verification result for the plurality of image capturing devices based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices.

[0074] Optionally, the synchronization verification device further includes a first reporting module.

[0075] The first reporting module reports the number of captures to a target device, and the target device performs verification based on the corresponding number of captures of the at least two image capturing devices and generates an overall synchronization verification result.

[0076] Optionally, each of the image capturing devices includes a wireless synchronization module. The at least two image capturing devices include one main image capturing device and at least one slave image capturing device. The receiving module 301 When the main image capturing device receives the trigger command, it generates a trigger signal and transmits the trigger signal to the at least one slave image capturing device by the wireless synchronization module.

[0077] If necessary, each of the image capturing devices includes a wireless synchronization module. The at least two image capturing devices include at least one main image capturing device and at least one slave image capturing device. The receiving module 301 When each main image capturing device receives the trigger command, it generates a trigger signal and transmits the trigger signal to the slave image capturing device communicably connected by the wireless synchronization module.

[0078] If necessary, the synchronization verification device further includes a connection command module and a connection module.

[0079] The connection command module receives a communication command transmitted from the target device by the image capturing device. The communication command includes a device identifier.

[0080] The connection module communicably connects the wireless synchronization module of the image capturing device and the wireless synchronization module of the image capturing device corresponding to the device identifier.

[0081] If necessary, the processing module 304 specifically Performs calculations based on the square wave synchronization signal to obtain the number of references within the unit time of the image frame; When the number of captures is the same as the number of references, it is determined that the capture data of the image capturing device is synchronized; When the number of captures is different from the number of references, it is determined that the capture data of the image capturing device is not synchronized, including this.

[0082] If necessary, the synchronization verification device further includes a second reporting module.

[0083] When the synchronization verification result is a verification error, the second reporting module reports the synchronization verification result to the target device.

[0084] The synchronization verification device according to an embodiment of the present disclosure can execute the synchronization verification method according to any embodiment of the present disclosure, includes functional modules corresponding to the execution method, and can achieve beneficial effects.

[0085] An embodiment of the present disclosure further provides a computer program product. The computer program product includes a computer program / command that, when executed by a processor, instructs to implement the synchronization verification method according to an embodiment of the present disclosure.

[0086] FIG. 5 is a diagram showing the configuration of an electronic device according to an embodiment of the present disclosure. Hereinafter, with reference to FIG. 5, a schematic of a configuration suitable for realizing the electronic device 400 in the embodiment of the present disclosure will be described. The electronic device 400 in an embodiment of the present disclosure may include mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (tablets), PMPs (Personal Multimedia Players), in-vehicle terminals (for example, car navigation terminals), etc., and fixed terminals such as digital TVs, notebook computers, etc., but is not limited thereto. The electronic device shown in FIG. 5 is only an example, and there is no limitation on the functions and usage ranges of the embodiments of the present disclosure.

[0087] As shown in FIG. 5, the electronic device 400 may include a processing device (for example, a central processing unit, a graphics processor, etc.) 401 that can execute various appropriate operations and processes according to a program stored in a ROM (Read Only Memory) 402 or a program loaded from a storage device 408 to a RAM (Random Access Memory) 403. Various programs and data necessary for the operation of the electronic device 400 are stored in the RAM 403. The processing device 401, the ROM 402, and the RAM 403 are interconnected by a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0088] Typically, input device 406, output device 407, storage device 408, and communication device 409 are connected to I / O interface 405. Input device 406 includes, for example, a touch panel, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyro, etc., output device 407 includes, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc., and storage device 408 includes, for example, a magnetic tape, a hard disk, etc. Electronic device 400 can exchange data by performing wireless or wired communication with other devices via communication device 409. Although electronic device 400 having various devices is shown in FIG. 5, it is not necessary to implement or provide all the devices shown. Instead, more or fewer devices can be implemented or provided.

[0089] In particular, according to an embodiment of the present disclosure, the processes described with reference to the above flowcharts can be realized as a computer software program. For example, an embodiment of the present disclosure provides a computer program product. The computer program product includes a computer program mounted on a non-transitory computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 409, may be installed from storage device 408, or may be installed from ROM 402. When this computer program is executed by processing device 401, the functions described in the synchronization verification method according to the embodiment of the present disclosure are executed.

[0090] Note that the above-described computer-readable medium according to the present disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. The computer-readable recording medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof, and is not limited thereto. More specific examples of the computer-readable recording medium can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), an optical fiber, a CD-ROM (Compact Disc Read Only Memory), an optical memory device, a magnetic memory device, or any suitable combination thereof. In the present disclosure, the computer-readable recording medium may be a tangible medium that encapsulates or stores a program. The program can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium includes a data signal transmitted as part of a baseband or a carrier wave, and carries computer-readable program code. Such a propagated data signal can take various forms including an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium may be any computer-readable medium other than the computer-readable recording medium, and the computer-readable signal medium can transmit, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code included in the computer-readable medium can be transmitted by any suitable medium such as an electric wire, an optical cable, RF (Radio Frequency), etc., and is not limited thereto, and can be configured in any suitable combination.

[0091] In some embodiments, the client and the server may communicate using currently known network protocols such as HTTP (Hyper Text Transfer Protocol), or may be connected to digital data communication of any format and medium (e.g., communication network). Examples of the communication network include, for example, LAN (Local Area Network), WAN (Wide Area Network), Internet, and ad hoc end-to-end network, currently known networks, or networks not yet developed in the future.

[0092] The computer-readable medium may be included in the electronic device, or may exist independently and not be attached to the electronic device.

[0093] The computer-readable medium stores one or more programs, and when the one or more programs are executed by the electronic device, the electronic device is caused to perform the following steps. At least one image capturing device receives a trigger command including image frame period data. A plurality of image capturing devices generate corresponding square wave synchronization signals based on the image frame period data, and the plurality of image capturing devices acquire image frames based on the corresponding square wave synchronization signals and determine the number of captures within a unit time of the image frames. The square wave synchronization signals of the plurality of image capturing devices are synchronized according to a preset synchronization frequency, and based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices, a synchronization verification result of the image capturing devices is generated.

[0094] Computer program code for performing the operations according to the present disclosure may be written in one or more programming languages including programming languages for objects such as Java, Smalltalk, C++, or combinations thereof, and may further include conventional programming languages such as "C". The program code may be executed entirely on the user computer, may be partially executed on the user computer, may be executed as an independent software package, may be partially executed on the user computer and partially executed on a remote computer, or may be executed entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user computer by any type of local area network (LAN) or wide area network (WAN), or may be connected to an external computer (for example, connected via the Internet using an Internet service provider).

[0095] Flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations that can be implemented by the systems, methods, and computer program products according to each embodiment of the present disclosure. Here, each block of the flowchart or block diagram represents a module, segment, or part of code that contains one or more executable instructions for implementing a given logical function. In an alternative implementation, the functions assigned to the blocks may occur in an order different from the order shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or may be executed in the reverse order, and the order may change depending on the related functions. Each block of the block diagram and / or flowchart, and combinations of the blocks of the block diagram and / or flowchart, may be implemented by a system with dedicated hardware for performing a given function or operation, or may be implemented by a combination of dedicated hardware and computer instructions.

[0096] The elements described in the embodiments of the present disclosure may be implemented either software - wise or hardware - wise. However, the name of an element does not, in a certain aspect, limit the element itself.

[0097] Here, the above - mentioned functions can be executed, at least in part, by one or more hardware logic components. For example, the types of available hardware logic components include, but are not limited to, FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), ASSP (Application Specific Specific), SOC (Chip System), CPLD (Complete Programmable Logic Device), etc.

[0098] In the context of the present disclosure, a machine - readable medium may be a tangible medium that encloses or stores a program, and the program is used by or in combination with an instruction - execution system, apparatus, or device. A machine - readable medium may be a machine - readable signal medium or a machine - readable storage medium.

[0099] A machine - readable medium includes, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any combination thereof. A more specific example of a machine - readable recording medium is an electrical connection by one or more lines, a portable computer disk, a hard disk, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), an optical fiber, a CD - ROM (Compact Disc Read Only Memory), an optical storage device, a magnetic storage device, or any combination thereof.

[0100] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device.

[0101] The electronic device includes a processor, and a memory for storing executable instructions by the processor, and includes By reading and executing the executable instructions from the memory, the processor implements any of the synchronization verification methods provided in the present disclosure.

[0102] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium storing a computer program. The computer program executes any of the synchronization verification methods provided in the present disclosure.

[0103] In addition, in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is such an actual relationship or order between these entities or operations. Also, "including" or other variations mean including non-exclusively. A process, method, article, or device including a series of elements includes not only those elements but also other elements not explicitly described, or includes elements specific to such a process, method, or article. Elements defined by the phrase "including one..." do not exclude the existence of other similar elements in the process, method, article, or device including them, unless there are further restrictions.

[0104] What has been described above are only specific embodiments of the present disclosure and are things that those skilled in the art can understand or implement. Many modifications to these embodiments are obvious to those skilled in the art, and the general principles defined here can be achieved in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments shown here and includes the broadest scope consistent with the principles and novel features disclosed herein.

Industrial Applicability

[0105] The synchronization verification method of the present disclosure can perform double verification of timing (time reference) and frame rate on an image capturing device, guarantee synchronization accuracy, further satisfy different scene needs, improve data capturing efficiency, and has strong industrial applicability.

Claims

1. A synchronization verification method applied to a scanning device including at least two image capturing devices, the synchronization verification method comprising: a step in which at least one of the image capturing devices receives a trigger command, the trigger command including image frame period data; a step in which a plurality of the image capturing devices generate corresponding square wave synchronization signals based on the image frame period data; a step in which a plurality of the image capturing devices acquire image frames based on the corresponding square wave synchronization signals, acquire the number of captures within a unit time of the image frames, and synchronize the square wave synchronization signals of the plurality of the image capturing devices according to a preset synchronization frequency; a step of generating a synchronization verification result of a plurality of the image capturing devices based on the square wave synchronization signals and the number of captures of the plurality of the image capturing devices. The synchronization verification method is characterized by including the above steps.

2. The synchronization verification method further includes: reporting the number of captures to a target device, and the target device performs verification based on the corresponding number of captures of at least two of the image capturing devices and generates an overall synchronization verification result. The synchronization verification method according to claim 1 is characterized by including the above step.

3. In the synchronization verification method, each of the image capturing devices includes a wireless synchronization module; at least two of the image capturing devices include one main image capturing device and at least one slave image capturing device; the step in which at least one of the image capturing devices receives a trigger command including image frame period data is: when the main image capturing device receives the trigger command, generating a trigger signal and transmitting the trigger signal to at least one of the slave image capturing devices by the wireless synchronization module. The synchronization verification method according to claim 1 or 2 is characterized by including the above step.

4. In the synchronization verification method, each of the image capturing devices includes a wireless synchronization module; at least two of the image capturing devices include at least one main image capturing device and at least one slave image capturing device; the step in which at least one of the image capturing devices receives a trigger command including image frame period data is: When each of the main image capturing devices receives the trigger command, it includes the step of generating a trigger signal and transmitting the trigger signal to the slave image capturing device communicably connected by the wireless synchronization module. The synchronization verification method according to claim 1 or 2 is characterized in that.

5. Before the step in which the image capturing device receives the trigger command, the synchronization verification method further includes the step of the image capturing device receiving a communication command including a device identifier transmitted from a target device; The synchronization verification method according to claim 3 or 4 is characterized by including the step of communicably connecting the wireless synchronization module of the image capturing device and the wireless synchronization module of the image capturing device corresponding to the device identifier.

6. Based on the square wave synchronization signals and the number of captures of the plurality of image capturing devices, the step of generating synchronization verification results for the plurality of image capturing devices includes performing calculations based on the square wave synchronization signal to obtain the number of references within the unit time of the image frame; when the number of captures and the number of references are the same, determining that the captured data of the image capturing device is synchronized; when the number of captures and the number of references are different, determining that the captured data of the image capturing device is not synchronized. The synchronization verification method according to any one of claims 1 to 5 is characterized by including.

7. In the synchronization verification method, when the synchronization verification result is a verification error, reporting the synchronization verification result to the target device. The synchronization verification method according to any one of claims 1 to 6 is characterized by this.

8. A synchronization verification device applied to a scanning device including at least two image capturing devices, the synchronization verification device includes a receiving module, a generating module, a capturing module, and a processing module, the receiving module receives a trigger command including image frame period data from at least one of the image capturing devices, the generating module generates corresponding square wave synchronization signals based on the image frame period data by the plurality of image capturing devices, the capturing module captures image frames based on the corresponding square wave synchronization signals by the plurality of image capturing devices, obtains the number of captures per unit time of the image frames, and synchronizes the square wave synchronization signals of the plurality of image capturing devices according to a preset synchronization frequency. The synchronization verification device is characterized in that the processing module generates synchronization verification results of a plurality of the image capturing devices based on the square wave synchronization signals and the number of captures of the plurality of the image capturing devices. **Claim 9** An electronic device, including a processor and a memory for storing executable instructions for the processor, wherein the processor reads and executes the executable instructions from the memory to implement the synchronization verification method according to any one of claims 1 to 7. **Claim 10** A computer-readable storage medium storing a computer program, wherein the computer program executes the synchronization verification method according to any one of claims 1 to 7.

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