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WO2019023868A1 - 一种图像拍摄的控制方法、控制装置及控制系统 - Google Patents

一种图像拍摄的控制方法、控制装置及控制系统 Download PDF

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Publication number
WO2019023868A1
WO2019023868A1 PCT/CN2017/095224 CN2017095224W WO2019023868A1 WO 2019023868 A1 WO2019023868 A1 WO 2019023868A1 CN 2017095224 W CN2017095224 W CN 2017095224W WO 2019023868 A1 WO2019023868 A1 WO 2019023868A1
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WIPO (PCT)
Prior art keywords
exposure
duration
synchronization signal
control device
period
Prior art date
Application number
PCT/CN2017/095224
Other languages
English (en)
French (fr)
Inventor
黄金柱
严嘉祺
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780004778.1A priority Critical patent/CN108781259B/zh
Priority to PCT/CN2017/095224 priority patent/WO2019023868A1/zh
Publication of WO2019023868A1 publication Critical patent/WO2019023868A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising
    • H04N5/06—Generation of synchronising signals
    • H04N5/067—Arrangements or circuits at the transmitter end
    • H04N5/073—Arrangements or circuits at the transmitter end for mutually locking plural sources of synchronising signals, e.g. studios or relay stations
    • H04N5/0733—Arrangements or circuits at the transmitter end for mutually locking plural sources of synchronising signals, e.g. studios or relay stations for distributing synchronisation pulses to different TV cameras

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to a method, a control device, and a control system for image capturing.
  • the embodiment of the invention discloses a control method, a control device and a control system for image capturing, which can control a plurality of imaging devices to perform synchronous shooting to a certain extent.
  • a first aspect of the embodiments of the present invention discloses a method for controlling image capturing, including:
  • the corresponding imaging device Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.
  • a second aspect of the embodiments of the present invention discloses a control apparatus, including: a memory and a processor;
  • the memory is configured to store program instructions
  • the processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:
  • the corresponding imaging device Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.
  • a third aspect of the embodiments of the present invention discloses a control system, including:
  • At least two camera devices At least two camera devices
  • a control device as described in the second aspect is a control device as described in the second aspect.
  • the exposure reference duration is first determined by the control device, and then the exposure delay duration of each imaging device is determined according to the exposure reference duration and the exposure duration of each imaging device, and finally, when the synchronization signal is received, according to the exposure
  • the delay time is used to perform the exposure delay processing on the corresponding imaging device, so that the exposure reference durations of the respective imaging devices can be made uniform, and a plurality of imaging devices can be synchronously captured to a certain extent, so that the subsequent imaging based images can be accurately processed. Determine the surrounding environment, and do not require too much manual intervention to meet the user's automation and intelligent needs.
  • FIG. 1 is a schematic diagram of a scenario for image capture disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of another scenario for image capture disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of a method for controlling image capturing according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of another method for controlling image capturing according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • the control device controls the plurality of imaging devices
  • the images in different directions collected by the plurality of imaging devices are often used to perform image processing on the current scene, for example, based on the depth maps in the respective directions to obtain a map of the surrounding environment.
  • the control device can control the exposure time of each imaging device using the automatic exposure adjustment, and thus the exposure time of each imaging device tends to be different. If the exposure duration is different, there may be a certain time difference between the images captured by the respective camera devices. In the subsequent production of the depth map, the time difference may cause a large error in the obtained map of the surrounding environment, and the error may be reduced. The accuracy of image processing.
  • the control device can control the respective imaging devices to perform exposure by synchronizing signals.
  • FIG. 1 is a schematic diagram of a scene for image capturing disclosed in an embodiment of the present invention.
  • the camera device in FIG. 1 is three cameras, and the three cameras respectively correspond to different shooting directions, which are direction 1, direction 2, and direction 3, respectively.
  • the camera is The number can be any number, and the shooting direction can also be any direction, which is not limited by the embodiment of the present invention.
  • the exposure time of the direction 1 camera is 6 ms
  • the exposure time of the direction 2 camera is 16 ms
  • the exposure time of the direction 3 camera is 4 ms.
  • the control device can send the exposure signal of the camera in the direction 1 to the camera in the direction 1.
  • the camera can perform the exposure when receiving the exposure signal, and control the exposure time of the exposure to be 6 ms.
  • the control device can transmit the exposure signal of the camera in the direction 2 to the camera in the direction 2, and the camera 2 can take the exposure when receiving the exposure signal, and control the exposure time of the exposure to be 16 ms.
  • the control device can transmit the exposure signal of the direction 3 camera to the direction 3 camera, and the direction 3 camera receives When the exposure signal is reached, the exposure can be taken, and the exposure time for controlling the exposure is 4 ms.
  • the time difference between the exposure center time of the direction 1 camera (the time corresponding to the half length of the exposure time of the camera) and the synchronization signal is 3 ms
  • the time difference between the exposure center time of the direction 2 camera and the synchronization signal is At 8 ms
  • the time difference between the exposure center time of the direction 3 camera and the synchronization signal is 2 ms. Therefore, in the above-described exposure synchronization mode, the time difference between the exposure center time of each camera and the synchronization signal does not match.
  • the exposure center time of the camera in the direction 1 shown in FIG. 1, the exposure center time of the camera in the direction 2, and the exposure center time of the camera in the direction 3 are not on the same vertical line, that is, the exposure center timings of the respective cameras do not coincide.
  • the subsequent acquisition of the image acquired by each camera reduces the accuracy of subsequent processing.
  • the subsequent processing is to calculate an image-based motion blur using a composite node
  • a commonly used feature check operator is statistically generated at the center of the motion blur, and the center of the motion blur is also the exposure center.
  • the exposure center time of each camera does not coincide with the time difference of the synchronization signal and the exposure center time, the accuracy of the subsequent processing is lowered.
  • FIG. 2 is a schematic diagram of another scenario for image capture according to an embodiment of the present invention.
  • the camera device is three cameras, and the three cameras respectively correspond to different shooting directions, which are direction 1, direction 2, and direction 3, respectively.
  • the number of the cameras may be any number.
  • the shooting direction may also be any direction, which is not limited in the embodiment of the present invention.
  • the exposure time of the direction 1 camera is 6 ms
  • the exposure time of the direction 2 camera is 16 ms
  • the exposure time of the direction 3 camera is 4 ms. Since the exposure duration of the camera in each direction can be set by the control device, the control device can obtain the exposure duration of the camera in each direction, that is, the exposure duration of the camera in the direction 1 can be obtained, the exposure duration of the camera in the direction 2, and the direction 3 camera. The length of exposure.
  • the exposure signal of the direction 1 camera, the exposure signal of the direction 2 camera, and the exposure signal of the direction 3 camera may be generated according to the synchronization signal.
  • the control device generates each according to the synchronization signal.
  • the exposure time of the camera may have a certain delay processing time (for example, 5us, 10us, etc.), that is, the exposure signal of the direction 1 camera in FIG. 2, the exposure signal of the direction 2 camera, and the exposure signal of the direction 3 camera.
  • This delay processing time can be moved horizontally to the right.
  • the time when the camera in each direction starts to be exposed can also be horizontally shifted to the right for a certain time, and will not be described here.
  • the exposure reference duration of each camera may be the time difference between the exposure reference time of each camera and the synchronization signal, which may be, for example, an exposure center time.
  • the control device can acquire the period of the synchronization signal, and predetermine the exposure reference duration of each camera according to the period of the synchronization signal.
  • the control device determines the exposure duration of the maximum exposure time by 16 ms by comparing the exposure durations of the respective imaging devices, and the half of the exposure duration of the maximum duration is 8 ms. Then, the period of the synchronization signal is 5 ms, then the control device can take more than half of the exposure duration of the duration of the duration of 8 ms, and the value of the integral of the synchronization signal of 5 ms is the exposure reference duration, for example, 10 ms. The values of 15ms, 20ms, etc. are the exposure reference durations. For convenience of explanation, the exposure reference duration shown in FIG. 2 is 10 ms, and the exposure center moment is also at the corresponding time of 10 ms, but in other embodiments, No restrictions.
  • control device delays the exposure signal of the camera in the direction 1 by 7 ms according to the acquired exposure time of the camera in the direction 1 and the exposure reference duration, and then transmits the signal to the camera in the direction 1.
  • the direction 1 camera can perform shooting exposure and control the exposure time to 6 ms.
  • control device may delay the exposure signal of the camera in the direction 2 by 2 ms according to the obtained exposure time of the camera in the direction 2 and the exposure reference duration, and then send the image to the camera in the direction 2 .
  • the direction 2 camera After receiving the delayed exposure signal, the direction 2 camera can perform shooting exposure and control the exposure time to 16 ms.
  • control device may delay the exposure signal of the camera in the direction 3 by 8 ms according to the acquired exposure time of the camera in the direction 3 and the exposure reference duration, and then send the signal to the camera in the direction 3 .
  • the direction 3 camera After receiving the delayed exposure signal, the direction 3 camera can perform shooting exposure and control the exposure time to 4 ms.
  • the exposure reference duration of the direction 1 camera, the exposure reference duration of the direction 2 camera, and the exposure reference duration of the direction 3 camera are both 10 ms, and the exposure center of the direction 1 camera is
  • the exposure center moment of the engraving and direction 2 cameras and the exposure center moment of the direction 3 camera are also on the same vertical line, that is, the exposure center time and the exposure reference duration of each camera are consistent, and a plurality of cameras are guaranteed to some extent.
  • the device can perform synchronous shooting, which can accurately determine the surrounding environment when processing based on the captured image, and does not require excessive manual intervention, and satisfies the user's automation and intelligent requirements.
  • FIG. 3 is a schematic flowchart of a method for controlling image capturing disclosed in an embodiment of the present invention.
  • the method for controlling image capturing described in the embodiment of the present invention includes:
  • the execution body of the embodiment of the present invention may be a control device, and the control device is configured to control at least two camera devices.
  • the control device may specifically be any device that can control image capturing.
  • the camera device may be any device of any type, a circuit connected to the camera, and the like, and is not limited in this embodiment of the present invention.
  • the number of the camera devices may be two or more.
  • the exposure reference duration may refer to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.
  • the exposure reference time of each of the imaging devices may be the same time.
  • the exposure reference time may be an exposure center time of each camera device, and the exposure reference time length may be a time difference between an exposure center time of each camera device and a time when the synchronization signal is received.
  • the exposure reference time may also be an exposure start time of each imaging device (ie, a time when each camera starts to perform exposure), and the exposure reference duration may be an exposure start time of each imaging device and a time at which a synchronization signal is received. The time difference between.
  • the exposure reference time may also be an exposure end time of each imaging device (ie, a time when each camera ends exposure), and the exposure reference duration may be a time difference between an exposure end time of each imaging device and a synchronization signal received.
  • the exposure reference time may be any time in the middle of exposure of each imaging device, and the exposure reference duration may be any time during the exposure of each imaging device and when the synchronization signal is received.
  • the present invention does not impose any limitation on this.
  • control device may preset the exposure reference duration to any length, for example, 9 ms, 10 ms, 20 ms, etc., which is not limited in this embodiment of the present invention.
  • S302. Determine an exposure delay duration of each imaging device according to the exposure reference duration and the exposure duration of each of the imaging devices.
  • the exposure duration of each of the imaging devices may refer to the total length of time required for each of the imaging devices to be exposed.
  • the total length of time required for the direction 1 camera shown in FIG. 1 is 6 ms, then the exposure time of the camera in the direction 1 is 6 ms.
  • the exposure duration of the respective camera devices may be preset by the control device.
  • the exposure duration of each of the imaging devices may be specifically set by a processor provided in the control device or a timing circuit provided in the control device.
  • the processor of the control device may fixedly set the exposure duration of the respective imaging devices, so that the images captured by the scenes in various directions are more suitable for subsequent processing.
  • the timing circuit in the control device can control the exposure duration of each camera device according to the exposure duration of each camera device set by the user. For example, as shown in FIG. 1 , the user can preset the exposure time of the camera in the direction 1 to be 6 ms, and save the set exposure time in the timing circuit. When the timing circuit detects that the direction 1 camera starts to expose, The exposure time of the camera in this direction can be controlled to be 6ms.
  • the exposure duration of each of the imaging devices is adjusted according to the intensity of the amount of light entering.
  • the strength value of the amount of light entering may be the magnitude of the brightness of the image acquired by the image capturing device during the exposure process.
  • control device can adjust the exposure duration of each imaging device in real time according to the intensity value of the amount of light entering the image captured by each imaging device. For example, if the amount of light entering the camera in the direction 1 is larger than the amount of light entering the camera in the direction 2 as shown in FIG. 2, the control device can set the exposure time of the camera in the direction 1 to be shorter than the exposure time in the direction 2 camera.
  • control device can also adopt an automatic exposure adjustment method to adjust the exposure duration of each imaging device in real time.
  • the exposure durations of the respective imaging devices may be different.
  • the control device may set the cameras that capture the same shooting direction to the same exposure time according to the shooting direction. For example, both the imaging device a and the imaging device b capture the direction 1, then the exposure time of the imaging device a and the imaging device b The exposure time can be 6ms.
  • the length of the exposure delay of each of the image capturing devices may be between the control device receiving the synchronization signal for triggering the imaging device to perform the exposure process and the exposure signal for starting the exposure of the corresponding imaging device. duration.
  • the exposure delay duration of each imaging device may be different.
  • the control device sets the imaging devices that capture the same imaging direction to the same exposure time length according to the imaging direction, the exposure delay duration of the imaging device that captures the same direction may be the same.
  • each camera device can fix an image in one shooting direction, or each camera device can capture images in multiple shooting directions, or multiple cameras can capture images in the same shooting direction.
  • the embodiment does not limit this.
  • the number of shooting directions may be any positive integer, such as 2 shooting directions, 4 shooting directions, 7 shooting directions, and the like.
  • the synchronization signal includes a synchronization signal sent by the flight control device connected to the control device.
  • the synchronization signal sent by the flight control device is determined by a sensor that is determined according to a sampling period of the sensor.
  • the sensor may be a sensor of the type such as an inertial sensor.
  • the synchronization signal may be determined by one sensor or may be determined by a plurality of sensors, which is not limited in this embodiment of the present invention.
  • the synchronization signal sent by the flight control device may be discrete, and the interval between each synchronization signal may be the sampling period of the sensor.
  • the sampling period of the sensor may be any length of time, for example, 5 ms, 10 ms, 20 ms, and the like.
  • the synchronization signal sent by the flight control device is determined by a timing circuit that is determined based on a preset clock cycle.
  • the time period can be preset by the user.
  • the user can set the clock period of the timing circuit to any length of time, such as 5ms, 10ms, and the like.
  • the user can preset a clock cycle
  • the timing circuit can determine the synchronization signal according to the preset clock cycle. For example, if the preset clock cycle is 5 ms, the timing circuit can The synchronization signal is transmitted every 5 ms.
  • the synchronization signal may also be given by the logic of the software or hardware of the control device, that is, the synchronization signal may also be generated by the control device itself, and the embodiment of the present invention does not do any limit.
  • control device may delay the start exposure time of each of the imaging devices by the exposure delay duration of each of the imaging devices when the synchronization signal is received, to complete the exposure delay process.
  • the exposure delay duration of the imaging device a is 7 ms, and the control device can start controlling the imaging device a to start exposure after delaying 7 ms after receiving the synchronization signal.
  • the respective image capturing apparatuses may perform exposure according to respective exposure time lengths after the exposure delay processing, and take an image.
  • the control device first determines the exposure reference duration, and then determines the exposure delay duration of each camera according to the exposure reference duration and the exposure duration of each camera, and finally, when the synchronization signal is received, according to the exposure delay
  • the delay processing of the corresponding imaging device is performed to ensure that the exposure reference durations of the respective imaging devices are consistent, and to ensure that a plurality of imaging devices can be synchronously captured to a certain extent, so that the subsequent imaging based images can be accurately processed. Determine the surrounding environment, and do not require too much manual intervention to meet the user's automation and intelligent needs.
  • FIG. 4 is a schematic flowchart diagram of another method for controlling image capturing according to an embodiment of the present invention.
  • the method for controlling image capturing described in the embodiment of the present invention includes:
  • the exposure duration of each camera device can be set by the control device. Therefore, the control device can acquire the exposure duration of the respective imaging devices. Moreover, the control device can also determine the period of the synchronization signal upon receiving the synchronization signal.
  • the control device may determine the exposure reference duration according to the 10 ms. For example, the control device takes any integer multiple of 10 ms as the exposure reference duration.
  • the obtaining a period of the synchronization signal received by the local end, and determining the exposure reference duration according to the period of the synchronization signal includes: acquiring an exposure duration of each camera device, and receiving the local end device a period of the synchronization signal; determining the exposure reference duration according to the exposure duration of the respective imaging devices and the period of the synchronization signal.
  • determining the exposure reference duration according to the exposure duration of each camera and the period of the synchronization signal includes: determining an exposure duration of a maximum duration of each camera controlled by the control device; and maximizing the duration according to the duration The exposure reference duration is determined by half the duration of the exposure duration and the period of the synchronization signal.
  • control device may first compare the exposure durations of the respective imaging devices, and determine the exposure duration of the maximum duration of each exposure duration, and then divide the exposure duration that is the largest for the duration by 2 to obtain the maximum duration. For half of the duration of the exposure, the control device can determine that the exposure reference duration exceeds half of the exposure duration of the duration, and finally, the specific value of the exposure reference duration can be determined in combination with the period of the synchronization signal.
  • the determined exposure reference duration may be an integer multiple of the period of the synchronization signal.
  • the period of the synchronization signal is 5 ms, then the exposure reference duration may be 10 ms, 20 ms, 25 ms, and the like.
  • the control device can determine that the exposure reference duration exceeds the 8 ms.
  • the control device may take an integer multiple of the synchronization signal and be greater than a value of half the duration of the maximum exposure duration, for example, taking the exposure reference duration to be 10 ms.
  • control device may further preset the exposure reference duration according to the exposure duration of each camera. For example, the control device can select the exposure time of each exposure device for the longest duration, and then determine the exposure time according to the duration of the maximum duration of the duration, and the exposure The reference duration is set to any value greater than the half duration. If the half duration is 8 ms, the exposure reference duration may be 9 ms, 10 ms, 20 ms, and the like.
  • the difference between the half length of the exposure duration of each imaging device and the exposure reference duration is used as the exposure delay duration of the corresponding imaging device.
  • the exposure durations of the respective imaging devices may be different. Therefore, the half length of the exposure time of each imaging device may be different. Therefore, the exposure delay duration of the imaging device may be different.
  • the exposure reference length determined by the control device is 10 ms
  • the half-length of the exposure time of the direction 1 camera is 3 ms
  • the half of the exposure time of the direction 2 camera is 8 ms
  • the exposure signal can be used by the control device to control the imaging device to start exposure.
  • the signal amplitude of the exposure signal may be the same as the signal amplitude of the synchronization signal, or may be different from the signal amplitude of the synchronization signal, which is not limited in this embodiment of the present invention.
  • control device may generate an exposure signal according to the synchronization signal when receiving the synchronization signal.
  • control device may generate an exposure signal corresponding to each imaging device according to the synchronization signal when receiving the synchronization signal, that is, there may be multiple exposure signals, and each exposure signal has a one-to-one correspondence with the imaging device.
  • the plurality of exposure signals may be signals of the same signal amplitude or signals of different signal amplitudes.
  • the exposure delay processing may mean delaying the time during which each camera delays the start of exposure.
  • the exposure delay process can be implemented by delaying the transmission of the exposure signal.
  • control device may delay the same exposure signal for each exposure delay time corresponding to each imaging device, and then transmit the same exposure signal to the corresponding imaging device.
  • the imaging device may generate an exposure corresponding to each of the imaging devices according to the imaging device.
  • the signal is then delayed by the corresponding exposure delay time of each of the respective imaging devices, and then transmitted to the corresponding imaging device.
  • the imaging device may perform exposure according to the exposure duration of the imaging device. For example, as shown in FIG. 2, the exposure time of the direction 1 camera is 6 ms, then the direction 1 camera can start exposure after receiving the exposure signal, and the exposure is ended after 6 ms.
  • S405. Receive an image acquired by the respective imaging devices after the exposure delay process.
  • each imaging device may save an image captured during the period from the start of exposure to the end exposure, and upload the image to the control device.
  • control device can receive images captured by the respective camera devices on the device.
  • the image may be a dynamic image or a static image, which is not limited in this embodiment of the present invention.
  • the control device may perform image processing on the images acquired by the respective imaging devices according to the exposure reference timings of the respective imaging devices.
  • the exposure reference time may be an exposure center time, that is, a time corresponding to half the duration of the exposure time of the imaging device.
  • the exposure reference time may be a time at which each camera starts to be exposed, or a time at which each camera ends exposure, and the like.
  • control device can align the exposure center moments of the respective camera devices to the same time.
  • the subsequent process is to calculate the image-based motion blur using the composite node
  • the commonly used feature check operator can be in motion blur.
  • the center is generated, that is, the exposure center moment. Therefore, the control device can keep the exposure center timings of the respective imaging devices consistent, thereby achieving better processing effects and improving the accuracy of image processing.
  • the control device first determines the exposure reference duration according to the exposure duration of each camera and the period of the synchronization signal, and then uses the difference between the half duration of each exposure device and the exposure reference duration as a corresponding camera.
  • the exposure delay duration of the device when the synchronization signal is received, generates an exposure signal, and transmits an exposure signal corresponding to each imaging device according to each exposure delay duration, and finally performs image processing on the image acquired by each imaging device to ensure image processing.
  • the exposure reference durations of the respective camera devices are consistent, and in the process of subsequent image processing, the exposure reference times of the images can be made uniform, and to ensure a certain degree of simultaneous imaging of multiple cameras, to facilitate subsequent shooting.
  • the surrounding environment can be accurately determined. Improve the accuracy of subsequent processing.
  • Embodiments of the present invention provide a control apparatus. Please refer to FIG. 5 , which is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the control device described in this embodiment includes:
  • control device in this embodiment may include: a memory 501 and a processor 502;
  • the memory 501 is configured to store program instructions
  • the processor 502 is configured to execute the program instructions stored in the memory, when the program instructions are executed, to:
  • the corresponding imaging device Upon receiving the synchronization signal for triggering the exposure processing by the imaging device, the corresponding imaging device is subjected to exposure delay processing in accordance with each exposure delay time period, so that the imaging device performs exposure after the exposure delay processing to capture an image.
  • the exposure reference duration refers to a time difference between an exposure reference time of each imaging device and a timing at which the control device receives the synchronization signal.
  • the processor 502 determines the exposure reference duration, specifically for:
  • the processor 502 acquires a period of the synchronization signal received by the local end, and determines the exposure reference duration according to the period of the synchronization signal, specifically for:
  • the exposure reference duration is determined according to an exposure duration of the respective imaging devices and a period of the synchronization signal.
  • the processor 502 determines the exposure reference duration according to the exposure duration of the respective imaging devices and the period of the synchronization signal, specifically for:
  • the exposure reference duration is determined according to a half duration of the maximum duration of the duration and a period of the synchronization signal.
  • the determined exposure reference duration is an integer multiple of a period of the synchronization signal.
  • the synchronization signal includes a synchronization signal from a flight control device coupled to the control device.
  • the synchronization signal emitted by the flight control device is determined by a sensor that is determined based on a sampling period of the sensor.
  • the synchronization signal from the flight control device is determined by a timing circuit that is determined based on a preset clock cycle.
  • the processor 502 determines, according to the exposure reference duration and the exposure duration of each camera device, the exposure delay duration of each camera device, specifically for:
  • the difference between the half length of the exposure time of each imaging device and the exposure reference time length is taken as the exposure delay time of the corresponding imaging device.
  • the processor 502 when the processor 502 receives the synchronization signal for triggering the exposure processing of the imaging device, and performs exposure delay processing on the corresponding imaging device according to each exposure delay duration, the processor 502 is specifically configured to:
  • the exposure signals corresponding to the respective image pickup devices are delayed in accordance with the respective exposure delay durations to perform exposure delay processing on the corresponding image pickup devices.
  • the processor 502 is further configured to receive an image acquired by the respective imaging devices after the exposure delay processing, and perform image processing on the images acquired by the respective imaging devices.
  • the exposure duration of each of the image pickup devices is preset by the control device.
  • the exposure duration of each of the imaging devices is adjusted according to the intensity of the amount of light entering.
  • FIG. 6 is a diagram of a control system disclosed in an embodiment of the present invention Schematic diagram of the architecture. As shown in FIG. 6, the control system includes: a control device 601, at least two camera devices 602, a sensor 603, a timing circuit 604, and a flight control device 605.
  • the control device 601 is the control device disclosed in the foregoing embodiment of the present invention, and the principles and implementations are similar to the foregoing embodiments, and details are not described herein again.
  • the sensor 603 and the timing circuit 604 may exist in the control system at the same time, or only the sensor 603 may be present in the control system, or only the timing circuit 604 may be present in the control system.
  • the flight control device 605 can be connected to the control device 601, the sensor 603, and the timing circuit 604.
  • the flight control device 605 can control the sensor 603 or the timing circuit 604 to determine a synchronization signal and transmit the synchronization signal to the control device 601.
  • the control system can be applied to equipment such as drones, robots, driverless cars, smart submersibles, and the like.
  • the imaging device 602 can be mounted on the main body of the drone through a pan/tilt or other mounted device, and the control device 601, the sensor 603, the timing circuit 604, and the flight control device 605 can be installed in the drone.
  • the camera device 602 is used for image or video shooting during flight of the drone, including but not limited to a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc., and the camera device 602 can be two or More than two.
  • the control device 601 can determine the exposure reference duration and the exposure of the camera 602.
  • the delay time is long, and the start exposure time of the image pickup device 602 is controlled according to the exposure delay time length to complete the exposure delay processing.
  • control device 601 can be used to perform the image capturing control method shown in the foregoing method embodiment, and the specific implementation process can refer to the method embodiment, and details are not described herein.
  • the storage medium may include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

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Abstract

一种图像拍摄的控制方法、控制装置及控制系统，其中方法包括：确定曝光参考时长（S301）；根据曝光参考时长与各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长（S302）；在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于摄像装置在曝光延迟处理后进行曝光以拍摄图像（S303），可在一定程度上控制多个摄像装置进行同步拍摄。

Description

一种图像拍摄的控制方法、控制装置及控制系统 技术领域
本发明涉及电子技术领域，尤其涉及一种图像拍摄的控制方法、控制装置及控制系统。
背景技术
随着电子技术的不断发展，无人机、机器人、无人驾驶汽车、智能潜水器等设备中常常需要控制装置控制多个摄像装置进行图像拍摄。在实际环境中，控制装置在各个方向拍摄到的场景是不同的，因此，多个摄像装置有利于拍摄各个方向的图像，以便于准确的感知周围环境。
大多数情况下，不同的摄像装置的曝光时长并不相同，导致多个摄像装置在拍摄图像时可能并不能同步进行拍摄，如何使多个摄像装置进行同步拍摄成为研究的热点问题。
发明内容
本发明实施例公开了一种图像拍摄的控制方法、控制装置及控制系统，可在一定程度上控制多个摄像装置进行同步拍摄。
本发明实施例第一方面公开了一种图像拍摄的控制方法，包括：
确定曝光参考时长；
根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长；
在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
本发明实施例第二方面公开了一种控制装置，包括：存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，用于执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于：
确定曝光参考时长；
根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长；
在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
本发明实施例第三方面公开了一种控制系统，包括：
飞行控制设备；
传感器和/或定时电路；
至少两个摄像装置；
如第二方面所述的控制装置。
本发明实施例中，通过控制装置首先确定曝光参考时长，然后根据该曝光参考时长与各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长，最后在接收到同步信号时，根据该曝光延迟时长对相应摄像装置进行曝光延迟处理，可以使各个摄像装置的曝光参考时长达到一致，在一定程度上保证多个摄像装置能够进行同步拍摄，方便后续基于拍摄的图像进行处理时，能够准确地确定出周围的环境，并且不需要过多的人工干预，满足了用户的自动化、智能化需求。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种用于图像拍摄的情景示意图；
图2是本发明实施例公开的另一种用于图像拍摄的情景示意图；
图3是本发明实施例公开的一种图像拍摄的控制方法的流程示意图；
图4是本发明实施例公开的另一种图像拍摄的控制方法的流程示意图；
图5是本发明实施例公开的一种控制装置的结构示意图；
图6是本发明实施例公开的一种控制系统的架构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在控制装置控制多个摄像装置时，常常通过多个摄像装置采集到的不同方向的图像来对当前场景进行图像处理，例如根据各个方向的深度图进行合成后得到周围环境的地图。其中，控制装置可以使用自动曝光调节控制各个摄像装置的曝光时长，因此各个摄像装置的曝光时长往往各不相同。如果曝光时长不相同，该各个摄像装置拍摄得到的图像之间可能会存在一定的时间差，在后续对深度图的制作中，该时间差可能会导致得到的周围环境的地图存在较大的误差，降低图像处理的准确性。
具体的，为了准确的感知周围环境，控制装置可以通过同步信号来控制各个摄像装置进行曝光。请参阅图1，是本发明实施例公开的一种用于图像拍摄的情景示意图。为了更好的说明，图1中的摄像装置为3个摄像头，该3个摄像头各自对应着不同的拍摄方向，分别为方向1、方向2以及方向3，但在其他实施例中，该摄像头的数量可以为任意数量，该拍摄方向也可以为任意方向，本发明实施例对此不作限制。
在图1中，假设方向1摄像头的曝光时长为6ms，方向2摄像头的曝光时长为16ms，方向3摄像头的曝光时长为4ms。在控制装置接收到用于触发摄像头进行曝光处理的同步信号时，可以根据该同步信号生成方向1摄像头的曝光信号、方向2摄像头的曝光信号以及方向3摄像头的曝光信号。
在一个实施例中，该控制装置可以将该方向1摄像头的曝光信号发送至该方向1摄像头，该方向1摄像头在接收到该曝光信号时，可以进行拍摄曝光，并控制曝光的曝光时长为6ms。类似的，该控制装置可以将该方向2摄像头的曝光信号发送至该方向2摄像头，该方向2摄像头在接收到该曝光信号时，可以进行拍摄曝光，并控制曝光的曝光时长为16ms。类似的，该控制装置可以将该方向3摄像头的曝光信号发送至该方向3摄像头，该方向3摄像头在接收 到该曝光信号时，可以进行拍摄曝光，并控制曝光的曝光时长为4ms。
然而，从图1可以看出，方向1摄像头的曝光中心时刻(摄像头的曝光时长的一半时长所对应的时刻)与同步信号的时间差为3ms，方向2摄像头的曝光中心时刻与同步信号的时间差为8ms，方向3摄像头的曝光中心时刻与同步信号的时间差为2ms，因此，上述曝光同步的方式中，各个摄像头的曝光中心时刻与同步信号的时间差不一致。并且，图1所示的方向1摄像头的曝光中心时刻、方向2摄像头的曝光中心时刻以及方向3摄像头的曝光中心时刻没有在同一条垂直线上，也即各个摄像头的曝光中心时刻没有保持一致。
如果各个摄像头的曝光中心时刻与同步信号的时间差以及曝光中心时刻没有保持一致，会使后续对各个摄像头获取的图像进行处理时，降低后续处理的准确性。例如，该后续处理为使用合成节点计算以图像为基础的运动模糊(motion blur)时，常用的特征检验算子在统计意义上会在motion blur的中心产生，该motion blur的中心也即曝光中心时刻，因此，如果各个摄像头的曝光中心时刻与同步信号的时间差以及曝光中心时刻没有保持一致，会降低后续处理的精度。
为了解决上述问题，请参阅图2，为本发明实施例提供的另一种用于图像拍摄的情景示意图。图2以摄像装置为3个摄像头为例，该3个摄像头各自对应着不同的拍摄方向，分别为方向1、方向2以及方向3，但在其他实施例中，该摄像头的数量可以为任意数量，该拍摄方向也可以为任意方向，本发明实施例对此不作限制。
在图2中，假设方向1摄像头的曝光时长为6ms，方向2摄像头的曝光时长为16ms，方向3摄像头的曝光时长为4ms。由于各个方向摄像头的曝光时长可以由控制装置设置，因此该控制装置可以获取到各个方向摄像头的曝光时长，也就是可以获取到该方向1摄像头的曝光时长、方向2摄像头的曝光时长以及方向3摄像头的曝光时长。
在一个实施例中，在控制装置接收到同步信号时，可以根据该同步信号生成方向1摄像头的曝光信号、方向2摄像头的曝光信号以及方向3摄像头的曝光信号。
需要说明的是，尽管在图2中未示出，该控制装置根据该同步信号生成各 个摄像头的曝光信号的时间可以具有一定的延迟处理时间(例如5us、10us等)，也就是说，图2中的方向1摄像头的曝光信号、方向2摄像头的曝光信号以及方向3摄像头的曝光信号可以水平向右移动该延迟处理时间。类似的，各个方向的摄像头开始曝光的时间也可以水平向右移动一定的时间，在此不作赘述。
在一个实施例中，该各个摄像头的曝光参考时长可以为各个摄像头的曝光参考时刻与同步信号的时间差，该曝光参考时刻例如可以为曝光中心时刻。该控制装置可以获取该同步信号的周期，并根据该同步信号的周期预先确定各个摄像装置的曝光参考时长。
例如，该控制装置通过比较各个摄像装置的曝光时长，确定曝光时长最大的曝光时长为16ms，该时长最大的曝光时长的一半时长为8ms。然后，该同步信号的周期为5ms，那么该控制装置可以取大于该时长最大的曝光时长的一半时长8ms、且为该同步信号的周期5ms的整数倍的数值为该曝光参考时长，例如取10ms、15ms、20ms等数值为该曝光参考时长，为方便说明，图2所示的曝光参考时长为10ms，同时，该曝光中心时刻也就是在该10ms对应的时刻，但在其他实施例中对此不作限制。
在一个实施例中，该控制装置根据获取到的该方向1摄像头的曝光时长以及该曝光参考时长，将该方向1摄像头的曝光信号延迟7ms之后，再发送给该方向1摄像头。该方向1摄像头在接收到该延迟的曝光信号之后，可以进行拍摄曝光，并控制曝光的时间为6ms。
类似的，该控制装置可以根据获取到的该方向2摄像头的曝光时长以及该曝光参考时长，将该方向2摄像头的曝光信号延迟2ms之后，再发送给该方向2摄像头。该方向2摄像头在接收到该延迟的曝光信号之后，可以进行拍摄曝光，并控制曝光的时间为16ms。
类似的，该控制装置可以根据获取到的该方向3摄像头的曝光时长以及该曝光参考时长，将该方向3摄像头的曝光信号延迟8ms之后，再发送给该方向3摄像头。该方向3摄像头在接收到该延迟的曝光信号之后，可以进行拍摄曝光，并控制曝光的时间为4ms。
从图2可以看出，方向1摄像头的曝光参考时长、方向2摄像头的曝光参考时长、方向3摄像头的曝光参考时长均为10ms，且方向1摄像头的曝光中心时 刻、方向2摄像头的曝光中心时刻以及方向3摄像头的曝光中心时刻也在同一条垂直线上，也就是说，各个摄像头的曝光中心时刻以及曝光参考时长达到一致，在一定程度上保证多个摄像装置能够进行同步拍摄，方便后续基于拍摄的图像进行处理时，能够准确地确定出周围的环境，并且不需要过多的人工干预，满足了用户的自动化、智能化需求。
请参阅图3，是本发明实施例公开的一种图像拍摄的控制方法的流程示意图。本发明实施例中所描述的图像拍摄的控制方法，包括：
S301、确定曝光参考时长。
需要说明的是，本发明实施例的执行主体可以为控制装置，所述控制装置用于对至少两个摄像装置进行控制。
其中，该控制装置具体可以为任意可以控制图像拍摄的装置。
其中，该摄像装置具体可以为任意类型的摄像头、与该摄像头相连的电路等装置，本发明实施例对此不作任何限制。
其中，该摄像装置的数量可以为两个或两个以上。
还需要说明的是，该曝光参考时长可以是指：各个摄像装置的曝光参考时刻与所述控制装置接收到所述同步信号的时刻的时间差。
其中，该各个摄像装置的曝光参考时刻可以为同一时刻。
其中，该曝光参考时刻可以为各个摄像装置的曝光中心时刻，该曝光参考时长也就可以为各个摄像装置的曝光中心时刻与接收到同步信号的时刻之间时间差。
其中，该曝光参考时刻也可以为各个摄像装置的曝光开始时刻(即各个摄像头开始进行曝光的时刻)，该曝光参考时长也就可以为各个摄像装置的曝光开始时刻与接收到同步信号的时刻之间的时间差。
其中，该曝光参考时刻还可以为各个摄像装置的曝光结束时刻(即各个摄像头结束曝光的时刻)，该曝光参考时长也就可以为各个摄像装置的曝光结束时刻与接收到同步信号的时间差。
其中，该曝光参考时刻还可以为各个摄像装置曝光中途任意时刻，该曝光参考时长也就可以为各个摄像装置曝光中途任意时刻与接收到同步信号的时 间差，本发明对此不作任何限制。
在一些可行的实施方式中，该控制装置可以预先设置该曝光参考时长为任意时长，例如9ms、10ms、20ms等等，本发明实施例对此不作任何限制。
S302、根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长。
需要说明的是，该各个摄像装置的曝光时长，可以是指该各个摄像装置需要曝光的总时长。例如，图1所示的方向1摄像头需要曝光的总时长为6ms，那么该方向1摄像头的曝光时长就为6ms。
在一些可行的实施方式中，该各个摄像装置的曝光时长可以是由所述控制装置预先设置的。
其中，该各个摄像装置的曝光时长具体可以是由设置在该控制装置中的处理器，或者设置在该控制装置中的定时电路预先设置的。
具体实现中，该控制装置的处理器可以固定设置该各个摄像装置的曝光时长，以使拍摄各个方向的场景所获取到的图像更适合后续处理。
具体实现中，该控制装置中的定时电路可以根据用户设置的对各个摄像装置的曝光时长来控制该各个摄像装置的曝光时长。例如，如图1所示，用户可以预先设置该方向1摄像头的曝光时长为6ms，并将该设置的曝光时长保存在该定时电路中，当该定时电路检测到该方向1摄像头开始曝光，就可以控制该方向1摄像头的曝光时长为6ms。
在一些可行的实施方式中，该各个摄像装置的曝光时长是根据进光量的强弱值调节的。
需要说明的是，该进光量的强弱值可以是值对应摄像装置在曝光过程中所获取到的图像的亮度的强弱大小。
具体实现中，该控制装置可以根据各个摄像装置所拍摄的图像的进光量的强弱值，实时调节各个摄像装置的曝光时长。例如，如图2所示的方向1摄像头的进光量比方向2摄像头的进光量大，那么该控制装置就可以将方向1摄像头的曝光时长设置的比方向2摄像头的曝光时长更短。
还需要说明的是，该控制装置还可以采用曝光自动调节的方法，来实时调节各个摄像装置的曝光时长。
还需要说明的是，各个摄像装置的曝光时长可以各不相同。或者，该控制装置可以根据拍摄方向，将拍摄同一拍摄方向的摄像头设置为相同的曝光时长，例如，摄像装置a以及摄像装置b均拍摄方向1，那么该摄像装置a的曝光时长以及摄像装置b的曝光时长可以均为6ms。
还需要说明的是，该各个摄像装置的曝光延迟时长，可以是指该控制装置从接收到用于触发摄像装置进行曝光处理的同步信号到发出控制对应的摄像装置开始曝光的曝光信号之间的时长。
其中，各个摄像装置的曝光延迟时长可以各不相同。或者，该控制装置如果根据拍摄方向，将拍摄同一拍摄方向的摄像装置设置为相同的曝光时长，那么该拍摄同一方向的摄像装置的曝光延迟时长也可以相同。
还需要说明的是，该摄像装置对应的拍摄方向可以为多种。例如，每一个摄像装置可以固定拍摄一个拍摄方向的图像，也可以是每一个摄像装置均可以拍摄多个拍摄方向的图像，还可以是多个摄像装置均拍摄同一个拍摄方向的图像，本发明实施例对此不作限制。
还需要说明的是，该拍摄方向的数量可以是任意正整数，例如2个拍摄方向、4个拍摄方向、7个拍摄方向等等。
S303、在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
需要说明的是，该同步信号包括与所述控制装置相连的飞行控制设备发出的同步信号。
在一些可行的实施方式中，所述飞行控制设备发出的同步信号由传感器确定，所述传感器是根据所述传感器的采样周期确定的所述同步信号。
其中，该传感器可以是惯性传感器等类型的传感器。并且，该同步信号可以由一个传感器确定，或者由多个传感器共同确定，本发明实施例对此不作任何限制。
还需要说明的是，该飞行控制设备发出的同步信号可以是离散的，各个同步信号发出的间隔时间可以为该传感器的采样周期。其中，该传感器的采样周期可以为任意时长，例如5ms、10ms、20ms等等。
在一些可行的实施方式中，所述飞行控制设备发出的同步信号由定时电路确定，所述定时电路是根据预置的时钟周期确定的所述同步信号。
其中，该时间周期可以由用户预置。例如，用户可以设定任意时长为该定时电路的时钟周期，例如5ms，10ms等等。
在一些可行的实施方式中，该用户可以预置时钟周期，该定时电路便可以按照该预置的时钟周期确定该同步信号，例如，该预置的时钟周期为5ms，那么该定时电路便可以每5ms发送一次该同步信号。
在一些可行的实施方式中，该同步信号还可以由该控制装置的软件或者硬件的逻辑给出，也就是说，该同步信号还可以由该控制装置自身产生，本发明实施例对此不作任何限制。
具体实现中，该控制装置可以在接收到该同步信号时，将该各个摄像装置的开始曝光的时间延迟该各个摄像装置各自对应的曝光延迟时长，以完成该曝光延迟处理。例如，摄像装置a的曝光延迟时长为7ms，那么该控制装置可以在接收到该同步信号之后，延迟7ms才开始控制该摄像装置a开始曝光。
在一些可行的实施方式中，该各个摄像装置可以在该曝光延迟处理之后，按照各自对应的曝光时长进行曝光，并拍摄图像。
本发明实施例中，控制装置首先确定曝光参考时长，然后根据该曝光参考时长与各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长，最后在接收到同步信号时，根据该曝光延迟时长对相应摄像装置进行曝光延迟处理，保证了各个摄像装置的曝光参考时长达到一致，并在一定程度上保证多个摄像装置能够进行同步拍摄，方便后续基于拍摄的图像进行处理时，能够准确地确定出周围的环境，并且不需要过多的人工干预，满足了用户的自动化、智能化需求。
请参阅图4，是本发明实施例公开的另一种图像拍摄的控制方法的流程示意图。本发明实施例中所描述的图像拍摄的控制方法，包括：
S401、获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长。
需要说明的是，该各个摄像装置的曝光时长可以由该控制装置进行设置， 因此该控制装置可以获取该各个摄像装置的曝光时长。并且，该控制装置还可以在接收到该同步信号时，确定该同步信号的周期。
举例来说，如果该控制装置获取到的同步信号的周期为10ms，那么该控制装置可以根据该10ms确定该曝光参考时长。例如，该控制装置取10ms的任意整数倍为该曝光参考时长。
在一些可行的实施方式中，所述获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长，包括：获取各个摄像装置的曝光时长以及本端接收到的同步信号的周期；根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长。
在一些可行的实施方式中，根据各个摄像装置的曝光时长和该同步信号的周期确定该曝光参考时长，包括：确定该控制装置控制的各个摄像装置中时长最大的曝光时长；根据该时长最大的曝光时长的一半时长和该同步信号的周期，确定该曝光参考时长。
具体实现中，该控制装置可以首先比较各个摄像装置的曝光时长，并确定出各个曝光时长中，时长最大的曝光时长，然后可以根据将该时长最大的曝光时长除以2，得到该时长最大的曝光时长的一半时长，该控制装置可以确定该曝光参考时长超过该时长最大的曝光时长的一半时长，最后，可以再结合该同步信号的周期确定该曝光参考时长的具体数值。
其中，所述确定的曝光参考时长可以为所述同步信号的周期的整数倍。例如，该同步信号的周期为5ms，那么该曝光参考时长可以为10ms、20ms、25ms等等。
举例来说，如图2所示，该控制装置如果确定出各个摄像装置中时长最大的曝光时长为16ms，那么该时长最大的曝光时长的一半时长就可以为16/2＝8ms，这时，该控制装置可以确定该曝光参考时长超过该8ms。并且，如果该同步信号的周期为5ms，该控制装置可以取该同步信号的整数倍，且大于该时长最大的曝光时长的一半时长的数值，例如取该曝光参考时长为10ms。
在一些可行的实施方式中，该控制装置还可以根据各个摄像装置的曝光时长预先设置该曝光参考时长。例如，该控制装置可以选取各个曝光装置时长最大的曝光时长，然后根据确定该时长最大的曝光时长的一半时长，并将该曝光 参考时长设置大于该一半时长的任意数值，如该一半时长为8ms，那么该曝光参考时长就可以为9ms，10ms，20ms等等。
S402、将各个摄像装置的曝光时长的一半时长与所述曝光参考时长的差值作为对应摄像装置的曝光延迟时长。
需要说明的是，该各个摄像装置的曝光时长可以各不相同，因此，该各个摄像装置的曝光时长的一半时长也可以各不相同，因此，对应摄像装置的曝光延迟时长也可以各不相同。
举例来说，如图2所示，该控制装置确定的曝光参考时长为10ms，该方向1摄像头的曝光时长的一半时长为3ms，那么该方向1摄像头的曝光延迟时长可以为10-3＝7ms。类似的，该方向2摄像头的曝光时长的一半时长8ms，那么该方向1摄像头的曝光延迟时长可以为10-8＝2ms。
S403、在接收到用于触发摄像装置进行曝光处理的同步信号时，根据所述同步信号生成曝光信号。
需要说明的是，该曝光信号可以用于该控制装置控制该摄像装置开始曝光。其中，该曝光信号的信号幅度可以与该同步信号的信号幅度相同，也可以与该同步信号的信号幅度不相同，本发明实施例对此不作任何限制。
还需要说明的是，该控制装置可以在接收到该同步信号时，根据该同步信号生成一个曝光信号。或者，该控制装置也可以在接收到同步信号时，根据该同步信号生成各个摄像装置对应的曝光信号，也就是说，该曝光信号可以有多个，每一个曝光信号与摄像装置一一对应，并且，该多个曝光信号可以为相同信号幅度的信号，也可以为不同信号幅度的信号。
S404、根据各个曝光延迟时长延迟发送对应于各个摄像装置的曝光信号，以完成对相应的摄像装置进行曝光延迟处理。
其中，该曝光延迟处理可以是指将各个摄像头延迟开始曝光的时间进行延迟。在一些可行的实施方式中，该曝光延迟处理可以通过延迟发送曝光信号来实现。
需要说明的是，该控制装置可以将同一个曝光信号分别按照各个摄像装置各自对应的曝光延迟时长进行延迟后，发送至对应的摄像装置。
或者，该摄像装置也可以按照摄像装置生成各个摄像装置各自对应的曝光 信号，然后将该各个摄像装置各自对应的曝光信号延迟该对应的曝光延迟时长之后，发送至对应的摄像装置。
在一些可行的实施方式中，该摄像装置在接收到该曝光信号之后，可以按照该摄像装置的曝光时长进行曝光。例如，如图2所示，该方向1摄像头的曝光时长为6ms，那么该方向1摄像头在接收到该曝光信号之后就可以开始曝光，并在6ms之后结束曝光。
S405、接收所述各个摄像装置在所述曝光延迟处理后所获取到的图像。
需要说明的是，各个摄像装置可以在开始曝光到结束曝的光期间，保存该期间所拍摄到的图像，并将该图像上传给该控制装置。
其中，该控制装置可以接收各个摄像装置在该器件所拍摄到的图像。该图像可以为动态的图像，也可以是静态的图像，本发明实施例对此不作任何限制。
S406、对所述各个摄像装置所获取到的图像进行图像处理。
需要说明的是，该控制装置可以根据该各个摄像装置的曝光参考时刻对该各个摄像装置获取到的图像进行图像处理。其中，该曝光参考时刻可以是曝光中心时刻，即摄像装置的曝光时长的一半时长所对应的时刻。或者，该曝光参考时刻还可以是各摄像头开始曝光的时刻，或者各摄像头结束曝光的时刻等等。
举例来说，该控制装置可以将各个摄像装置的曝光中心时刻对齐到同一个时刻，在后续处理为使用合成节点计算以图像为基础的motion blur时，常用的特征检验算子可以在motion blur的中心产生，也即该曝光中心时刻。因此，该控制装置可以将各个摄像装置的曝光中心时刻保持一致，会取得更好的处理效果，并提高图像处理的精度。
本发明实施例中，控制装置首先根据各个摄像装置的曝光时长以及同步信号的周期，确定出曝光参考时长，然后将各个摄像装置的曝光时长的一半时长与该曝光参考时长的差值作为对应摄像装置的曝光延迟时长，在接收到该同步信号时，生成曝光信号，并根据各个曝光延迟时长发送对应于各个摄像装置的曝光信号，最后在对各个摄像装置所获取到的图像进行图像处理，保证了各个摄像装置的曝光参考时长达到一致，同时在后续图像处理的过程中，可以使各图像的曝光参考时刻也达到一致，在一定程度上保证多个摄像装置能够进行同步拍摄，方便后续基于拍摄的图像进行处理时，能够准确地确定出周围的环境， 提高后续处理的准确性。
本发明实施例提供一种控制装置。请参阅图5，是本发明实施例公开的一种控制装置的结构示意图。本实施例中所描述的控制装置，包括：
如图5所示，本实施例中的控制装置，可以包括：存储器501和处理器502；
所述存储器501，用于存储程序指令；
所述处理器502，用于执行所述存储器存储的程序指令，当程序指令被执行时，用于：
确定曝光参考时长；
根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长；
在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
在某些实施例中，所述曝光参考时长是指：各个摄像装置的曝光参考时刻与所述控制装置接收到所述同步信号的时刻的时间差。
在某些实施例中，所述处理器502确定曝光参考时长时，具体用于：
获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长。
在某些实施例中，所述处理器502获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长时，具体用于：
获取各个摄像装置的曝光时长以及本端接收到的同步信号的周期；
根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长。
在某些实施例中，所述处理器502根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长时，具体用于：
确定所述控制装置控制的各个摄像装置中时长最大的曝光时长；
根据所述时长最大的曝光时长的一半时长和所述同步信号的周期，确定所述曝光参考时长。
在某些实施例中，所述确定的曝光参考时长为所述同步信号的周期的整数倍。
在某些实施例中，所述同步信号包括与所述控制装置相连的飞行控制设备发出的同步信号。
在某些实施例中，所述飞行控制设备发出的同步信号由传感器确定，所述传感器是根据所述传感器的采样周期确定的所述同步信号。
在某些实施例中，所述飞行控制设备发出的同步信号由定时电路确定，所述定时电路是根据预置的时钟周期确定的所述同步信号。
在某些实施例中，所述处理器502所述处理器根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长时，具体用于：
将各个摄像装置的曝光时长的一半时长与所述曝光参考时长的差值作为对应摄像装置的曝光延迟时长。
在某些实施例中，所述处理器502在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理时，具体用于：
在接收到用于触发摄像装置进行曝光处理的同步信号时，根据所述同步信号生成曝光信号；
根据各个曝光延迟时长延迟发送对应于各个摄像装置的曝光信号，以完成对相应的摄像装置进行曝光延迟处理。
在某些实施例中，所述处理器502还用于接收所述各个摄像装置在所述曝光延迟处理后所获取到的图像，并对所述各个摄像装置所获取到的图像进行图像处理。
在某些实施例中，所述各个摄像装置的曝光时长是由所述控制装置预先设置的。
在某些实施例中，所述各个摄像装置的曝光时长是根据进光量的强弱值调节的。
本发明实施例提供一种控制系统。图6是本发明实施例公开的控制系统的 架构示意图。如图6所示，该控制系统包括：控制装置601、至少两个摄像装置602、传感器603、定时电路604、飞行控制设备605。
其中，该控制装置601为上述本发明实施例中公开的控制装置，原理和实现方式均与上述实施例类似，此处不再赘述。
其中，该传感器603和该定时电路604可以同时存在于该控制系统中，也可以仅该传感器603存在于该控制系统中，或者仅该定时电路604存在于该控制系统中。
其中，该飞行控制设备605可以与该控制装置601、该传感器603以及该定时电路604相连。该飞行控制设备605可以控制该传感器603或者该定时电路604确定同步信号，并将该同步信号发送给该控制装置601。
具体地，控制系统可应用于无人机、机器人、无人驾驶汽车、智能潜水器等设备。以无人机为例，摄像装置602可通过云台或其他搭载设备搭载于无人机的主体上，控制装置601、传感器603、定时电路604、飞行控制设备605可安装在该无人机中。摄像装置602用于在无人机的飞行过程中进行图像或视频拍摄，包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等，并且该摄像装置602可以为两个或者两个以上。其中，当该飞行控制设备控制传感器603或者该定时电路604确定出该同步信号，并将该同步信号发送给该控制装置601时，该控制装置601可确定曝光参考时长以及该摄像装置602的曝光延迟时长，并根据该曝光延迟时长控制该摄像装置602的开始曝光时间，以完成该曝光延迟处理。
需要说明的是，所述控制装置601可用于执行前述方法实施例所示的图像拍摄的控制方法，其具体实现过程可参照该方法实施例，在此不作赘述。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读 存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种图像拍摄的控制方法、控制装置及控制系统进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (29)

  1. 一种图像拍摄的控制方法，其特征在于，应用于控制装置，所述控制装置用于对至少两个摄像装置进行控制，所述方法包括：
    确定曝光参考时长；
    根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长；
    在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
  2. 根据权利要求1所述的方法，其特征在于，所述曝光参考时长是指：各个摄像装置的曝光参考时刻与所述控制装置接收到所述同步信号的时刻的时间差。
  3. 根据权利要求1或2所述的方法，其特征在于，所述确定曝光参考时长，包括：
    获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长。
  4. 根据权利要求3所述的方法，其特征在于，所述获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长，包括：
    获取各个摄像装置的曝光时长以及本端接收到的同步信号的周期；
    根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长，包括：
    确定所述控制装置控制的各个摄像装置中时长最大的曝光时长；
    根据所述时长最大的曝光时长的一半时长和所述同步信号的周期，确定所述曝光参考时长。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述确定的曝光参考时长为所述同步信号的周期的整数倍。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述同步信号包括与所述控制装置相连的飞行控制设备发出的同步信号。
  8. 根据权利要求7所述的方法，其特征在于，所述飞行控制设备发出的同步信号由传感器确定，所述传感器是根据所述传感器的采样周期确定的所述同步信号。
  9. 根据权利要求7或8所述的方法，其特征在于，所述飞行控制设备发出的同步信号由定时电路确定，所述定时电路是根据预置的时钟周期确定的所述同步信号。
  10. 根据权利要求1-9所述的方法，其特征在于，所述根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长，包括：
    将各个摄像装置的曝光时长的一半时长与所述曝光参考时长的差值作为对应摄像装置的曝光延迟时长。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，包括：
    在接收到用于触发摄像装置进行曝光处理的同步信号时，根据所述同步信号生成曝光信号；
    根据各个曝光延迟时长延迟发送对应于各个摄像装置的曝光信号，以完成 对相应的摄像装置进行曝光延迟处理。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    接收所述各个摄像装置在所述曝光延迟处理后所获取到的图像；
    对所述各个摄像装置所获取到的图像进行图像处理。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述各个摄像装置的曝光时长是由所述控制装置预先设置的。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，所述各个摄像装置的曝光时长是根据进光量的强弱值调节的。
  15. 一种控制装置，所述控制装置用于对至少两个摄像装置进行控制，包括：存储器和处理器；
    所述存储器，用于存储程序指令；
    所述处理器，用于执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于：
    确定曝光参考时长；
    根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长；
    在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理，以便于所述摄像装置在曝光延迟处理后进行曝光以拍摄图像。
  16. 根据权利要求15所述的控制装置，其特征在于，所述曝光参考时长是指：各个摄像装置的曝光参考时刻与所述控制装置接收到所述同步信号的时刻的时间差。
  17. 根据权利要求15或16所述的控制装置，其特征在于，所述处理器确定曝光参考时长时，具体用于：
    获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长。
  18. 根据权利要求17所述的控制装置，其特征在于，所述所述处理器获取本端接收到的同步信号的周期，并根据所述同步信号的周期确定所述曝光参考时长时，具体用于：
    获取各个摄像装置的曝光时长以及本端接收到的同步信号的周期；
    根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长。
  19. 根据权利要求18所述的控制装置，其特征在于，所述处理器根据所述各个摄像装置的曝光时长和所述同步信号的周期确定所述曝光参考时长时，具体用于：
    确定所述控制装置控制的各个摄像装置中时长最大的曝光时长；
    根据所述时长最大的曝光时长的一半时长和所述同步信号的周期，确定所述曝光参考时长。
  20. 根据权利要求15-19任一项所述的控制装置，其特征在于，所述确定的曝光参考时长为所述同步信号的周期的整数倍。
  21. 根据权利要求15-20任一项所述的控制装置，其特征在于，所述同步信号包括与所述控制装置相连的飞行控制设备发出的同步信号。
  22. 根据权利要求21所述的控制装置，其特征在于，所述飞行控制设备发出的同步信号由传感器确定，所述传感器是根据所述传感器的采样周期确定的所述同步信号。
  23. 根据权利要求21或22所述的控制装置，其特征在于，所述飞行控制设备发出的同步信号由定时电路确定，所述定时电路是根据预置的时钟周期确定的所述同步信号。
  24. 根据权利要求15-23任一项所述的控制装置，其特征在于，所述处理器根据所述曝光参考时长与所述各个摄像装置的曝光时长，确定每一个摄像装置的曝光延迟时长时，具体用于：
    将各个摄像装置的曝光时长的一半时长与所述曝光参考时长的差值作为对应摄像装置的曝光延迟时长。
  25. 根据权利要求15-24任一项所述的控制装置，其特征在于，所述处理器在接收到用于触发摄像装置进行曝光处理的同步信号时，根据各个曝光延迟时长对相应的摄像装置进行曝光延迟处理时，具体用于：
    在接收到用于触发摄像装置进行曝光处理的同步信号时，根据所述同步信号生成曝光信号；
    根据各个曝光延迟时长延迟发送对应于各个摄像装置的曝光信号，以完成对相应的摄像装置进行曝光延迟处理。
  26. 根据权利要求15-25任一项所述的控制装置，其特征在于，所述处理器还用于：
    接收所述各个摄像装置在所述曝光延迟处理后所获取到的图像；
    对所述各个摄像装置所获取到的图像进行图像处理。
  27. 根据权利要求15-26任一项所述的控制装置，其特征在于，所述各个摄像装置的曝光时长是由所述控制装置预先设置的。
  28. 根据权利要求15-27任一项所述的控制装置，其特征在于，所述各个摄像装置的曝光时长是根据进光量的强弱值调节的。
  29. 一种控制系统，其特征在于，包括：
    飞行控制设备；
    传感器和/或定时电路；
    至少两个摄像装置；
    如权利要求1-14任一项所述的控制装置。
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