阅读说明：本技术 一种双目摄像机同步控制方法 (Binocular camera synchronous control method ) 是由 陶云辉 陈振鹏 杨峰 黄慧雅 于 2021-06-23 设计创作，主要内容包括：本发明提供一种双目摄像机同步控制方法,包括如下步骤：调节两个摄像头之间的位置,调节通过控制机构设于底座上两个所述摄像头之间的距离,并记录两个所述摄像头之间的距离；步骤：通过FPGA对两个摄像头进行控制,通过FPGA发送同步控制信号控制两个所述摄像头进行同步采集图像,且两个所述摄像头均通过FIFO将两个图像数据并行发送到FPGA；本发明避免了双目摄像机的同步性较差,限制了双摄像头功能的开发,不利于最大限度的发挥双目摄像头的性能和优势,且不能改变双目摄像机可视范围的情况出现。(The invention provides a binocular camera synchronous control method, which comprises the following steps: adjusting the position between the two cameras, adjusting the distance between the two cameras arranged on the base through a control mechanism, and recording the distance between the two cameras; the method comprises the following steps: the two cameras are controlled through the FPGA, synchronous control signals are sent through the FPGA to control the two cameras to synchronously acquire images, and the two cameras send two image data to the FPGA in parallel through the FIFO; the invention avoids the poor synchronism of the binocular camera, limits the development of the functions of the two cameras, is not beneficial to exerting the performance and the advantages of the binocular camera to the maximum extent and can not change the visible range of the binocular camera.)

1. A binocular camera synchronous control method is characterized by comprising the following steps:

step 1: adjusting the position between the two cameras (3), adjusting the distance between the two cameras (3) arranged on the base (1) through a control mechanism, and recording the distance between the two cameras (3);

step 2: the two cameras (3) are controlled through the FPGA, synchronous control signals are sent through the FPGA to control the two cameras (3) to synchronously acquire images, and the two cameras (3) send two image data to the FPGA in parallel through the FIFO.

2. The binocular camera synchronous control method according to claim 1, wherein: in the step 1, the control mechanism comprises a base (1) provided with a sliding groove (5), a control assembly arranged in the sliding groove (5) and used for controlling the distance between the two cameras (3), and a protection assembly arranged at an opening (2) of the sliding groove (5).

3. The binocular camera synchronous control method according to claim 2, wherein: the control assembly comprises a bidirectional screw (6) arranged in the sliding groove (5) and two threaded sliders (8) which are respectively sleeved at two ends of the bidirectional screw (6) and are respectively connected with the camera (3), threads on two ends of the rod body of the bidirectional screw (6) are opposite, and two ends of the bidirectional screw (6) are respectively in threaded connection with the threaded sliders (8).

4. The binocular camera synchronous control method according to claim 2, wherein: the protection component is including locating on threaded sliding block (8) and being located connect through the pivot between second baffle (7) and the polylith of opening (2) department and lay first baffle (4) on opening (2), spout (5) cell wall connection opening (2) department sets up spacing groove (9) along spout (5) length direction setting, be provided with the stopper that polylith and polylith first baffle (4) one-to-one are connected in spacing groove (9).

5. The binocular camera synchronous control method according to claim 1, wherein: in the step 2, the two cameras (3) are respectively connected with the FPGA through FIFO; after receiving the two groups of image data sent by the two cameras (3), the FPGA extracts effective data in the image data through a VSYNC frame synchronization signal and a HREF line synchronization signal by using a PCLK clock, respectively caches one group of data through the two FIFOs, finally spans a time domain to a working time domain of DDR5, and stores the two groups of data in blocks in the DDR5 through a control module of the DDR 5.

6. The binocular camera synchronous control method according to claim 5, wherein: the image data stored in the DDR5 in the blocking mode starts to be synchronously read by the FPGA when the rising edge of the frame synchronizing signal comes, and the two groups of image data in the DDR5 are respectively cached on a clock for displaying an image in a time-crossing mode through two FIFOs.

Technical Field

The invention relates to the technical field of double cameras, in particular to a binocular camera synchronous control method.

Background

Currently, binocular cameras have been applied to various fields, such as unmanned aerial vehicle flight control, Virtual Reality (VR), motion capture, robots, slam, and unmanned driving. In order to enable the binocular camera to work better and reduce calculation errors, each application scene requires the binocular camera to work completely synchronously, or strict requirements are made on the synchronization errors of the binocular camera. That is, the two cameras are synchronously exposed and synchronously acquire image data as much as possible so as to meet the requirements of the back end on image processing/calculation.

The binocular vision image positioning system is widely applied to the fields of industrial precise alignment, positioning, part confirmation, size measurement, industrial microscopic CCD vision alignment, measurement devices and the like of screen printing machinery, laminating, cutting, PS (polystyrene) punching machines, PCB (printed circuit board) wire repairing machines, PCB punching machines, glass cutting machines, dispensing machines, SMT (surface mount technology) detection, plate pasting machines and the like, and is mainly applied to position identification and positioning of ICs (integrated circuits), chips and circuit boards and vision image positioning systems. Such as: positioning of a punching machine, positioning of a binding machine, absorption and positioning of a transistor, alignment of an IC chip mounter, machine coordinate positioning, robot positioning and direction distinguishing and positioning.

However, the existing binocular camera has poor synchronism, limits the development of the functions of the two cameras, is not beneficial to exerting the performance and the advantages of the binocular camera to the maximum extent, and cannot change the visual range of the binocular camera.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a synchronous control method for binocular cameras, so as to overcome the defects that the synchronism of the binocular cameras in the technical background is poor, the development of the functions of the dual cameras is limited, the performance and the advantages of the binocular cameras are not favorably exerted to the maximum extent, and the visual range of the binocular cameras cannot be changed.

In order to achieve the purpose, the invention provides the following technical scheme: a binocular camera synchronous control method comprises the following steps:

the method comprises the following steps: adjusting the position between the two cameras, adjusting the distance between the two cameras arranged on the base through a control mechanism, and recording the distance between the two cameras;

the method comprises the following steps: the two cameras are controlled through the FPGA, synchronous control signals are sent through the FPGA to control the two cameras to synchronously acquire images, and the two cameras send two image data to the FPGA in parallel through the FIFO.

Preferably, in the step, the control mechanism comprises a base provided with a sliding groove, a control component arranged in the sliding groove and used for controlling the distance between the two cameras, and a protection component arranged at the opening of the sliding groove.

Preferably, the control assembly comprises a bidirectional screw rod arranged in the sliding groove and two thread sliders respectively sleeved at two ends of the bidirectional screw rod and respectively connected with the camera, threads on two ends of the rod body of the bidirectional screw rod are opposite, and two ends of the bidirectional screw rod are respectively in threaded connection with the thread sliders.

Preferably, the protection component is including locating on the screw thread slider and being located connect through the pivot between the second baffle of opening part and the polylith and lay the first baffle on the opening, the spacing groove that sets up along spout length direction is seted up to spout cell wall connection opening part, the spacing inslot is provided with the stopper that polylith and the first baffle one-to-one of polylith are connected.

Preferably, in the step, the two cameras are respectively connected with the FPGA through the FIFO; the FPGA extracts effective data in each image data by utilizing a PCLK clock through a VSYNC frame synchronizing signal and a HREF line synchronizing signal after receiving two groups of image data sent by the two cameras, caches one group of data through the two FIFOs respectively, finally crosses a time domain to a DDR working time domain, and stores the two groups of data in the DDR in a blocking mode through a DDR control module.

Preferably, the image data stored in the DDR in blocks starts to be synchronously read by the FPGA when a rising edge of the frame synchronization signal arrives, and the two sets of data are respectively buffered by the two FIFOs to a clock for displaying an image across a time domain.

Compared with the prior art, the invention provides a binocular camera synchronous control method, which has the following beneficial effects:

in the invention, two cameras in the binocular camera send two groups of data to the FPGA with the same clock frequency but not synchronous signals, the two groups of data are independently and parallelly stored in the DDR5 in the storage process, the two groups of data in the DDR5 are synchronously read through the FPGA, the two groups of data are respectively cached on a clock for displaying images in a cross-time domain mode through FIFO (first in first out) respectively, the image data synchronization collected by the binocular camera is realized, and the two cameras are synchronously controlled to move on the base through the control mechanism so as to change the distance between the two cameras, so that the common visual range of the two cameras can be conveniently adjusted.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

fig. 1 is a schematic diagram of a simple structure of a binocular camera synchronization control method provided by the invention.

Fig. 2 is a schematic view of a binocular camera structure according to the present invention.

Fig. 3 is a schematic view of the binocular camera and a part of the internal structure thereof.

Fig. 4 is a schematic view of the internal structure of the binocular camera of the present invention.

Fig. 5 is a schematic view of the base structure of the present invention.

In the figure: 1. a base; 2. an opening; 3. a camera; 4. a first baffle plate; 5. a chute; 6. a bidirectional screw; 7. a second baffle; 8. a threaded slider; 9. a limiting groove; 10. a storage tank.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood, the invention is further described below with reference to the specific embodiments and the attached drawings, but the following embodiments are only the preferred embodiments of the invention, and not all embodiments are provided. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 5, a binocular camera synchronous control method includes the following steps:

step 1: adjusting the position between the two cameras 3, adjusting the distance between the two cameras 3 arranged on the base 1 through a control mechanism, and recording the distance between the two cameras 3; the control mechanism comprises a base 1 provided with a sliding chute 5, a control component which is arranged in the sliding chute 5 and controls the distance between the two cameras 3, and a protection component which is arranged at an opening 2 of the sliding chute 5; the control component comprises a bidirectional screw 6 arranged in the chute 5 and two threaded sliders 8 which are respectively sleeved at two ends of the bidirectional screw 6 and are respectively connected with the camera 3, the threads on two ends of the rod body of the bidirectional screw 6 are opposite, and two ends of the bidirectional screw 6 are respectively in threaded connection with the threaded sliders 8; the protective assembly comprises a second baffle 7 arranged on the threaded sliding block 8 and positioned at the opening 2 and a plurality of first baffles 4 which are connected through a rotating shaft and are laid on the opening 2, a limiting groove 9 arranged along the length direction of the sliding groove 5 is formed at the position where the groove wall of the sliding groove 5 is connected with the opening 2, and a plurality of limiting blocks connected with the plurality of first baffles 4 in a one-to-one correspondence mode are arranged in the limiting groove 9; the FPGA is connected with the motor, the FPGA sends signals to control the motor to rotate conveniently, the bidirectional screw 6 is driven to rotate by the motor, the two ends of the bidirectional screw 6 are opposite in thread and are respectively connected with the thread sliding blocks 8 in thread, so that the two thread sliding blocks 8 are driven to move in opposite directions or deviate from each other, thereby being convenient for changing the distance between the cameras 3 arranged on the two threaded sliding blocks 8 and adjusting the common visual range between the two cameras 3, the threaded sliding blocks 8 are all arranged on a second baffle 7 positioned at the outlet of the opening 2, and the outlet of the opening is provided with a plurality of first baffles 4 laid at the outlet of the opening 2 and used for preventing external factors from damaging the bidirectional screw 6, the first baffle plates 4 are connected through rotating shafts, and the wall of the first baffle plate 4, which is close to the chute 5, is provided with a limiting block positioned in the limiting groove 9, so that the first baffle plate 4 moves out of the opening 2; and set up the hold up tank 10 of placing first baffle 4 on the cell wall at spout 5 both ends, when two screw thread sliders 8 closed on the both ends of spout 5 respectively, first baffle 4 that add-on moved back to in the hold up tank 10.

Step 2: the two cameras 3 are controlled through the FPGA, synchronous control signals are sent through the FPGA to control the two cameras 3 to synchronously acquire images, and the two cameras 3 send two image data to the FPGA in parallel through the FIFO; the two cameras 3 are respectively connected with the FPGA through FIFO; after receiving the two groups of image data sent by the two cameras 3, the FPGA extracts effective data in each image data by utilizing a PCLK clock through a VSYNC frame synchronization signal and a HREF line synchronization signal, respectively caches one group of data through the two FIFOs, finally spans a time domain to a working time domain of DDR5, and stores the two groups of data in blocks in the DDR5 through a control module of the DDR 5; the image data is stored in the DDR5 in a blocking mode, when a rising edge of a frame synchronizing signal comes, the FPGA starts to synchronously read two groups of image data in the DDR5, and the two groups of data are respectively cached on a clock for displaying an image in a time-crossing mode through two FIFOs; the FPGA is convenient for realizing the high-speed cache of binocular stereo image acquisition by controlling the DDR5 SDRAM and is convenient for the image synchronization of a binocular camera; the output resolution of the camera 3 is 1920 × 1080, and each pixel is composed of 16 bits, so that the memory space C occupied by one frame of image is: when the rising edge of a frame synchronization signal of an output image arrives, the FPGA starts to synchronously read two groups of image data in the DDR5, and two groups of data are respectively cached by two FIFOs to a clock for displaying the image in a cross-time domain mode, so that the image data collected by the binocular camera is synchronized conveniently.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.