CN105763809A - Bionic mantis shrimp compound eye image information collection system and working method thereof - Google Patents
Bionic mantis shrimp compound eye image information collection system and working method thereof Download PDFInfo
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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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
- H04N23/71—Circuitry for evaluating the brightness variation
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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
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
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- Image Input (AREA)
Abstract
The invention relates to a bionic mantis shrimp compound eye image information collection system and a working method thereof. The system comprises a compound eye lens array for the compound eye collection of the information of a target scene. The compound eye lens array comprises a plurality of small-eye image collection units, and a guide rail assembly which is formed by the central symmetry jointing of a plurality of guide rails. Each small-eye image collection unit is located at the corresponding guide rail transmission mechanism, and the small-eye image collection units are symmetrically distributed relative to the center of the guide assembly. The small-eye image collection units respectively comprise a lens and an imaging device located at the lower end of the lens. The system also comprises a processor module which is connected with the imaging devices, and the processor module is suitable to be used for extracting the brightness values, obtained by all imaging devices, of the target scene, and controlling all small-eye image collection units to make synchronous movement in opposite directions along the guide rails, so as to adjusting the vision range of the compound eye lens array.
Description
Technical field
The present invention relates to a kind of image information collecting system and method for work, particularly relate to image information collecting system and the method for work of a kind of imitative squill compound eye.
Background technology
In the prior art, by DMD, scene image is sampled, owing to light intensity change directly affects image quality, so there will be light strong time, definition is high, and when light is weak, definition reduces, and noise increases；Although having a lot of software processing method to improve the definition under decreased light, but treatment effect being not good, for instance, nearest-neighbor interpolation method, bilinear interpolation method, bi-cubic interpolation method etc..Bilinear interpolation method has higher reconstruct accuracy than nearest-neighbor interpolation method, and more preferably, but image there will be sawtooth and blooming to image recovery effects.Although the quality reconstruction of bi-cubic interpolation method is better than the above two, but to sacrifice efficiency for cost, its spent time is several times even tens times of other method.These algorithms only consider the dependency of local pixel and the overall situation simultaneously, have certain effect improving, but but destroy the high frequency detail of original image in image recovery effects.
Now studies have found that, insecticide has comparatively broad living environment, for instance, the waters that squill lives extends to 100 meters under water under water 50 meters.In this context, combined effect due to solar irradiation and aqueous medium, its illumination condition produces violent change, in order to adapt to this changeable living environment, these species are under the premise that ommatidium arrangement architecture is fixed, by the combined effect of crystalline lens, rhabdom, the size of adaptive adjustment light acceptance angle, in the ken of whole compound eye, form overlap in various degree, finally receive the optical information of different qualities according to different light environments.Under bright and dark two kinds of illumination conditions, squill is by the lax of myofilament and tightens the length regulating crystalline lens and rhabdom, thus realizing the effect that the ommatidium ken reduces or expands, obtaining metastable photon numbers or good spatial resolution, making the two reach balance.According to acquired results in laboratory conditions, squill is under different illumination intensity environment, and the imaging of its compound eye goes extensive angle and the ken that respective change can occur, and as under brightness adaptation, its ommatidium ken is 5 degree, is under corresponding dark adaptation 2.5 times of 2 degree of ommatidium kens.The imaging control mechanism of this Compound Eye of Insects according to the scope changing the adjustment ken of environment illumination intensity, if being applied in image sampling process by this bionics principle, will can greatly improve the imaging effect of sampled images.
Summary of the invention
The technical problem to be solved is to provide image information collecting system and the method for work of a kind of imitative squill compound eye, and this image information collecting system and method for work solve the average brightness (i.e. environment illumination intensity) according to target scene and carry out the technical problem of Automatic adjusument image sampling FOV (Field of View).
In order to solve the problems referred to above, the invention provides a kind of image information collecting system, including: the fly eye lens array of target scene information is gathered for compound eye, this fly eye lens array includes several ommatidium images collecting units, the guide assembly being spliced by centrosymmetry mode by some guide rails, each ommatidium images collecting unit lays respectively in respective track, and be distributed by the centrosymmetry of this guide assembly, wherein, described ommatidium images collecting unit includes lens, is positioned at the image device of this lens rear；
The processor module being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit to synchronize towards or away from constant speed movement along described guide rail respectively according to the drive mechanism in this average brightness each guide rail of control, to regulate the FOV (Field of View) of fly eye lens array；
Wherein, when described average brightness weakens, described processor module controls each ommatidium images collecting unit and moves towards respective distance respectively along guide rail to the inside, to shrink FOV (Field of View)；When described average brightness strengthens, described processor module controls ommatidium images collecting unit and is moved away from respective distance respectively along guide rail laterally, to expand FOV (Field of View).
Further, in order to obtain the bigger ken, described guide rail is arc-shaped guide rail.
In order to solve the problems referred to above, present invention also offers the method for work of a kind of image information collecting system；
Described image information collecting system, including: the fly eye lens array of target scene information is gathered for compound eye, this fly eye lens array includes several ommatidium images collecting units, the guide assembly being spliced by centrosymmetry mode by some guide rails, each ommatidium images collecting unit lays respectively in respective track, and is distributed by the centrosymmetry of this guide assembly, wherein, described ommatidium images collecting unit includes lens, is positioned at the image device of this lens rear；
The processor module being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit to synchronize towards or away from constant speed movement along described guide rail respectively according to the drive mechanism in this average brightness each guide rail of control, to regulate the FOV (Field of View) of fly eye lens array；
The method of work of described image information collecting system, including: when described average brightness weakens, described processor module controls each ommatidium images collecting unit and moves towards respective distance respectively along guide rail to the inside, to shrink FOV (Field of View)；When described average brightness strengthens, described processor module controls ommatidium images collecting unit and is moved away from respective distance respectively along guide rail laterally, to expand FOV (Field of View).
Further, in order to obtain the bigger ken, described guide rail is arc-shaped guide rail.
The present invention has positive effect relative to prior art: (1) present invention is moved by several ommatidium images collecting units in fly eye lens array and regulates size of field of view, achieve the average brightness when target scene (i.e. environment illumination intensity) when strengthening, described processor module controls each ommatidium images collecting unit and is moved away from respective distance respectively along guide rail laterally, to expand FOV (Field of View)；When the brightness value (i.e. environment illumination intensity) of target scene weakens, described processor module controls each ommatidium images collecting unit and moves towards respective distance respectively along guide rail to the inside, to shrink FOV (Field of View)；After FOV (Field of View) reduces, the single ken of each ommatidium images collecting unit, when gathering target scene, necessarily has ken lap, utilizes ken lap to improve the definition of image, it is to avoid pure software algorithm improves the technological deficiency brought of definition.(2) present invention utilizes the ommatidium images collecting unit of movement to realize the compound eye function of similar squill, lower than traditional many ommatidium images collecting units of N realize compound eye functional cost.
Accompanying drawing explanation
In order to know the innovative principle that the present invention is described and the technical advantage compared to existing product thereof, by applying the limiting examples of described principle, one possible embodiment is described below by way of accompanying drawing.In the drawings:
Fig. 1 is the first embodiment of the image information collecting system of the present invention the schematic diagram when environment illumination intensity weakens；
Fig. 2 is the first embodiment of the image information collecting system of the present invention the schematic diagram when environment illumination intensity strengthens；
Fig. 3 is the second embodiment of the image information collecting system of the present invention schematic diagram when environment illumination intensity weakens；
Fig. 4 is the second embodiment of the image information collecting system of the present invention schematic diagram when environment illumination intensity weakens；
Fig. 5 is the structural representation of two guide rail body of the fly eye lens array of the present invention;
Fig. 6 is a kind of drive mechanism schematic diagram of two guide rail body of the fly eye lens array of the present invention;
Fig. 7 is the another kind of drive mechanism schematic diagram of two guide rail body of the fly eye lens array of the present invention;
Fig. 8 is the structural representation of the single guide rail body of the fly eye lens array of the present invention
Fig. 9 is the single guide rail body of the present invention, slide block and ommatidium images collecting unit structural representation；
Figure 10 is the control circuit structural representation of the fly eye lens array of the present invention.
Wherein, 1 ommatidium images collecting unit, 1-1 ommatidium outer cover body, 2 lens, 3 image devices, 4 guide rails, 4-1 drive, 4-2 transmission band, 4-3 guide rail body, 4-4 single guide rail body, 5 target scene, 6 central points, 7 ken laps, 8 slide blocks, 8-1 roller, 8-2 micro-driving motor, 8-3 slide block shell, 8-4 blend stop.
Detailed description of the invention
Embodiment 1
See Fig. 1-5, Fig. 8 and Figure 10, a kind of image information collecting system, including: the fly eye lens array of target scene information is gathered for compound eye, this fly eye lens array includes several ommatidium images collecting units 1, the guide assembly being spliced by centrosymmetry mode by some guide rails 4, each ommatidium images collecting unit 1 lays respectively in respective track 4, and it is symmetrical by the central point 6 of this guide assembly, wherein, described ommatidium images collecting unit 1 includes lens 2, is positioned at the image device 3 of this lens 2 rear end；
The processor module being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit 1 to synchronize towards or away from constant speed movement (see Fig. 5 and Fig. 8 along described guide rail 4 respectively according to the drive mechanism in this average brightness each guide rail of control, the direction of arrow that A represents), to regulate the FOV (Field of View) of fly eye lens array；
Wherein, when described average brightness weakens, described processor module controls each ommatidium images collecting unit 1 and moves towards respective distance to the inside along guide rail 4 respectively, to shrink FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding dashed rectangle direction；
When described average brightness strengthens, described processor module controls ommatidium images collecting unit 1 and is moved away from respective distance laterally along guide rail 4 respectively, to expand FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding solid line boxes direction.
The average brightness of described target scene is properly termed as environment illumination intensity, and the method that the target scene obtained by each image device extracts average brightness, may refer to Chinese patent literature CN202696754U, it discloses processor to be connected with imageing sensor the brightness value to obtain video signal, wherein imageing sensor is equal to described image device 3.
Wherein, symmetrical by the central point 6 of this guide assembly, it is exactly according to four guide rails 4 specifically, launches so that central point 6 is symmetrical, namely angle between each guide rail 4 is equal is 90 degree.It is square structure that lens 2 adopt in the present embodiment, it would however also be possible to employ the structure of rectangle or circle.The average brightness of described target scene or environment illumination intensity can also pass through light sensor, namely adopt photoconductive resistance and A/D module, and wherein A/D module can adopt AD9850 or PCF8591, it is possible to is arranged on the position of described central point 6.
Wherein Fig. 1-5 adopts four ommatidium images collecting units and four guide rails to realize technical scheme, will in detail technical scheme be illustrated in example 2.
Embodiment 2
On embodiment 1 basis, for explanation technical scheme clearly, in implementation below, fly eye lens array includes four ommatidium images collecting units, the technical scheme that guide assembly is spliced by X-shaped symmetric mode by four guide rails.
See Fig. 1-5, Fig. 8 and Figure 10, a kind of image information collecting system, including: the fly eye lens array of target scene information is gathered for compound eye, this fly eye lens array includes four ommatidium images collecting units 1, the guide assembly being spliced by centrosymmetry mode by four guide rails 4, described four ommatidium images collecting units 1 lay respectively in respective track 4, and it is symmetrical by the central point 6 of this guide assembly, wherein, described ommatidium images collecting unit 1 includes lens 2, is positioned at the image device 3 of this lens 2 rear end；
The processor module being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit 1 to synchronize towards or away from constant speed movement (see Fig. 5 and Fig. 8 along described guide rail 4 respectively according to the drive mechanism in this average brightness each guide rail of control, the direction of arrow that A represents), to regulate the FOV (Field of View) of fly eye lens array；
Wherein, when described average brightness weakens, described processor module controls each ommatidium images collecting unit 1 and moves towards respective distance to the inside along guide rail 4 respectively, to shrink FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding dashed rectangle direction；
When described average brightness strengthens, described processor module controls ommatidium images collecting unit 1 and is moved away from respective distance laterally along guide rail 4 respectively, to expand FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding solid line boxes direction.
Described guide rail 4 detailed description of the invention one, see Fig. 1, Fig. 2, Fig. 5 and Fig. 8, described guide rail 4 is that the line slideway being made up of two guide rail body 4-3 is spliced, with drive mechanism in this line slideway, see Fig. 6, drive mechanism detailed description of the invention one, the ommatidium outer cover body 1-1 of described ommatidium images collecting unit 1 adopts square column structure, this ommatidium outer cover body 1-1 is respectively provided on two sides with and the described guide rail body 4-3 groove coordinated, it is provided with drive mechanism in described guide rail body 4-3, this drive mechanism includes several drives 4-1, described each drive 4-1 is controlled by some micro-driving motor 8-2 to rotate respectively respectively, it is provided with the flank of tooth in described groove, described drive 4-1 is suitable to and the gear of described flank engagement；That is, described processor module controls each micro-driving motor 8-2 synchronous axial system by motor drive module, synchronizes towards or away from constant speed movement along described line slideway respectively thus controlling each ommatidium images collecting unit 1.
See Fig. 5, drive mechanism detailed description of the invention two on described guide rail 4 detailed description of the invention one basis, drive mechanism can adopt drive 4-1 and transmission band 4-2 to coordinate, described line slideway is respectively arranged at two ends with drive 4-1, article two, each drive 4-1 in guide rail body 4-3 drives corresponding transmission band 4-2 Synchronous Transmission, being provided with the flank of tooth in groove according to described guide rail 4 detailed description of the invention one, the described transmission surface with 4-2 is provided with and the flank of tooth of groove flank engagement；That is, described processor module controls each micro-driving motor synchronous axial system by motor drive module, synchronizes towards or away from constant speed movement along described line slideway respectively thus controlling each ommatidium images collecting unit 1；Additionally drive mechanism can also adopt Timing Belt Chain conveyer.
See Fig. 7, it is on the basis that the line slideway being made up of two guide rail body 4-3 is spliced at described guide rail 4, drive mechanism detailed description of the invention three, ommatidium outer cover body 1-1 adopts square column structure, this ommatidium outer cover body 1-1 is respectively provided on two sides with chamber, it is provided with drive mechanism in described chamber, this drive mechanism includes drive 4-1, drives the micro-driving motor 8-2 of drive 4-1, described guide rail body 4-3 side is provided with and the drive 4-1 groove coordinated, and this groove is provided with the flank of tooth, described drive 4-1 is and the gear of described flank engagement；That is, described processor module controls micro-driving motor 8-2 synchronous axial system by motor drive module, synchronizes towards or away from constant speed movement along described line slideway respectively thus controlling each ommatidium images collecting unit 1.
Described guide rail 4 detailed description of the invention two, see Fig. 8 and Fig. 9, described guide rail 4 can also adopt four single guide rail body 4-4 to realize, specifically, the guide assembly that described four single guide rail body 4-4 are spliced by X-shaped symmetric mode, each single guide rail body 4-4 is respectively equipped with the slide block (totally 4 slide blocks) being slidably matched with this guide rail body, the end face of each slide block is fixed each ommatidium images collecting unit 1 respectively, it is provided with inside this slide block and rolls, with described single guide rail body 4-4, the roller 8-1 coordinated, this roller 8-1 is controlled to rotate by micro-driving motor 8-2, this micro-driving motor 8-2 is controlled by motor drive module by described processor module.Synchronizing towards or away from constant speed movement to better realize each ommatidium images collecting unit 1, the end face of described single guide rail body 4-4 is the flank of tooth, and described roller 8-1 is suitable to and the gear of described flank engagement.The end face both sides of described single guide rail body 4-4 are provided with for the blend stop 8-4 that described roller is spacing.
Described guide rail 4 detailed description of the invention three, see Fig. 3 and Fig. 4, in order to obtain the bigger ken, it is arc-shaped guide rail at described guide rail 4, from front, the structure of arc-shaped guide rail is similar to line slideway (Fig. 5 or Fig. 8), it is spliced by the guide rail body 4-3 with certain radian, it is possible to adopt guide rail embodiment one or two, two guide rail body or single guide rail body, and the scheme of corresponding drive mechanism realizes, FOV (Field of View) can be expanded greatly by arc-shaped guide rail.
Wherein, described processor module controls above-mentioned micro-driving motor synchronous axial system by motor drive module is technological means customary in the art.
Described processor module can adopt single-chip microcomputer, for instance 51 series, or adopts DSP module, for instance DSP2812.
Described image device 3 can adopt CCD, cmos sensor or DMD DMD.
The present invention passes through hardware modifications, the i.e. improvement of described fly eye lens array, particularly, movement along with each ommatidium images collecting unit 1, it is achieved that when described average brightness strengthens, expands FOV (Field of View), because when intensity of illumination is higher, image is clearly, therefore can improve FOV (Field of View)；Otherwise, when weakening when described average brightness, shrink FOV (Field of View), the target scene 5 that so during operation, each ommatidium images collecting unit 1 obtains has ken overlap, though the ken of sacrificing, refer to Fig. 1 and Fig. 3 according to ken lap 7(, the common portion of the target scene 5 that each lens photograph), effectively raising image definition, what overcome background technology introduction improves, by software, the defect that definition brings.
Embodiment 3
Implementing on the basis of 1 and 2, it would however also be possible to employ two ommatidium images collecting units and two guide rails realize, guide rail is yi word pattern distribution.
Apparent, it is also possible to adopt three ommatidium images collecting units and three guide rails to realize, i.e. centrosymmetry distribution mode, every guide rail is 120 degree of angles.
It is also possible to adopt six ommatidium images collecting units and six guide rails to realize, i.e. centrosymmetry distribution mode, every guide rail is 60 degree of angles.
Obviously, according to technical scheme provided by the invention, it is evident that discovery, ommatidium images collecting unit and corresponding guide rail quantity are more many, the then compound eye image information gathering better effects if of the present invention, when the intensity of illumination of target scene is more weak, more can clearly gather image information.
Owing to each technical scheme in this embodiment 3 all can be obtained by Fig. 1-5 deformation, so be evident from for a person skilled in the art.
Embodiment 4
See Fig. 1-5, Fig. 8 and Figure 10, the method of work of a kind of image information collecting system on embodiment 1 basis, this image information collecting system includes: gather the fly eye lens array of target scene information for compound eye, this fly eye lens array includes several ommatidium images collecting units 1, the guide assembly being spliced by X-shaped symmetric mode by some guide rails 4, each ommatidium images collecting unit 1 lays respectively in respective track 4, and it is symmetrical by the central point 6 of this guide assembly, wherein, described ommatidium images collecting unit 1 includes lens 2, it is positioned at the image device 3 of this lens 2 rear end；
The processor module being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit 1 to synchronize towards or away from constant speed movement (see Fig. 5 and Fig. 8 along described guide rail 4 respectively according to the drive mechanism in this average brightness each guide rail of control, the direction of arrow that A represents), to regulate the FOV (Field of View) of fly eye lens array；
The method of work of described image information collecting system, including:
Wherein, when described average brightness weakens, described processor module controls each ommatidium images collecting unit 1 and moves towards respective distance to the inside along guide rail 4 respectively, to shrink FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding dashed rectangle direction；
When described average brightness strengthens, described processor module controls ommatidium images collecting unit 1 and is moved away from respective distance laterally along guide rail 4 respectively, to expand FOV (Field of View) (see Fig. 5 or Fig. 8, each ommatidium images collecting unit 1 moves respectively) to corresponding solid line boxes direction.
Obviously, above-described embodiment is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change that these spirit belonging to the present invention are extended out or variation are still among protection scope of the present invention.
Claims (1)
1. the method for work of an image information collecting system, it is characterised in that described image information collecting system includes:
The fly eye lens array of target scene information is gathered for compound eye, this fly eye lens array includes several ommatidium images collecting units, the guide assembly being spliced by centrosymmetry mode by some guide rails, each ommatidium images collecting unit lays respectively in respective track, and be distributed by the centrosymmetry of this guide assembly, wherein, described ommatidium images collecting unit includes lens, is positioned at the image device of this lens rear；
The processor module being used for being connected with each image device, this processor module is suitable to extract the average brightness of the target scene that each image device obtains, and drive corresponding ommatidium images collecting unit to synchronize towards or away from constant speed movement along described guide rail respectively according to the drive mechanism in this average brightness each guide rail of control, to regulate the FOV (Field of View) of fly eye lens array；
The method of work of described image information collecting system, including:
When described average brightness weakens, described processor module controls each ommatidium images collecting unit and moves towards respective distance respectively along guide rail to the inside, to shrink FOV (Field of View)；
When described average brightness strengthens, described processor module controls ommatidium images collecting unit and is moved away from respective distance respectively along guide rail laterally, to expand FOV (Field of View).
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