CN-115225778-B - Image acquisition method, device, equipment and computer readable storage medium

CN115225778BCN 115225778 BCN115225778 BCN 115225778BCN-115225778-B

Abstract

The application provides an image acquisition method, an image acquisition device, image acquisition equipment and a computer readable storage medium, which are applied to the image acquisition equipment, wherein the image acquisition equipment comprises at least two image sensors with different photosensitive wave bands, the method comprises the steps of controlling the at least two image sensors to sequentially move to a target position for acquiring images, stopping moving the at least two image sensors when each image sensor moves to the target position, acquiring images through the image sensor positioned at the target position to obtain corresponding image data, and performing parameter alignment processing on the acquired at least two image data to obtain the image data with aligned parameters as acquired target image data. According to the application, a plurality of aligned target image data can be ensured to be obtained, and the computing resource is saved.

Inventors

ZHAO WEI
GUO RUNZENG
WANG SHAOMING
HONG ZHEMING
WANG JUN
Peng Xukang

Assignees

腾讯科技（深圳）有限公司

Dates

Publication Date: 20260505
Application Date: 20210416

Claims (13)

1. The image acquisition method is characterized by being applied to image acquisition equipment, wherein the image acquisition equipment comprises a lens, at least two image sensors with different photosensitive wave bands, a base, a dither unit, a time sequence control unit and a self-alignment digital signal processing unit, and the at least two image sensors are fixed on the base, and the method comprises the following steps: the high-frequency vibration unit is controlled to move the base through the time sequence control unit according to the sequence of image acquisition of at least two image sensors, and the image sensors are controlled to move along with the base aiming at each image sensor; determining that the image sensor is aligned with the lens when the image sensor is moved directly under the lens, and determining that the image sensor is moved to a target position when the image sensor is moved to a position aligned with the lens; When the image sensor is controlled to move along the base, accelerating to a preset speed at a preset acceleration, and when the distance between the image sensor and the target position is a preset distance, gradually decelerating until stopping at the target position; wherein the order in which the image acquisition is performed is determined by: When an image acquisition instruction is received, acquiring the distance between the position of each image sensor and the target position, and sequencing the image sensors according to the distance from small to large to obtain the sequence of image acquisition; stopping moving the image sensors when each image sensor moves to the target position, and acquiring images through the image sensors positioned at the target positions to obtain corresponding image data; For each image sensor, after obtaining corresponding image data, controlling the image sensor to be far away from the target position; The image data are sent to the self-alignment digital signal processing unit through the time sequence control unit, and sensor parameters corresponding to the image data are obtained through the self-alignment digital signal processing unit, wherein the sensor parameters comprise at least one of a field angle and resolution; And adjusting the sensor parameters of the image data to be the same as the sensor parameters of the image data with the lowest sensor parameters, and taking the image data with the aligned parameters as acquired target image data.
2. The method of claim 1, wherein at least two of the image sensors are horizontally fixed to the base; The stopping moving of the image sensors when each of the image sensors moves to the target position includes: And controlling the base to stop moving when each image sensor moves to the target position.
3. The method of claim 2, wherein the image acquisition device further comprises a slide assembly for sliding the base, the base being positioned over and in sliding connection with the slide assembly; the controlling the dither unit to move the base includes: and controlling the dither unit to drive the base to slide on the sliding assembly.
4. The method of claim 2, wherein said controlling said dither unit to move said base comprises: When at least two image sensors are arranged on the base in a straight line, the dither unit is controlled to drive the base to translate along the straight line.
5. The method of claim 1, wherein the acquiring the image by the image sensor at the target location to obtain the corresponding image data comprises: and acquiring images through the lens by an image sensor aligned with the lens to obtain corresponding image data.
6. The method of claim 1, wherein the acquiring the image by the image sensor at the target location to obtain the corresponding image data comprises: when the image sensor at the target position is an infrared sensor, emitting infrared light through the infrared sensor; When the infrared light irradiates the shot object and diffuse emission occurs, the diffuse reflected infrared light is captured by the infrared light photosensitive element in the infrared sensor, and corresponding infrared image data are obtained.
7. The method of claim 1, wherein the acquiring the image by the image sensor at the target location to obtain the corresponding image data comprises: When the image sensor at the target position is a color sensor, capturing visible light by a visible light photosensitive element in the color sensor to obtain corresponding color image data.
8. The method of claim 1, wherein the step of using the parameter-aligned image data as the acquired target image data further comprises: Transmitting at least two target image data obtained by parameter alignment to a terminal; The target image data is used for identifying objects contained in the target image data to obtain an identification result corresponding to the target image data.
9. The image acquisition device is characterized by being arranged on image acquisition equipment, wherein the image acquisition equipment comprises a lens, at least two image sensors with different photosensitive wave bands, a base, a dither unit, a time sequence control unit and a self-alignment digital signal processing unit, at least two image sensors are fixed on the base, and the device comprises: The control module is used for controlling the dither unit to move the base according to the sequence of image acquisition of at least two image sensors through the time sequence control unit, controlling the image sensors to follow the base to move for each image sensor, determining that the image sensor is aligned with the lens when the image sensor moves to the position right below the lens, determining that the image sensor moves to a target position when the image sensor moves to the position aligned with the lens, only one image sensor is positioned at the target position at the same time, accelerating to a preset speed with preset acceleration when the image sensor is controlled to follow the base, and gradually decelerating until stopping at the target position when the distance between the image sensor and the target position is a preset distance; wherein the order in which the image acquisition is performed is determined by: When an image acquisition instruction is received, acquiring the distance between the position of each image sensor and the target position, and sequencing the image sensors according to the distance from small to large to obtain the sequence of image acquisition; The acquisition module is used for stopping moving the image sensors when each image sensor moves to the target position, and acquiring images through the image sensors positioned at the target positions to obtain corresponding image data; The control module is further used for controlling the image sensors to be far away from the target position after corresponding image data are obtained for each image sensor; The alignment module is used for sending the image data to the self-alignment digital signal processing unit through the time sequence control unit, acquiring sensor parameters corresponding to the image data through the self-alignment digital signal processing unit, wherein the sensor parameters comprise at least one of a field angle and a resolution ratio, adjusting the sensor parameters of the image data to be the same as the sensor parameters of the image data with the lowest sensor parameters, and taking the image data with the aligned parameters as acquired target image data.
10. The apparatus of claim 9, wherein at least two of said image sensors are horizontally fixed to said base; the control module is also used for controlling the base to stop moving when each image sensor moves to the target position.
11. A computer device, comprising: a memory for storing executable instructions; A processor for implementing the image acquisition method of any one of claims 1 to 8 when executing executable instructions stored in the memory.
12. A computer readable storage medium storing executable instructions for implementing the image acquisition method of any one of claims 1 to 8 when executed by a processor.
13. A computer program product comprising computer-executable instructions or a computer program, which, when executed by a processor, implements the image acquisition method of any one of claims 1 to 8.

Description

Image acquisition method, device, equipment and computer readable storage medium Technical Field The present application relates to image processing technology, and in particular, to an image acquisition method, apparatus, device, and computer readable storage medium. Background With the continuous development of computer technology, image processing is increasingly widely used, and in order to improve the accuracy of image processing, images are generally acquired through a plurality of image sensors. In the related art, a plurality of image sensors are generally arranged horizontally, and the position of each image sensor is fixed, so that the image data collected by the plurality of image sensors can be aligned only at a specific distance, but cannot be aligned at other distances. Disclosure of Invention The embodiment of the application provides an image processing method, an image processing device, image processing equipment and a computer readable storage medium, which can obtain aligned target image data and save computing resources. The technical scheme of the embodiment of the application is realized as follows: the embodiment of the application provides an image acquisition method, which is applied to image acquisition equipment, wherein the image acquisition equipment comprises at least two image sensors with different photosensitive wave bands, and comprises the following steps: Controlling the at least two image sensors to sequentially move to a target position for collecting images; stopping moving the at least two image sensors when each image sensor moves to the target position, and acquiring images through the image sensors positioned at the target positions to obtain corresponding image data; And carrying out parameter alignment processing on at least two acquired image data to obtain the image data with aligned parameters as acquired target image data. The embodiment of the application provides an image acquisition device, which is arranged on image acquisition equipment, wherein the image acquisition equipment comprises at least two image sensors with different photosensitive wave bands, and the image acquisition device comprises: The control module is used for controlling the at least two image sensors to sequentially move to a target position for collecting images; the acquisition module is used for stopping moving the at least two image sensors when each image sensor moves to the target position, and acquiring images through the image sensors positioned at the target positions to obtain corresponding image data; And the alignment module is used for carrying out parameter alignment processing on at least two acquired image data to obtain the image data with aligned parameters as acquired target image data. In the above scheme, the image acquisition device further comprises a base, and the at least two image sensors are horizontally fixed on the base; The control module is also used for controlling the base to move, and the movement of the base drives the at least two image sensors to be linked and sequentially move to a target position for collecting images; and stopping moving the at least two image sensors when each of the image sensors moves to the target position, comprising: And controlling the base to stop moving when each image sensor moves to the target position. In the above scheme, the image acquisition device further comprises a sliding component for sliding the base, wherein the sliding component is a chute or a slide rail, and the base is positioned above the sliding component and is in sliding connection with the sliding component; the control module is also used for controlling the base to slide on the sliding component. In the above scheme, the control module is further configured to control the base to translate along the straight line when the at least two image sensors are arranged on the base in the straight line. In the above scheme, the control module is further configured to control the base to rotate when the at least two image sensors are arranged in a circular ring on the base. In the above scheme, the image acquisition device comprises a slide rail, and the at least two image sensors are horizontally arranged on the slide rail and are in sliding connection with the slide rail; The control module is also used for controlling the at least two image sensors to slide along the sliding rail and sequentially slide to a target position for collecting images. In the above scheme, the control module is further configured to obtain a movement time point of each image sensor; When the moving time point of each image sensor arrives, controlling the corresponding image sensor to move from the initial position of the image sensor to a target position for acquiring an image; and moving the image sensor at the target position to an initial position of the image sensor. In the above scheme, the image acquisition device further comprises a lens; The control module is further