技术领域technical field
本发明属航拍相机设计技术领域，尤其涉及一种多通道航拍相机自动曝光方法及装置。The invention belongs to the technical field of aerial camera design, and in particular relates to an automatic exposure method and device for a multi-channel aerial camera.
背景技术Background technique
近年来，多通道航拍相机以低成本、机动灵活、快速响应等优势,在智慧农业、应急遥感、光谱探测等领域显示出了十分广阔的应用前景。多通道航拍相机要求多个成像通道同步曝光，由于探测器对不同光谱的响应不一致，如何合理的设置多个成像通道的曝光时间以获取优质的图像，一直以来是航拍相机设计的难点。In recent years, multi-channel aerial photography cameras have shown broad application prospects in the fields of smart agriculture, emergency remote sensing, and spectral detection with the advantages of low cost, flexibility, and quick response. A multi-channel aerial camera requires simultaneous exposure of multiple imaging channels. Due to the inconsistent response of detectors to different spectra, how to reasonably set the exposure time of multiple imaging channels to obtain high-quality images has always been a difficult point in the design of aerial cameras.
传统的解决方法有两种：第一种是对航拍相机进行标定。航拍任务过程中，应用测光设备对光照度进行实时测量，根据地面目标反射率建模数据，计算得到各个成像通道的曝光时间。第二种是采用视频相机的自动曝光设计方法。实时分析当前帧图像的特征信息(灰度平均值、直方图信息等)，根据一定的算法规则，对下一帧图像或隔一帧图像的曝光时间进行调整，逐步逼近，最终得到合适的曝光时间。There are two traditional solutions: the first is to calibrate the aerial camera. During the aerial photography mission, the light metering equipment is used to measure the illuminance in real time, and the exposure time of each imaging channel is calculated according to the ground target reflectance modeling data. The second is to adopt the automatic exposure design method of the video camera. Real-time analysis of the feature information of the current frame image (gray average value, histogram information, etc.), according to certain algorithm rules, adjust the exposure time of the next frame image or the next frame image, gradually approaching, and finally get a suitable exposure time.
第一种方法，首先航拍相机的制造成本更高，重量更大；其次在航拍相机前要进行大量的标定工作；最后由于建模数据不完善，仍不可避免的会出现区域曝光过度或曝光不足的情况。第二种方法，曝光设置合理性完全依赖于相邻两帧图像的相关性，由于航拍相机的前后两帧图像的重叠率一般不高于70％，在图像亮暗变化较大时，图像曝光过度或曝光不足的情况也时有发生。The first method, first of all, the manufacturing cost of the aerial camera is higher and the weight is heavier; secondly, a lot of calibration work needs to be done before the aerial camera; finally, due to the imperfect modeling data, it is still inevitable that there will be regional overexposure or underexposure Case. In the second method, the rationality of exposure setting depends entirely on the correlation between two adjacent frames of images. Since the overlap rate of the two frames of images before and after the aerial camera is generally not higher than 70%, when the image changes greatly in brightness and darkness, the image exposure Over or under exposure also happens from time to time.
基于此，亟需一种成本低、精度高的多通道航拍相机曝光方法及装置以解决现有技术中存在的问题。Based on this, there is an urgent need for a low-cost, high-precision multi-channel aerial camera exposure method and device to solve the problems in the prior art.
发明内容SUMMARY OF THE INVENTION
本发明提供了一种多通道航拍相机自动曝光方法及装置，用以解决目前背景技术中存在的问题。The invention provides an automatic exposure method and device for a multi-channel aerial photography camera, which is used to solve the problems existing in the current background technology.
一种多通道航拍相机自动曝光方法，包括如下步骤：A method for automatic exposure of a multi-channel aerial camera, comprising the steps of:
步骤1：多光谱相机探头上电，电源模块产生探测器所需电源，探测器复位并启动完成；Step 1: The multi-spectral camera probe is powered on, the power module generates the power required by the detector, and the detector is reset and started;
步骤2：主控制器运行，通过I2C总线，配置探测器进入自触发模式，配置调光寄存器参数并打开自动曝光功能；配置探测器输出图像；Step 2: The main controller is running, configure the detector to enter the self-triggering mode through the I2C bus, configure the dimming register parameters and turn on the automatic exposure function; configure the detector to output images;
步骤3：主控制器不接收探测器输出的图像数据，通过I2C总线实时读取探测器的曝光值寄存器的值并缓存，多个通道分别设计缓存；Step 3: The main controller does not receive the image data output by the detector, and reads and caches the value of the exposure value register of the detector in real time through the I2C bus, and designs the buffers for multiple channels separately;
步骤4：主控制器接收到外触发信号后，立即通过I2C总线控制探测器由自触发模式进入外触发模式，并将最近一次缓存的曝光参数值加载到对应探测器的曝光设置寄存器中；Step 4: After the main controller receives the external trigger signal, it immediately controls the detector to enter the external trigger mode from the self-trigger mode through the I2C bus, and loads the latest buffered exposure parameter value into the exposure setting register of the corresponding detector;
步骤5：主控制器同步发送外触发信号给多个成像通道，多个探测器分别曝光后输出图像；Step 5: The main controller synchronously sends external trigger signals to multiple imaging channels, and multiple detectors output images after exposure;
步骤6：主控制器缓存接收到的图像数据到内存中，并打包工程参数到图像数据中，存满一帧图像后，图像下行给存储单元；Step 6: The main controller buffers the received image data into the memory, and packs the engineering parameters into the image data. After storing a frame of image, the image is downlinked to the storage unit;
步骤7：主控制器再次通过I2C总线配置多个探测器进入自触发模式，返回步骤3，等待下一次触发信号到来。Step 7: The main controller configures multiple detectors to enter the self-triggering mode through the I2C bus again, return to step 3, and wait for the next trigger signal to arrive.
进一步地，所述主控制器采用能够设置探测器寄存器参数的芯片。Further, the main controller adopts a chip capable of setting detector register parameters.
优选地，所述外触发模式采用Trigger模式。Preferably, the external trigger mode adopts Trigger mode.
优选地，所述自触发模式采用Master模式。Preferably, the self-triggering mode adopts a Master mode.
优选地，步骤2中，所述探测器以60Hz帧频输出图像。Preferably, in step 2, the detector outputs images at a frame rate of 60 Hz.
进一步地，本发明还公开了一种多通道航拍相机自动曝光装置，包括多于一个采集装置、主控制器、外触发接口、图像接口；多个所述采集装置分别与所述主控制器电连接，所述主控制器与所述图像接口电连接，所述外触发接口与所述主控制器电连接。Further, the present invention also discloses an automatic exposure device for a multi-channel aerial camera, including more than one collection device, a main controller, an external trigger interface, and an image interface; connected, the main controller is electrically connected to the image interface, and the external trigger interface is electrically connected to the main controller.
所述采集装置包括镜头、探测器；所述镜头与所述探测器电连接。The acquisition device includes a lens and a detector; the lens is electrically connected to the detector.
优选地，所述采集装置为三个。Preferably, there are three collection devices.
进一步地，所述主控制器采用FPGA、MCU、DSP、ARM中至少一种。Further, the main controller adopts at least one of FPGA, MCU, DSP, and ARM.
进一步地，所述探测器同时具备自触发模式和外触发模式。Further, the detector has both a self-triggering mode and an external triggering mode.
进一步地，所述多通道航拍相机自动曝光装置还包括供电装置，所述供电装置包括电源接口、电源模块；所述电源接口通过所述电源模块向所述采集装置以及所述主控制器供电。Further, the multi-channel aerial camera automatic exposure device also includes a power supply device, and the power supply device includes a power interface and a power module; the power interface supplies power to the acquisition device and the main controller through the power module.
本发明的有益效果为：应用主控制器配置探测器在Master模式和Trigger模式之间进行快速切换。待机时应用Master模式下探测器自带的自动调光功能获取合理的曝值；外触发到来时迅速切换为Trigger模式并应用最近缓存的曝光参数进行拍摄。由于相邻两帧图像的拍摄时间很近(可控制在50ms以内)，因此，相邻两帧图像的重叠率高于95％，应用上一帧图像特征信息设置当前帧的曝光参数是合理的。在不增加设计复杂度的条件下，曝光过度和曝光不足的问题得到有效解决。The beneficial effect of the present invention is that the master controller is used to configure the detector to quickly switch between the Master mode and the Trigger mode. When in standby, use the automatic light adjustment function of the detector in Master mode to obtain a reasonable exposure value; when the external trigger comes, quickly switch to Trigger mode and use the latest cached exposure parameters to shoot. Since the shooting time of two adjacent frames of images is very close (can be controlled within 50ms), the overlap rate of two adjacent frames of images is higher than 95%, and it is reasonable to use the image feature information of the previous frame to set the exposure parameters of the current frame . Under the condition of not increasing the design complexity, the problems of overexposure and underexposure are effectively solved.
附图说明Description of drawings
图1为本发明所述自动曝光装置连接结构示意图；Fig. 1 is a schematic diagram of the connection structure of the automatic exposure device of the present invention;
图2为本发明所述自动曝光装置操作流程图；Fig. 2 is the operation flowchart of automatic exposure device described in the present invention;
图3为传统方法二获取的图像；Fig. 3 is the image that traditional method two obtains;
图4位采用本发明所述方法获取的图像。Fig. 4 is an image obtained by adopting the method of the present invention.
具体实施方式Detailed ways
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
实施例1Example 1
一种多通道航拍相机自动曝光方法，包括如下步骤：A method for automatic exposure of a multi-channel aerial camera, comprising the steps of:
步骤1：多光谱相机探头上电，电源模块产生探测器所需电源，探测器复位并启动完成；Step 1: The multi-spectral camera probe is powered on, the power module generates the power required by the detector, and the detector is reset and started;
步骤2：主控制器运行，通过I2C总线，配置探测器进入自触发模式，配置调光寄存器参数并打开自动曝光功能；配置探测器输出图像；Step 2: The main controller is running, configure the detector to enter the self-triggering mode through the I2C bus, configure the dimming register parameters and turn on the automatic exposure function; configure the detector to output images;
步骤3：主控制器不接收探测器输出的图像数据，通过I2C总线实时读取探测器的曝光值寄存器的值并缓存，多个通道分别设计缓存；Step 3: The main controller does not receive the image data output by the detector, and reads and caches the value of the exposure value register of the detector in real time through the I2C bus, and designs the buffers for multiple channels separately;
步骤4：主控制器接收到外触发信号后，立即通过I2C总线控制探测器由自触发模式进入外触发模式，并将最近一次缓存的曝光参数值加载到对应探测器的曝光设置寄存器中；Step 4: After the main controller receives the external trigger signal, it immediately controls the detector to enter the external trigger mode from the self-trigger mode through the I2C bus, and loads the latest buffered exposure parameter value into the exposure setting register of the corresponding detector;
步骤5：主控制器同步发送外触发信号给多个成像通道，多个探测器分别曝光后输出图像；Step 5: The main controller synchronously sends external trigger signals to multiple imaging channels, and multiple detectors output images after exposure;
步骤6：主控制器缓存接收到的图像数据到内存中，并打包工程参数到图像数据中，存满一帧图像后，图像下行给存储单元；Step 6: The main controller buffers the received image data into the memory, and packs the engineering parameters into the image data. After storing a frame of image, the image is downlinked to the storage unit;
步骤7：主控制器再次通过I2C总线配置多个探测器进入自触发模式，返回步骤3，等待下一次触发信号到来。Step 7: The main controller configures multiple detectors to enter the self-triggering mode through the I2C bus again, return to step 3, and wait for the next trigger signal to arrive.
本实施例所述的，所述主控制器采用能够设置探测器寄存器参数的芯片。In this embodiment, the main controller adopts a chip capable of setting detector register parameters.
优选地，所述外触发模式采用Trigger模式。Preferably, the external trigger mode adopts Trigger mode.
优选地，所述自触发模式采用Master模式。Preferably, the self-triggering mode adopts a Master mode.
优选地，步骤2中，所述探测器以60Hz帧频输出图像。Preferably, in step 2, the detector outputs images at a frame rate of 60 Hz.
本实施例所述的，本发明还公开了一种多通道航拍相机自动曝光装置，包括多于一个采集装置1、主控制器2、外触发接口3、图像接口4；多个所述采集装置1分别与所述主控制器2电连接，所述主控制器2与所述图像接口3电连接，所述外触发接口4与所述主控制器2电连接；As described in this embodiment, the present invention also discloses an automatic exposure device for a multi-channel aerial camera, including more than one acquisition device 1, a main controller 2, an external trigger interface 3, and an image interface 4; multiple acquisition devices 1 is electrically connected to the main controller 2, the main controller 2 is electrically connected to the image interface 3, and the external trigger interface 4 is electrically connected to the main controller 2;
所述采集装置1包括镜头11、探测器12；所述镜头11与所述探测器12电连接。The acquisition device 1 includes a lens 11 and a detector 12 ; the lens 11 is electrically connected to the detector 12 .
优选地，所述采集装置1为三个。Preferably, there are three collection devices 1 .
本实施例所述的，所述主控制器2采用FPGA、MCU、DSP、ARM中至少一种。In this embodiment, the main controller 2 adopts at least one of FPGA, MCU, DSP, and ARM.
本实施例所述的，所述探测器1同时具备自触发模式和外触发模式。As described in this embodiment, the detector 1 has both a self-triggering mode and an external triggering mode.
本实施例所述的，所述多通道航拍相机自动曝光装置还包括供电装置5，所述供电装置5包括电源接口51、电源模块52；所述电源接口52通过所述电源模块51向所述采集装置1以及所述主控制器2供电。As described in this embodiment, the multi-channel aerial camera automatic exposure device also includes a power supply device 5, and the power supply device 5 includes a power interface 51 and a power module 52; The acquisition device 1 and the main controller 2 supply power.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
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