CN115297241B - Image acquisition system - Google Patents
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- CN115297241B CN115297241B CN202210920598.0A CN202210920598A CN115297241B CN 115297241 B CN115297241 B CN 115297241B CN 202210920598 A CN202210920598 A CN 202210920598A CN 115297241 B CN115297241 B CN 115297241B
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- 238000013507 mapping Methods 0.000 claims description 77
- 238000004891 communication Methods 0.000 claims description 19
- 230000004044 response Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 abstract description 10
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/436—Interfacing a local distribution network, e.g. communicating with another STB or one or more peripheral devices inside the home
- H04N21/4363—Adapting the video stream to a specific local network, e.g. a Bluetooth® network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/436—Interfacing a local distribution network, e.g. communicating with another STB or one or more peripheral devices inside the home
- H04N21/4363—Adapting the video stream to a specific local network, e.g. a Bluetooth® network
- H04N21/43632—Adapting the video stream to a specific local network, e.g. a Bluetooth® network involving a wired protocol, e.g. IEEE 1394
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/765—Interface circuits between an apparatus for recording and another apparatus
- H04N5/77—Interface circuits between an apparatus for recording and another apparatus between a recording apparatus and a television camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The present disclosure provides an image acquisition system. The video camera board is provided for the video cameras with various interfaces, the video camera board is used for unifying and converging the received image data of the various interfaces, and the video camera board can split the flow according to different purposes of the image data, so that a processor can face a small amount of interface processing data, the data processing capacity of the processor is reduced, the data processing efficiency of the processor is improved, a large number of interfaces are prevented from being piled around the processor, and the circuit is simpler and clearer and is more convenient to maintain.
Description
Technical Field
The present disclosure relates to the field of image processing, and in particular, to an image acquisition system.
Background
The intelligent vehicle is a comprehensive system integrating the functions of environment sensing, planning decision-making, multi-level auxiliary driving and the like, and the intelligent vehicle integrates the technologies of computers, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, wherein a large number of image sensors such as cameras are integrated for improving the sensing capability of the vehicle, such as cabin monitoring, unmanned remote driving, road environment recognition and the like. Therefore, the image sensor is increasingly standing in the development of intelligent vehicle technology.
However, support of different types of cameras is required in different application scenes, and communication interfaces with different forms exist between the different types of cameras. Typically, in intelligent vehicles, a separate upload channel is provided for each type of camera, each connected to a processor (e.g., CPU), as shown in fig. 1, which is communicatively connected to each of the A1 camera, the A2 camera, the A3 camera, the … … camera, and the An camera. For the processor, a communication interface is required to be provided for each camera, if the number of cameras is increased, the number and the variety of the interfaces are also increased, a large number of communication interfaces are piled up at the processor, so that the maintenance cost of the processor is increased, and the camera is not suitable for expanding more cameras.
Accordingly, the present disclosure provides an image acquisition system to solve one of the above-mentioned technical problems.
Disclosure of Invention
An object of the present disclosure is to provide an image capturing system capable of solving at least one technical problem mentioned above. The specific scheme is as follows:
according to a first aspect of the present disclosure, there is provided an image acquisition system comprising: a plurality of cameras, a camera board, and a processor;
each camera at least comprises one type of image output interface, and the image output interface is used for outputting image data acquired by the camera;
the camera board comprises a plurality of types of image input interfaces and at least two types of shared output interfaces, wherein the plurality of types of image input interfaces are respectively connected with the image output interfaces of all cameras in a communication way and are configured to: when the image input interface identification of the current image input interface is polled, acquiring the camera identification and the preset data merging protocol corresponding to the current image input interface based on the image input interface identification and the preset mapping relation of the current image input interface; generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, converging the output data to a shared output interface indicated by a preset data converging protocol based on the preset data converging protocol, and then sending the output data to a processor;
a processor including at least two types of shared input interfaces communicatively coupled to the at least two types of shared output interfaces of the camera board, respectively, configured to: and polling a current shared input interface, and receiving the output data based on the current shared input interface.
Optionally, the camera board is further configured to: after communication connection is established with the processor, the unique identity code authorized by the processor is obtained as a host code; and establishing a camera board mapping table in response to the triggering of the host code, and sending the camera board mapping table to the processor, wherein the camera board mapping table comprises preset mapping relations of all image input interface identifiers in the camera board, and the preset mapping relations comprise mapping relations of the image input interface identifiers, the camera identifiers, the unique identity codes of the camera board and a preset data merging protocol.
Optionally, the camera board further comprises a cascade interface, and the camera board is in communication connection with a shared output interface of another camera board through the cascade interface;
the camera board is further configured to: when the identity unique code of the camera board is a host code, receiving a cascading application sent by another camera board from the cascading interface, wherein the cascading application comprises an image input interface identifier of each image input interface in the other camera; in response to receiving the trigger of the cascading application, determining, based on the camera board mapping table, that the identity unique code of the other camera is a slave code, wherein the slave code is different from any slave code in the camera board mapping table; determining camera identifications corresponding to the image input interfaces based on the image input interface identifications of the other camera and the slave code; establishing a preset mapping relation of each image input interface identifier based on the identity unique code of the other camera board, each image input interface identifier in the other camera board, the camera identifier corresponding to each image input interface identifier and a preset data merging protocol; storing the preset mapping relation of each image input interface identifier into the camera board mapping table, and sending the camera board mapping table to each camera board with the processor and the identity unique code as the slave code.
Optionally, the camera board is configured to poll the current image input interface, and specifically configured to: and when the unique identity code of the camera board is a host code, when another camera board with the unique identity code being a slave code is polled based on the camera board mapping table, a polling instruction is sent to the other camera board.
Optionally, the camera board is further configured to: and when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and polling each image input interface in the camera board based on the camera board mapping table.
Optionally, when the identity unique code of the camera board is a slave code, the camera board is further configured to poll each image input interface in the camera board based on the camera board mapping table in response to receiving the trigger of the polling instruction, and specifically configured to: when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and when polling is conducted on the identity unique code of the camera board and the image input interface identifier of the current image input interface in the camera board mapping table, acquiring the camera identifier corresponding to the current image input interface and a preset data merging protocol from the camera board mapping table based on the identity unique code of the camera board and the image input interface identifier of the current image input interface; and generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, converging the output data to each shared output interface indicated by the preset data converging protocol based on the preset data converging protocol, and then sending the output data to a processor.
Optionally, the image output interface or the image input interface includes: GMSL interface, FPD-LINK interface, USB interface, and LVDS interface.
Optionally, when the image input interface of the camera board comprises a GMSL interface and/or an FPD-LINK interface, the camera board comprises a deserializer.
Optionally, when the image input interface of the camera board includes multiple types of USB interfaces, the camera board includes a USB ubu chip.
Optionally, the shared output interface or the shared input interface includes: PCIE interfaces, gigabit network interfaces, mo Zhaowang interfaces, MIPI interfaces, USB interfaces, and Serdes interfaces.
Compared with the prior art, the scheme of the embodiment of the disclosure has at least the following beneficial effects:
the present disclosure provides an image acquisition system. The video camera board is provided for the video cameras with various interfaces, the video camera board is used for unifying and converging the received image data of the various interfaces, and the video camera board can split the flow according to different purposes of the image data, so that a processor can face a small amount of interface processing data, the data processing capacity of the processor is reduced, the data processing efficiency of the processor is improved, a large number of interfaces are prevented from being piled around the processor, and the circuit is simpler and clearer and is more convenient to maintain. Meanwhile, a cascading interface is further provided, so that the camera board can be continuously expanded, and the development breadth and depth of the intelligent vehicle are further improved.
Drawings
FIG. 1 shows a schematic diagram of a prior art image acquisition system;
fig. 2 shows a schematic diagram of an image acquisition system according to an embodiment of the present disclosure.
Detailed Description
For the purpose of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the drawings, in which it is apparent that the embodiments described are only some, but not all embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure of embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present disclosure, these descriptions should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the present disclosure.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or device comprising such element.
In particular, the symbols and/or numerals present in the description, if not marked in the description of the figures, are not numbered.
Alternative embodiments of the present disclosure are described in detail below with reference to the drawings.
Example 1
Embodiments provided for by the present disclosure, namely embodiments of an image acquisition system.
Embodiments of the present disclosure are described in detail below with reference to the attached drawings.
The embodiment of the disclosure provides an image acquisition system, comprising: a plurality of cameras, a camera board, and a processor.
As shown in fig. 2, the image acquisition system includes: b1 camera, B2 camera, B3 camera, … …, and Bn camera. Each camera comprises at least one type of image output interface for outputting image data acquired by the camera, for example, the image output interface comprises: GMSL interface, FPD-LINK interface, USB interface, and LVDS interface, to which the embodiments of the present disclosure are not limited; for example, the B1 camera is used for collecting high-resolution image data for the processor to perform perception analysis, so that the image output interface of the B1 camera is a high-speed GMSL interface; the B2 camera is used for collecting low-resolution image data for the personnel on the vehicle to identify the surrounding environment of the vehicle, so the image output interface of the B2 camera is a USB interface.
The camera board comprises a plurality of types of image input interfaces and at least two types of shared output interfaces, wherein the plurality of types of image input interfaces are respectively connected with the image output interfaces of all cameras in a communication way and are configured to: when the image input interface identification of the current image input interface is polled, acquiring the camera identification and the preset data merging protocol corresponding to the current image input interface based on the image input interface identification and the preset mapping relation of the current image input interface; and generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, merging the output data to a shared output interface indicated by a preset data merging protocol based on the preset data merging protocol, and then sending the merged output data to a processor.
As shown in fig. 2, the B1 camera and the B2 camera are respectively communicatively connected to the C1 camera board. The camera board provides an image input interface matched with the image output interface of the camera so that the image output interface of the camera can be in communication connection with the image output interface on the camera board for the camera to send the collected image data to the camera board. For example, the image input interface includes: GMSL interface, FPD-LINK interface, USB interface, and LVDS interface.
The camera board accesses each image input interface in turn by means of polling. In data processing, each image input interface in the camera board is characterized by a unique image input interface identifier, that is, the image input interfaces and the image input interface identifiers have a one-to-one mapping relationship. Each image input interface also uniquely corresponds to one camera, and the unique camera identifier of each camera and the image input interface identifier of the image input interface also have a one-to-one mapping relation. Thus, when a camera board polls an image input interface, the image input interface identification of the image input interface and the camera identification of the corresponding camera can be obtained at the same time.
Embodiments of the present disclosure provide at least two types of shared output interfaces for camera boards. The shared output interface is for communication connection with the processor. For example, the shared output interface includes: PCIE interfaces, gigabit network interfaces, mo Zhaowang interfaces, MIPI interfaces, USB interfaces, and Serdes interfaces. In some embodiments, the camera board includes a deserializer when the image input interface of the camera board includes a GMSL interface and/or an FPD-LINK interface. In other embodiments, the camera board includes a USB ubu chip when the image input interface of the camera board includes multiple types of USB interfaces. The USB (peripheral component interconnect express) chip can be connected after expansion, and the USB (peripheral component interconnect express) chip can expand USB2, USB3 or USB4, and can also adopt other high-speed interfaces to convert USB, such as PCIE to USB.
And each type of shared output interface is divided according to the purposes of the graphic data, and respectively transmits the image data of different purposes. For example, the MIPI interface is used to transmit high-resolution image data, while the USB interface is used to transmit low-resolution image data, and since the high-resolution image data is used for performing sensing analysis, safety of a vehicle is related, the high-speed interface can ensure that the high-resolution image data can be quickly transmitted to the processor, so that interference of the low-resolution image data to the high-resolution image data is avoided. Which shared output interface transmits the image data of which image input interface is specified by the preset data merging protocol, that is, the preset data merging protocol includes the output interface identifier of the shared output interface.
The preset data merging protocol also comprises preset state information and preset transmission information of each component between the image input interface and the shared output interface. Such as intermediate interface state information and transmission signal information during a communication handshake. The output data can be output to the processor through the designated shared output interface through the preset data merging protocol.
The above mapping relationships are integrated together, that is, the preset mapping relationship. The preset mapping relationship is preset. The preset mapping relation at least comprises the mapping relation of an image input interface identifier, a camera identifier and a preset data merging protocol.
The embodiment of the disclosure merges image data received by multiple types of image input interfaces through at least two types of shared output interfaces, for example, a camera board merges image data received by a GMSL interface, an FPD-LINK interface and an LVDS interface to an MIPI interface for output, and merges image data received by a USB interface to a USB interface for output. In order to enable the processor to resolve the source of the data after the stream, i.e., which camera is capturing the image data, embodiments of the present disclosure include camera identification and image data in the output data provided by the camera board to the processor so that the processor can accurately identify the source of the image data.
In generating output data, the disclosed embodiments provide for presetting a unified format. For example, the first 8 bits of the output data are used to store the camera identity, and the image data is stored starting from the 9 th bit so that the processor can accurately parse the content of the output data.
In some specific embodiments, the camera plate is further configured to: after communication connection is established with the processor, the unique identity code authorized by the processor is obtained as a host code; in response to a trigger to obtain the host code, a camera board mapping table is established and sent to the processor. The camera board mapping table comprises preset mapping relations of all image input interface identifiers in the camera board, wherein the preset mapping relations comprise mapping relations of the image input interface identifiers, the camera identifiers, an identity unique code of the camera board and a preset data merging protocol.
For the purpose of enabling cascading of individual camera boards, the present embodiment provides each camera board with an identity unique code for identifying the source of the information during the information transfer process.
The identity unique code comprises identity information and number information of the camera board, for example, the identity unique code consists of a 3-bit numerical value, the first digit is the identity information, if the first digit is 1, the camera board is indicated to be a host, and the host is directly connected with the processor, for example, the C1 camera board in FIG. 2 is directly connected with the processor in a communication way; if the first digit is "0", it indicates that the camera board is a slave, and can only be directly connected with the master or the slave, for example, in fig. 2, the slave C2 camera board is connected with the master C1 camera board, and the slave C3 camera board is connected with the slave C2 camera board in a communication manner; bits 2 and 3 of the identity unique code are number information, for example, the number information of the C1 camera board is "01", and the identity unique code of the C1 camera board is "101", that is, the host code; the serial number information of the C2 camera board is 02, and the unique identity code of the C2 camera board is 002, namely the slave code; the number information of the C3 camera board is "03", and the identity unique code of the C3 camera board is "003", namely the slave code.
If the camera board can establish communication connection with the processor, indicating that the camera board is a host, and authorizing the camera board to be an identity unique code of the host by the processor; if the camera board is unable to establish a communication connection with the processor, the camera board is indicated as a slave, and the host authorizes the camera board as an identity unique code of the slave.
When the camera board obtains the host code, a camera board mapping table is established. The camera board mapping table comprises preset mapping relations of the identifiers of the image input interfaces in each camera board. The preset mapping relation also comprises an identity unique code of the camera board, namely the preset mapping relation comprises a mapping relation of an image input interface identifier, a camera identifier, the identity unique code of the camera board and a preset data merging protocol. And the camera board mapping table is sent to a processor, so that information sharing is facilitated, and data consistency is ensured.
When the host builds the camera board mapping table, the camera board mapping table only comprises information related to the host.
In some embodiments, the camera board further comprises a cascade interface, through which the camera board is communicatively connected to a shared output interface of another camera board. For example, as illustrated in FIG. 2, the cascade interface of the C1 camera board is communicatively coupled to the shared output interface of the C2 camera board, and the cascade interface of the C2 camera board is communicatively coupled to the shared output interface of the C3 camera board.
The preset mapping relation of the image input interface identifiers in each camera board in the camera board mapping table, wherein each camera board is provided with an identity unique code, each image input interface identifier in each camera board is a unique identifier, but the same set of image input interface identifiers can be reused among the camera boards, for example, the image input interface identifiers in the C1 camera board, the C2 camera board and the C3 camera board comprise 1, 2, 3, … … and 10. In order to ensure the uniqueness of the camera identifications, the camera identifications can be generated by combining the identity unique code of each camera board with each image input interface identification in the camera board. For example, continuing the above example, if the unique identification code of the C1 camera board is "101", the unique identification code of the C2 camera board is "002", and the unique identification code of the C3 camera board is "003", the camera identifications corresponding to the respective image input interface identifications in the C1 camera board are respectively: "10101", "10102", "10103", … … and "10110"; the camera identifications corresponding to the image input interface identifications in the C2 camera board are respectively as follows: "00201", "00202", "00203", … … and "00210"; the camera identifications corresponding to the image input interface identifications in the C2 camera board are respectively as follows: "00301", "00302", "00303", … … and "00310".
The camera board is further configured to: when the identity unique code of the camera board is a host code, receiving a cascading application sent by another camera board from the cascading interface, wherein the cascading application comprises an image input interface identifier of each image input interface in the other camera; in response to receiving the trigger of the cascading application, determining, based on the camera board mapping table, that the identity unique code of the other camera is a slave code, wherein the slave code is different from any slave code in the camera board mapping table; determining camera identifications corresponding to the image input interfaces based on the image input interface identifications of the other camera and the slave code; establishing a preset mapping relation of each image input interface identifier based on the identity unique code of the other camera board, each image input interface identifier in the other camera board, the camera identifier corresponding to each image input interface identifier and a preset data merging protocol; storing the preset mapping relation of each image input interface identifier into the camera board mapping table, and sending the camera board mapping table to each camera board with the processor and the identity unique code as the slave code. For example, as shown in fig. 2, if the C4 camera board is cascaded with the C3 camera board, the C4 camera board sends a cascade application to the C1 camera board, and since the C4 camera board is a slave, the first digit is "0" at the beginning, and there is no "04" in the number information of the camera board in the camera board mapping table, the identity unique code of the C4 camera board is determined to be "004".
The disclosed embodiments send the camera board mapping table to the processor and the slave each time the camera board mapping table changes, so as to maintain data consistency.
In some embodiments, the camera board is configured to poll the current image input interface, and is specifically configured to: and when the unique identity code of the camera board is a host code, when another camera board with the unique identity code being a slave code is polled based on the camera board mapping table, a polling instruction is sent to the other camera board. For example, as shown in fig. 2, the unique identity code of the C1 camera board is a host code, and when the C1 camera board polls to the C3 camera board based on the camera board mapping table, a polling command is sent to the C3 camera board, to instruct the C3 camera board to start polling of the image input interface in the board based on the camera board mapping table. The polling command comprises an identity unique code of the camera board and a polling command code.
In some specific embodiments, the camera plate is further configured to: and when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and polling each image input interface in the camera board based on the camera board mapping table. For example, as shown in fig. 2, the identity unique codes of the C2 camera board and the C3 camera board are both slave machine codes, when the C2 camera board receives the polling command, because the identity unique code in the polling command is not the identity unique code of the C2 camera board, the polling command is transmitted to the next C3 camera board, when the C3 camera board receives the polling command, it is determined that the identity unique code in the polling command is the identity unique code of the C3 camera board, that is, it is determined that the C3 camera board is the polling camera board designated by the C1 camera board; the C3 camera board then polls the individual image input interfaces in the C3 camera board based on the camera board mapping table.
In some specific embodiments, the camera board is further configured to poll each image input interface in the camera board based on the camera board mapping table in response to receiving the trigger of the poll instruction when the identity unique code of the camera board is a slave code, specifically configured to: when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and when polling is conducted on the identity unique code of the camera board and the image input interface identifier of the current image input interface in the camera board mapping table, acquiring the camera identifier corresponding to the current image input interface and a preset data merging protocol from the camera board mapping table based on the identity unique code of the camera board and the image input interface identifier of the current image input interface; and generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, converging the output data to each shared output interface indicated by the preset data converging protocol based on the preset data converging protocol, and then sending the output data to a processor.
The preset data merging protocol comprises output interface identifiers of all the shared output interfaces passing between the image input interface of the camera board corresponding to the machine code and the shared output interface of the camera board corresponding to the host code, and preset state information and preset transmission information of each component. For example, as shown in fig. 2, the preset data merge protocol includes a shared output interface of the C3 camera board, a shared output interface of the C2 camera board, and a shared output interface of the C1 camera board passing between an image input interface of the C3 camera board to a shared output interface of the C1 camera board.
A processor including at least two types of shared input interfaces communicatively coupled to the at least two types of shared output interfaces of the camera board, respectively, configured to: and polling a current shared input interface, and receiving the output data based on the current shared input interface.
The processor provides a shared input interface that matches the shared output interface of the camera board so that the shared input interface of the processor can be communicatively coupled to the shared output interface on the camera board for the camera board to send output data to the processor. For example, the shared output interface includes: PCIE interfaces, gigabit network interfaces, mo Zhaowang interfaces, MIPI interfaces, USB interfaces, and Serdes interfaces.
The embodiment of the disclosure provides the camera board for the cameras with various interfaces, the camera board is used for unifying and converging the received image data with various interfaces, and can split the flow according to different purposes of the image data, so that a processor can process data with a small number of interfaces, the data processing capacity of the processor is reduced, the data processing efficiency of the processor is improved, a large number of interfaces are prevented from being piled around the processor, and the circuit is simpler and clearer and is more convenient to maintain. Meanwhile, a cascading interface is further provided, so that the camera board can be continuously expanded, and the development breadth and depth of the intelligent vehicle are further improved.
The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (8)
1. An image acquisition system, comprising: a plurality of cameras, a camera board, and a processor;
each camera at least comprises one type of image output interface, and the image output interface is used for outputting image data acquired by the camera;
the camera board comprises a plurality of types of image input interfaces and at least two types of shared output interfaces, wherein the plurality of types of image input interfaces are respectively connected with the image output interfaces of all cameras in a communication way and are configured to: when the image input interface identification of the current image input interface is polled, acquiring the camera identification and the preset data merging protocol corresponding to the current image input interface based on the image input interface identification and the preset mapping relation of the current image input interface; generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, converging the output data to a shared output interface indicated by a preset data converging protocol based on the preset data converging protocol, and then sending the output data to a processor;
a processor including at least two types of shared input interfaces communicatively coupled to the at least two types of shared output interfaces of the camera board, respectively, configured to: polling a current shared input interface, receiving the output data based on the current shared input interface,
wherein the camera plate is further configured to: after communication connection is established with the processor, the unique identity code authorized by the processor is obtained as a host code; in response to a trigger to obtain the host code, establishing a camera board mapping table and sending the camera board mapping table to the processor;
the camera board mapping table comprises preset mapping relations of all image input interface identifiers in the camera board, wherein the preset mapping relations comprise mapping relations of the image input interface identifiers, the camera identifiers, an identity unique code of the camera board and a preset data merging protocol;
the camera board also comprises a cascade interface, and the camera board is in communication connection with a shared output interface of another camera board through the cascade interface;
the camera board is further configured to: when the identity unique code of the camera board is a host code, receiving a cascading application sent by another camera board from the cascading interface, wherein the cascading application comprises an image input interface identifier of each image input interface in the other camera; in response to receiving the trigger of the cascading application, determining, based on the camera board mapping table, that the identity unique code of the other camera is a slave code, wherein the slave code is different from any slave code in the camera board mapping table; determining camera identifications corresponding to the image input interfaces based on the image input interface identifications of the other camera and the slave code; establishing a preset mapping relation of each image input interface identifier based on the identity unique code of the other camera board, each image input interface identifier in the other camera board, the camera identifier corresponding to each image input interface identifier and a preset data merging protocol; storing the preset mapping relation of each image input interface identifier into the camera board mapping table, and sending the camera board mapping table to each camera board with the processor and the identity unique code as the slave code.
2. The system of claim 1, wherein the camera board is configured to poll the current image input interface, specifically configured to: and when the unique identity code of the camera board is a host code, when another camera board with the unique identity code being a slave code is polled based on the camera board mapping table, a polling instruction is sent to the other camera board.
3. The system of claim 2, wherein the camera board is further configured to: and when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and polling each image input interface in the camera board based on the camera board mapping table.
4. The system of claim 3, wherein the camera board is further configured to poll each image input interface in the camera board based on the camera board mapping table in response to receiving the trigger of the poll instruction when the identity unique code of the camera board is a slave code, specifically configured to: when the identity unique code of the camera board is a slave code, responding to the trigger of receiving the polling instruction, and when polling is conducted on the identity unique code of the camera board and the image input interface identifier of the current image input interface in the camera board mapping table, acquiring the camera identifier corresponding to the current image input interface and a preset data merging protocol from the camera board mapping table based on the identity unique code of the camera board and the image input interface identifier of the current image input interface; and generating output data in a preset unified format based on the camera identification and the image data received by the current image input interface, converging the output data to each shared output interface indicated by the preset data converging protocol based on the preset data converging protocol, and then sending the output data to a processor.
5. The system of claim 1, wherein the image output interface or the image input interface comprises: GMSL interface, FPD-LINK interface, USB interface, and LVDS interface.
6. The system of claim 5, wherein the camera board comprises a deserializer when the image input interface of the camera board comprises a GMSL interface and/or an FPD-LINK interface.
7. The system of claim 5, wherein the camera board comprises a USB ubu chip when the image input interface of the camera board comprises multiple types of USB interfaces.
8. The system of claim 5, wherein the shared output interface or the shared input interface comprises: PCIE interfaces, gigabit network interfaces, mo Zhaowang interfaces, MIPI interfaces, USB interfaces, and Serdes interfaces.
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