CN111727601A - Image sensor, method of acquiring image, vision system, and storage medium - Google Patents
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Abstract
An image sensor includes a plurality of line sensors, wherein each line sensor includes a plurality of sensor elements linearly arranged on a straight line, and a preset interval is provided between adjacent line sensors. This application adopts a plurality of line sensors, and the data interval between every line sensor staggers certain cycle, utilizes the dislocation between the signal to promote the resolution ratio of image, also can obtain high dynamic range's image simultaneously. The method and the device can effectively improve the resolution ratio of the acquired image, and further improve the user experience.
Description
The present application relates to the field of industrial vision, and in particular, to an image sensor, a method of acquiring an image, a vision system, and a storage medium.
In the field of industrial vision, the function of machine vision in the field of intelligent manufacturing is more and more important, and the machine vision is widely applied to the industrial fields of production, manufacturing, detection and the like and is used for ensuring the product quality, controlling the production flow, sensing the environment and the like.
At present, a machine vision system converts a shot target into an image signal through a sensor, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. In order to ensure the accuracy of the device action, the image of the captured target needs to be clear and have a high dynamic range. In the prior art, a single line sensor is generally adopted to acquire and output an image signal, and the resolution of the image is controlled by the width of the line sensor, so that the resolution of the image is not high.
[ summary of the invention ]
The technical problem mainly solved by the present application is to provide an image sensor, a method for acquiring an image, a vision system and a storage medium, which can improve the resolution capability of an image and obtain an image with a high dynamic range.
In order to solve the above technical problem, the first technical solution adopted by the present application is: provided is an image sensor including: a plurality of line sensors, wherein each line sensor includes a plurality of sensor elements linearly arranged on a straight line with a predetermined interval provided between adjacent line sensors.
In order to solve the above technical problem, the second technical solution adopted by the present application is: there is provided a method of acquiring an image for use in any of the above image sensors, comprising: controlling the plurality of line sensors to acquire image signals of a scene for at least two exposure times; and processing the image signal to obtain an image.
In order to solve the above technical problem, the third technical solution adopted by the present application is: providing a vision system comprising the image sensor of any of the above; a controller connected to the plurality of line sensors of the image sensor for controlling the plurality of line sensors to acquire image signals of a scene for at least two exposure times; and the image processing equipment is connected with the line sensors in the image sensor and is used for processing the image signals to obtain an image.
In order to solve the above technical problem, a fourth technical solution adopted by the present application is: there is provided a storage medium having stored thereon a computer program for a processor to load and execute any of the above-described methods of acquiring an image.
The beneficial effect of this application is: different from the prior art, this application adopts a plurality of line sensors, and the data interval between every line sensor staggers certain cycle, utilizes the dislocation between the signal to promote the resolution ratio of image, also can obtain high dynamic range's image simultaneously. The method and the device can effectively improve the resolution ratio of the acquired image, and further improve the user experience.
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for acquiring an image according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a vision system of the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a storage medium according to the present application.
The present application provides an image sensor, a method for acquiring an image, a vision system and a storage medium, which are further described in detail below for making the purpose, solution and technical effect of the present application more clear and clear, and it should be understood that the specific embodiments described herein are only for explaining the present application and are not intended to limit the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for acquiring an image according to the present application. The method for acquiring the image comprises the following steps:
101: and controlling the exposure time of the line sensors to enable at least two line sensors to acquire scene information at different exposure times so as to acquire an image signal of a scene.
In this embodiment, exposure times of a plurality of line sensors are controlled such that at least two line sensors acquire scene information at different exposure times to acquire image signals of a scene, wherein each line sensor includes a plurality of sensor elements linearly arranged in a straight line, a width of each line sensor is T, and an interval between each line sensor is T1Wherein, T1And T satisfies the following condition:
wherein M represents the period, M is an integer and M is more than or equal to 1, N is the number of the line sensors, and N is an integer and N is more than or equal to 2.
In the present embodiment, the image sensor includes a plurality of line sensors, wherein each line sensor includes a plurality of sensor elements linearly arranged on a straight line, and each sensor element can acquire image information.
In one embodiment, the sensor element may be a CCD (Charge coupled device), which is a photoelectric conversion device that directly converts image information into an electrical signal by using a photoelectric conversion principle. Specifically, the CCD is integrated using a high-sensitivity semiconductor material, which can generate a corresponding charge signal according to light irradiated on its surface, and then converted into a digital signal of "0" or "1" by an analog-to-digital converter chip, and after compression and program arrangement, the digital signal can be stored in a flash memory or a hard disk card, i.e., a charge signal is converted into an electronic image signal that can be recognized by a computer.
In another embodiment, the sensor element may also be a CMOS (Complementary Metal-Oxide Semiconductor), which is a Semiconductor mainly made of two elements, i.e., silicon and germanium, and the function of acquiring an image is realized by negatively and positively charged transistors on the CMOS, i.e., the current generated by the two Complementary effects can be recorded and interpreted as an image by the processing chip.
At present, image sensors are widely used in industrial vision systems, and in industrial production, target objects are sometimes moved, and the images are blurred due to the movement of the objects, so that the resolution is not high.
In order to improve the resolution of the acquired image, the present embodiment acquires and outputs image signals by controlling the exposure time of a plurality of line sensors, each of which includes a plurality of sensor elements linearly arranged on a straight line, each of which has a width T, wherein T has a value ranging from 3 μm to 6 μm, and the interval between each of the line sensors is T1Wherein, T1And T satisfies the following condition:
wherein M denotes a period, M is an integer and M is greater than or equal to 1, N is the number of line sensors, N is an integer and N is greater than or equal to 2, for example, N is 2 or N is 3, and the design is not specifically limited herein according to actual circumstances.
Due to the spacing T between the line sensors1Satisfying a specific condition, depending on the interval T between the line sensors1And the width T of the line sensors, determining the relationship between the data of the image information acquired by each line sensor, and processing the image information acquired by each line sensor by adopting a corresponding algorithm according to different application scenes to obtain a high-resolution image.
In one application scenario, when acquiring an image, the multiple sensor elements in the line sensor may acquire information of the same position or the same physical point of the target object, and specifically, data of image information acquired by each line sensor may be fused to increase the resolution of the image.
That is, the brightness of the image collected by each sensor is different, and it is necessary to select a high brightness value from the dark image and a low brightness value from the bright image. For example, data information of the same position or information of the same physical point acquired by each sensor is converted into a brightness value, a high brightness value is selected from a dark image, a low brightness value is selected from a bright image, the brightness value is converted into a gray value, and then a plurality of gray values are fused, so that the effect of data fusion acquired by different line sensors can be achieved, the resolution of the image is improved, and the image with a high dynamic range is obtained.
In another application scenario, when acquiring an image, the multiple sensor elements in the line sensor acquire information of different positions or different physical points of the target object, and the acquired image may be processed by using an interpolation algorithm. The interpolation algorithm comprises a bilinear interpolation algorithm or a cubic spline interpolation algorithm and the like.
Specifically, the brightness of the image acquired by each sensor is different, and the data of the overexposed point or the underexposed point is calculated by the non-overexposed point or the underexposed point of the adjacent sensor through interpolation of the reference of the brightness value.
In addition, when an image is acquired, due to the influence of the intensity of light, the problems of under exposure or over exposure often occur, and the resolution of the image is influenced. In this embodiment, by controlling the exposure times of the plurality of line sensors, at least two line sensors acquire scene information at different exposure times, thereby acquiring an image signal of a scene. Specifically, the exposure time of one line sensor may be controlled to be longer, and the exposure times of the other line sensors may be controlled to be shorter, so as to acquire image information of different exposure time periods.
In another embodiment, the image sensor controls exposure times of the plurality of line sensors such that the plurality of line sensors acquire scene information at exposure times different from each other, thereby acquiring an image signal of the scene. The image sensor carries out interpolation calculation on data obtained by each line sensor, and carries out interpolation calculation by taking a non-overexposure point or an underexposure point of an adjacent sensor as a reference so as to achieve the purposes of removing a zero value point and an overexposure point.
102: and processing the image signal to obtain an image.
In the present embodiment, the image sensor processes image signals output from the plurality of line sensors to obtain an image. Specifically, the image sensor performs interpolation calculation on image signals output by the plurality of line sensors, and performs similarity matching to obtain an HDR (High-Dynamic Range) image.
In one embodiment, the image sensor has two line sensors and a period M of 1, wherein the line sensors have a width T and a spacing T1According to the above-mentioned T1T is known from the formula satisfied by T1And combining the images acquired by each line sensor, and performing similarity matching to obtain a final image, wherein the resolution of the image is doubled relative to that of the image acquired by one line sensor.
In another embodiment, the image sensor has three line sensors and a period M of 1, wherein the line sensors have a width T and the line sensors have a spacing T1According to the above-mentioned T1T is known from the formula satisfied by T1And combining the images acquired by each line sensor, and performing similarity matching to obtain a final image, wherein the resolution of the image is improved by two times relative to that of the image acquired by one line sensor.
Here, the period M is used to indicate the periodic periodicity, and may be a number such as 1, 2, 3, or 10, and may be specifically designed according to actual circumstances.
Different from the prior art, this application adopts a plurality of line sensors, and the interval staggers certain cycle between the data between every line sensor, utilizes the dislocation between the signal to promote the resolution ratio of image. The method and the device can effectively improve the resolution ratio of the acquired image, and can also obtain the image with a high dynamic range, thereby improving the user experience. Further, the present application also provides an image sensor, which can implement the method for acquiring an image according to any of the above embodiments.
Specifically, the image sensor includes a plurality of line sensors, wherein each line sensor includes a plurality of sensor elements linearly arranged on a straight line, a width of each line sensor is T, and a value range of T is3-6 μm, and the interval between each line sensor is T1Wherein, T1And T satisfies the following condition:
where M denotes a period, M is an integer and M is greater than or equal to 1, N is the number of line sensors, N is an integer and N is greater than or equal to 2, for example, N is 2 or N is 3, which may be designed according to specific situations, and is not particularly limited herein.
In this embodiment, the image sensor further includes a controller and a processor, the controller being connected to the plurality of line sensors for controlling exposure times of the plurality of line sensors; the processor is used for processing the image signals output by the line sensors to obtain an image.
Here, an example that the image sensor includes two line sensors is explained, referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the vision system of the present application. The vision system 20 of the present embodiment includes an image sensor 204, a controller 202, and an image processing device 203, which are coupled to each other. The image sensor 204 includes a plurality of line sensors 201. The controller 202 is connected to the line sensors 201 in the image sensor 204, and is configured to control the line sensors 201 to acquire image signals of a scene with at least two exposure times; the image processing device 203 is connected to a plurality of line sensors 201 in the image sensor 204, and is configured to process image signals to obtain an image. Specifically, the image sensor 204 includes two line sensors 201, control terminals of the two line sensors 201 are respectively connected to the controller 202, and the image processing device 203 is respectively connected to the two line sensors 201 and the controller 202. In other embodiments, the image sensor 20 may also include 3, 4 or more line sensors 201, which is not limited in this application.
Wherein the width of the line sensors 201 is T, the arrow a in the figure indicates the width of the line sensors 201, and the interval between each line sensor 201 is T1The arrows b in the drawing indicate the intervals between each line sensor 201. Wherein, T1And T is satisfied withThe following conditions:
wherein M represents a period, M is an integer and M is more than or equal to 1, N is the number of the line sensors, and N is an integer and N is more than or equal to 2. In the present embodiment, if the period M is 1 and the image sensor 20 includes 2 line sensors, i.e., N is 2, T is set to1＝1.5*T。
In the present embodiment, the line sensor 201 includes a plurality of sensor elements 2011 linearly arranged in a straight line, and each sensor element 2011 can acquire image information. In one embodiment, the sensor element 2011 may be a CCD Device (Charge Coupled Device), which is a photoelectric conversion Device that directly converts image information into an electrical signal by using a photoelectric conversion principle. Specifically, the CCD is integrated using a high-sensitivity semiconductor material, which can generate a corresponding charge signal according to light irradiated on its surface, and after being converted into a digital signal of "0" or "1" by an analog-to-digital converter chip, the digital signal is subjected to compression and program arrangement, and then stored in a flash memory or a hard disk card, i.e., a charge signal is converted into an electronic image signal which can be recognized by a computer.
In another embodiment, the sensor element 2011 may also be a CMOS (Complementary Metal-Oxide Semiconductor) device, which mainly uses a Semiconductor made of silicon and germanium, and the function of acquiring an image is realized by using transistors with negative charges and positive charges on the CMOS, that is, the current generated by the two Complementary effects can be recorded and interpreted as an image by the processing chip.
In addition, when an image is acquired, due to the influence of the intensity of light, the problems of under exposure or over exposure often occur, and the resolution of the image is influenced. In the present embodiment, the controller 202 controls the exposure times of the plurality of line sensors 201 so that the exposure times of at least two line sensors 201 are different. Specifically, the exposure time of one line sensor 201 may be controlled to be longer, and the exposure time of the other line sensors 201 may be controlled to be shorter, so as to acquire image information of different exposure time periods.
In another embodiment, the controller 202 controls the exposure times of the plurality of line sensors 201 such that the exposure times of the plurality of line sensors 201 are all different. The image processing apparatus 203 performs interpolation calculation on the image signal output from each line sensor 201 to achieve the purpose of removing a zero value point and an overexposure point.
In the present embodiment, the image sensor 20 has two line sensors 201 and a period M of 1, where the width of the line sensor 201 is T and the interval of the line sensors 201 is T1According to the above-mentioned T1T is known from the formula satisfied by T1At 1.5 × T, the image processing device 203 may combine the images acquired by each line sensor 201 to perform similarity matching to obtain a final image, where the resolution of the image is doubled relative to the image acquired by one line sensor 201.
Here, the period M is used to indicate the periodic periodicity, and may be a number such as 1, 2, 3, or 10, and may be specifically designed according to actual circumstances.
The image sensor in this embodiment mode can be used alone or in combination with other devices.
Different from the prior art, the image sensor in the vision system adopts a plurality of line sensors, and the interval between the data between each line sensor staggers a certain period, and the dislocation between the signals is utilized to improve the resolution of the image. The method and the device can effectively improve the resolution ratio of the acquired image, and can also obtain the image with a high dynamic range, thereby improving the user experience.
Referring to fig. 3, please refer to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a storage medium according to the present application. The storage medium 3 has stored therein at least one program or instructions 31, the program or instructions 31 being for implementing any of the above-described methods of acquiring an image. In one embodiment, an apparatus having a storage function includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Different from the prior art, the method and the device for obtaining the image have the advantages that the resolution ratio of the obtained image can be effectively improved, meanwhile, the image with a high dynamic range can be obtained, and further the user experience is improved.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application.
The above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (16)
- An image sensor, comprising:a plurality of line sensors, wherein each of the line sensors includes a plurality of sensor elements linearly arranged on a straight line with a predetermined interval provided between adjacent line sensors.
- The image sensor of claim 1, wherein at least two of the line sensors have different exposure times.
- The image sensor of claim 1, wherein the exposure times of the plurality of line sensors are all different.
- The image sensor as claimed in claim 1, wherein each of the line sensors has a width T, and the predetermined interval between the adjacent line sensors is T1Wherein, T1And T satisfies the following condition:
wherein M represents a period, M is an integer and M is more than or equal to 1, N is the number of the line sensors, and N is an integer and N is more than or equal to 2. - The image sensor of claim 4, wherein T has a value in a range of 3 μm to 6 μm.
- The image sensor of claim 4, wherein N-2.
- The image sensor of claim 4, wherein N-3.
- A method of acquiring an image for use with the image sensor of any one of claims 1-7, comprising:controlling the plurality of line sensors to acquire image signals of a scene for at least two exposure times;and processing the image signal to obtain an image.
- The method according to claim 8, wherein the processing the image signal to obtain an image specifically comprises: and performing similarity matching on the image signals output by the line sensors to obtain an image.
- The method of claim 8, wherein controlling the plurality of line sensors to acquire image signals of the scene with at least two exposure times comprises:and controlling the exposure time of the line sensors to enable at least two line sensors to acquire scene information at different exposure times so as to acquire an image signal of a scene.
- The method of claim 8, wherein controlling the plurality of line sensors to acquire image signals of the scene with at least two exposure times comprises:and controlling the exposure time of the line sensors to enable the line sensors to acquire scene information in different exposure time, so as to acquire an image signal of a scene.
- The method of claim 8, wherein each line sensor has a width T, and the predetermined interval between adjacent line sensors is T1Wherein, T1And T satisfies the following condition:
wherein M represents a period, M is an integer and M is more than or equal to 1, N is the number of the line sensors, and N is an integer and N is more than or equal to 2. - The method of acquiring an image according to claim 12, wherein N-2 or N-3.
- The method of claim 12, wherein T is between 3 μ ι η and 6 μ ι η.
- A vision system, comprising:the image sensor of any one of claims 1-7;a controller connected to the plurality of line sensors of the image sensor for controlling the plurality of line sensors to acquire image signals of a scene for at least two exposure times;and the image processing equipment is connected with the line sensors in the image sensor and is used for processing the image signals to obtain an image.
- A storage medium, characterized in that the storage medium stores a computer program for a processor to load and execute the steps of any of claims 8-14.
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| PCT/CN2018/109170 WO2020062269A1 (en) | 2018-09-30 | 2018-09-30 | Image sensor, method for acquiring image, visual system and storage medium |
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Application publication date: 20200929 |