CN113810621A - Time-sharing exposure and TDI parallel processing device and method applied to multi-line linear array camera - Google Patents
Time-sharing exposure and TDI parallel processing device and method applied to multi-line linear array camera Download PDFInfo
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Abstract
The device comprises a trigger module, a time-sharing exposure and TDI parallel processing device and a time-sharing exposure and TDI parallel processing method, wherein the trigger module sends a trigger signal to the linear array camera, the linear array camera sends a corresponding light source lighting signal to a light source controller while receiving the trigger signal, and one light source is lighted; meanwhile, the linear array camera collects a detected object image when a light source is on; when the line frequency is configured to be matched with the movement speed, the TDI processing module delays the image of the object to be detected to obtain an integer line delay image; and adding the image data of the corresponding line of the measured object image and the integer line delay image to obtain an output image processed according to the preset TDI series. Each light source corresponds to the multi-line image sensor, TDI processing can be carried out while time-sharing exposure is carried out, and the brightness of an output measured object image can be improved only by aligning the physical position of each level of TDI images shot by the multi-line image sensor under each light source.
Description
Technical Field
The application relates to the technical field of industrial image acquisition, in particular to a time-sharing exposure and TDI parallel processing device and method applied to a multi-line linear array camera.
Background
Industrial detection applications, such as: glass detection, photovoltaic detection and the like generally adopt a linear array camera to scan a detected object so as to obtain an image of the detected object. In order to detect all defects of the object to be detected, a plurality of line-scan cameras are generally required to be matched with different light sources and lighting modes to scan the object to be detected so as to obtain more image information of the object to be detected.
When the defects of a high-speed moving object are detected, the high-speed moving object needs to be shot by a high-speed linear array camera, but the exposure time of each line of images shot by the high-speed linear array camera is short, the brightness of each line of images is dark, a bright light source is needed for improving the condition, but the light source is difficult to achieve the brightness needed by the detected high-speed moving object images. Therefore, when detecting defects of a high-speed moving object, TDI (time delay integration) processing is generally adopted, and the brightness of an output image is the sum of the brightness of each line of images by performing accumulated imaging on the line array responses, namely, image gray values of a plurality of lines of the same object, so as to improve the brightness of the obtained high-speed moving object image.
The linear array camera is adopted to be matched with different light sources, exposure is respectively carried out on each light source through time-sharing exposure, the linear array camera is adopted to scan the high-speed moving object to be detected, images of the high-speed moving object to be detected under each light source are obtained, the characteristics of the high-speed moving object to be detected under a plurality of light sources can be synchronously analyzed, and the problem of image information loss caused by the use of a single light source is avoided. By adopting the method, although the acquired image information of the high-speed moving object is more, the brightness of the scanned measured high-speed moving object image may not meet the detection requirement.
In the prior art, when detecting the defects of a high-speed moving object, a processing method which can acquire more image information of the detected high-speed moving object and simultaneously can meet the detection requirement on the brightness of the scanned detected high-speed moving object image does not exist.
Disclosure of Invention
The application provides a time-sharing exposure and TDI parallel processing device and method applied to a multi-line linear array camera, and aims to solve the problem that in the prior art, a processing method which can acquire more image information of a detected high-speed moving object and can meet the detection requirement on the brightness of the scanned detected high-speed moving object image does not exist.
In a first aspect, the present application provides a time-sharing exposure and TDI parallel processing apparatus applied to a multi-line linear array camera, the apparatus comprising:
the system comprises a linear array camera, at least two light sources, a transmission module, a trigger module and a TDI processing module;
the linear array camera comprises at least two line image sensors, and the at least two line image sensors acquire images of a measured object under each light source;
the at least two light sources are connected with at least two channels of the light source controller, and the at least two channels are respectively connected with IO ports corresponding to the linear array camera;
the transmission module is used for transmitting a measured object to enable the measured object to pass through a view field area of the linear array camera according to a certain direction and a certain movement speed;
the linear array camera sends a light source lighting signal to the light source controller when receiving a trigger signal, wherein the light source lighting signal is used for triggering one light source to light up;
acquiring a detected object image when a light source is on by the linear array camera, wherein the detected object image comprises each level of TDI image acquired by each linear image sensor, each level of TDI image corresponds to different positions on the detected object, and the number of the TDI images is equal to the preset number of TDI levels;
the trigger module is used for sending a trigger signal to the linear array camera, and the trigger signal is used for triggering the linear array camera to expose and acquire images;
the TDI processing module is configured to:
when the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, delaying the image of the object to be measured according to a preset integer line in sequence, and after delaying at least once, obtaining an integer line delayed image of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the integer line delayed image on the object to be measured are the same;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
In a preferred embodiment of the present application, the TDI processing module is further configured to:
when the line frequency of the linear array camera is set to be not matched with the movement speed of the transmission module, delaying the image of the object to be measured according to preset decimal lines in sequence, and after delaying at least once, obtaining decimal line delayed images of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the decimal line delayed images on the object to be measured are the same;
converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
In a second aspect, the present application provides a time-sharing exposure and TDI parallel processing method applied to a multi-line linear array camera, the method comprising:
acquiring a measured object image when a light source is on by a linear array camera, wherein the measured object image comprises each level of TDI image acquired by each linear image sensor, each level of TDI image corresponds to different positions on the measured object, and the number of the TDI images is equal to the preset number of TDI levels;
judging whether the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module;
when the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, delaying the image of the object to be measured according to a preset integer line in sequence, and after delaying at least once, obtaining an integer line delayed image of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the integer line delayed image on the object to be measured are the same;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
In a preferred embodiment of the present application, determining whether the line frequency of the line camera is set to match the motion speed of the transmission module further includes:
when the line frequency of the linear array camera is set to be not matched with the movement speed of the transmission module, delaying the image of the object to be measured according to preset decimal lines in sequence, and after delaying at least once, obtaining decimal line delayed images of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the decimal line delayed images on the object to be measured are the same;
converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
In a preferred embodiment of the present application, the number of the preset lines is calculated by a pixel size and a line spacing of the image sensor and a preset TDI number, where the line spacing is a fixed distance between two adjacent lines of the image sensor, and the preset lines include a preset integer line or a preset decimal line.
In a preferred embodiment of the present application, the calculation formula of the preset number of rows is as follows:
the linear array camera comprises a linear array camera, a Digital Signal Processor (DSP), a digital signal processor and a Digital Signal Processor (DSP);
if P/(NxP') is an integer, TDI delaying is carried out on the image of the object to be detected according to a preset integer line;
if P/(NxP') is decimal, TDI delaying is carried out on the image of the object to be detected according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, N, P, D and N are positive integers, and P' is a positive number.
In a preferred embodiment of the present application, the light source is triggered to light up by a light source lighting signal output by the line camera to the light source controller.
In the preferred embodiment of the present application, the number of lines of the image sensor is the product of the number of light sources and the number of TDI stages.
In the above technical solution, the number of lines of the image sensor may also be equal to the number of TDI levels, but may not be equal to the number of light sources.
In a third aspect, the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of a time-sharing exposure and TDI parallel processing method applied to a multi-line linear array camera when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps of a time-sharing exposure and TDI parallel processing method applied to a multi-line camera.
Compared with the prior art, the time-sharing exposure and TDI parallel processing device and method applied to the multi-line linear array camera have the following beneficial effects:
each light source in the application can correspond to the multi-line image sensor, TDI processing can be carried out while time-sharing exposure is carried out, and the physical position of each level of TDI images shot by the multi-line image sensor under each light source only needs to be aligned, so that the operation is simpler. In addition, when the line frequency of the linear array camera is the same, the brightness of an output image after TDI processing is higher than that of an output image without TDI processing, the higher the preset TDI series is, the more remarkable the brightness of the output image is improved, and the brightness of the output image of the detected object can meet the detection requirement without a bright light source.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of x image sensors arranged in parallel in a line camera;
FIG. 2 is a schematic view of an image of an object under test;
fig. 3 is a flowchart of a time-sharing exposure and TDI parallel processing method applied to a multi-line linear array camera in embodiment 2 of the present application;
FIG. 4 is a schematic diagram of an arrangement of 12-line image sensors in a line camera;
fig. 5 is a schematic diagram of an application example 1 of the present application, in which images of a measured object are acquired by 4 different image sensors in a 12-line linear array camera under 3 light sources respectively;
FIG. 6 is a schematic diagram of a process of acquiring TDI image data of each stage after time-sharing exposure of 3 light sources in application example 1 of the present application;
FIG. 7 is a schematic diagram of time-sharing exposure and TDI parallel processing of 3 light sources in application example 1 of the present application;
fig. 8 is a schematic diagram of an application example 2 of the present application, in which images of a measured object are acquired by 4-line identical image sensors under 3 light sources respectively;
fig. 9 is a schematic diagram of an acquisition process of TDI image data of each stage after time-sharing exposure of 3 light sources in application example 2 of the present application.
Detailed Description
To make the objects, embodiments and advantages of the present application clearer, the following description of exemplary embodiments of the present application will clearly and completely describe the exemplary embodiments of the present application with reference to the accompanying drawings in the exemplary embodiments of the present application, and it is to be understood that the described exemplary embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
All other embodiments, which can be derived by a person skilled in the art from the exemplary embodiments described herein without inventive step, are intended to be within the scope of the claims appended hereto. In addition, while the disclosure herein has been presented in terms of one or more exemplary examples, it should be appreciated that aspects of the disclosure may be implemented solely as a complete embodiment.
It should be noted that the brief descriptions of the terms in the present application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of the present application. These terms should be understood in their ordinary and customary meaning unless otherwise indicated.
In order to facilitate the technical solution of the present application, some concepts related to the present application will be described below.
The image sensor of the TDI (Time Delay Integration) line camera has many lines (the TDI line camera is usually a black and white camera), and the brightness of an output image is the sum of the brightness of each line of the image by performing accumulated imaging on the line responses (image gray values) of multiple lines of the same object.
The image sensor of the line camera is linear, the image sensor is the linear picture element that arranges, is used for gathering or surveying the picture of the measured object according to the line, when using the line camera to gather the picture, shoot and get a line of pictures of the measured object once, namely the width of the picture has several pixels, but the length has several k. The acquisition of the complete image of the measured object is realized through the relative movement of the linear array camera and the measured object (usually, the linear array camera is fixedly installed, and the measured object moves).
Example 1
The application provides a time-sharing exposure and TDI parallel processing device applied to a multi-line linear array camera, which comprises:
the system comprises a linear array camera, at least two light sources, a transmission module, a trigger module and a TDI processing module.
The linear array camera comprises at least two line image sensors, the at least two line image sensors collect images of a measured object under each light source, two lines of images of the measured object are correspondingly collected by the two line image sensors, and the positions of the two lines of images of the measured object on the measured object are different;
the at least two light sources are connected with the at least two channels of the light source controller, and the at least two channels are respectively connected with IO ports corresponding to the linear array camera.
The triggering module is configured to send a triggering signal to the line-scan camera, where the triggering signal is used to trigger the line-scan camera to expose and acquire an image, and in this embodiment 1, the triggering module may be an encoder or an acquisition card, and the triggering signal may be a pulse triggering signal or a level triggering signal; when the trigger signal is a pulse trigger signal, the line camera carries out exposure at the rising edge or the falling edge of the pulse.
It should be noted that in embodiment 1 of the present application, the pulse trigger signal for triggering the exposure of the line camera is generally sent by an encoder or an acquisition card, but in practical applications, the pulse trigger signal may be provided by other devices known to those skilled in the art. It is not particularly limited in this application.
Further, when the linear array camera receives the trigger signal, the linear array camera sends a light source lighting signal to the light source controller, the light source controller controls a corresponding light source to light, a channel of the light source controller corresponding to the lighting light source is connected with an IO port corresponding to the linear array camera, namely, the linear array camera has a plurality of IO ports, the plurality of IO ports can respectively control the light source correspondingly connected with a plurality of different channels of the light source controller, thereby realizing the time-sharing exposure process of the linear array camera under a plurality of light sources, and because the plurality of light sources are respectively connected with different channels, therefore, at the same time, only one light source can be triggered to light at different times, and at the same time, the same light source cannot be repeatedly triggered to light.
The method comprises the steps that an image of a measured object when a light source is on is acquired through the linear array camera, the image of the measured object comprises at least two lines of image sensors, namely each level of TDI image acquired by each line of image sensor in the multi-line image sensor, each level of TDI image corresponds to different positions on the measured object, and the number of the TDI images is equal to the number of preset TDI levels, wherein each level of TDI image refers to the sum of each line of images at different positions on the measured object acquired by the multi-line image sensor in the linear array camera under the same light source, in addition, under the same light source, the number of lines of the image sensors for acquiring the images is equal to the number of the preset TDI levels, and the preset TDI levels can be set according to the brightness of output images required to be obtained.
In addition, the line camera includes multiple line image sensors, as shown in fig. 1, x image sensors are arranged in parallel in the line camera, wherein, numbers 1, 2, 3, and x are for distinguishing the multiple line image sensors, 1 represents a first line image sensor, 2 represents a second line image sensor, 3 represents a third line image sensor, and x represents an x-th line image sensor, each line image sensor is composed of multiple pixels arranged linearly, and the pixel size and the line pitch are equal (both are theoretically unrelated and usually the chips are designed to be equal), the line pitch refers to the pitch between two adjacent line image sensors, and the exposure time of each line image sensor can be set respectively; when the line-array camera is exposed, the multi-line image sensor can be used for simultaneously exposing, and a line of images of different positions of a measured object are acquired.
The transmission module is used for transmitting a measured object to enable the measured object to pass through a view field area of the linear array camera according to a certain direction and a certain movement speed; as shown in fig. 2, which is a schematic view of imaging of a measured object, fig. 2 reflects a relationship between a moving direction of the measured object and imaging of the line camera, and in fig. 2, since the moving direction v of the measured object is forward to the right, a serial number 1 indicates a TDI first-level line, a serial number 2 indicates a TDI second-level line, and for the same position on the measured object, an image sensor line which first captures an image of the measured object is the TDI first-level line, and the remaining lines are sequentially arranged according to the TDI first-level line. In fig. 2, the image of a certain position of the object to be measured at the initial time is captured by the field of view of the serial number 1, i.e., the 1 st line of the Sensors, and the image of the same position of the object to be measured at the time t can be captured by the field of view of the serial number 2, i.e., the 2 nd line of the Sensors, when the object to be measured moves to the time t. It should be noted that, if the transmission direction of the transmission module changes, that is, the movement direction of the object to be measured changes, the positions of the multi-line image sensors should also be determined according to the rule that the image sensor that first captures the image of the object to be measured is the TDI first-level line, and the remaining lines are sequentially arranged according to the TDI first-level line. For a linear array camera, a scanning direction is set, and which image sensor is a TDI first-level line can be selected.
The TDI processing module is configured to:
when the line frequency of the linear array camera is set to be matched with the movement speed of a transmission module, namely the movement speed of a measured object, delaying each level of TDI images acquired by each line image sensor in the image of the measured object according to a preset integer line, and obtaining integer line delayed images of the measured object at the same moment after delaying at least one time, namely the integer line delayed images of each level of TDI images, wherein the positions of the image of the measured object and the integer line delayed images on the measured object are the same;
adding the image data of the corresponding line of the integral line delay image of each stage of TDI image obtained after each time delay to the image of the object to be measured and the integral line delay image obtained by at least one time delay to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
Further, in a specific implementation manner of this embodiment 1, the TDI processing module is further configured to:
when the line frequency of the linear array camera is set to be not matched with the movement speed of a transmission module, namely the movement speed of a measured object, delaying the image of the measured object according to a preset decimal line in sequence, and after delaying at least once, obtaining decimal line delayed images of the measured object at the same moment, wherein the positions of the image of the measured object and the decimal line delayed images on the measured object are the same;
converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
It should be further noted that, when the line frequency of the line camera is set to be not matched with the motion speed of the transmission module, that is, the motion speed of the object to be measured, the image of the object to be measured may also be delayed according to the preset integer line, because when the motion speed of the object to be measured is matched with the line frequency of the line camera, the ratio of the acquired image of the object to be measured to the object to be measured is the same, and the line is delayed according to the preset integer; when the moving speed of the object to be measured is not matched with the line frequency of the line camera, the collected image of the object to be measured and the object to be measured have different proportions, compression or stretching may exist, but a preset integer line delay may still exist according to a calculation formula of the preset line number, which is specifically determined by the relationship between the moving distance of the object to be measured in unit time and the pixel size.
Example 2
Corresponding to the embodiment 1 of the time-sharing exposure and TDI parallel processing device applied to the multi-line linear array camera, the application also provides an embodiment of a time-sharing exposure and TDI parallel processing method applied to the multi-line linear array camera. The method is applied to the time-sharing exposure and TDI parallel processing device applied to the multi-wire line camera in embodiment 1, and on the basis of the device in embodiment 1, as shown in fig. 3, the method in embodiment 2 includes the following steps:
s101, collecting a detected object image when a light source is on through a linear array camera, wherein the detected object image comprises each level of TDI image collected by each linear image sensor, each level of TDI image corresponds to different positions on the detected object, and the number of the TDI images is equal to the preset number of TDI levels.
It should be noted that in step S101 of the present embodiment, the line camera exposure and light source lighting are synchronized to ensure that at the time of the line camera exposure, only one and only one light source is already lit at that time. Each stage of TDI images refers to the sum of images of each line at different positions on a measured object acquired by a multi-line image sensor in the linear array camera under the same light source, in addition, the line number of the image sensors for acquiring the images is equal to the preset TDI stage number under the same light source, and the preset TDI stage number can be set according to the brightness of output images acquired as required. It should be further noted that a plurality of lines of the image sensor may be adopted, that is, the image sensors of different lines are exposed in time division under different light sources, and each line of images of different positions on the object to be measured are acquired simultaneously; the same line image sensor can be used for time-sharing exposure under different light sources to acquire each line of images at different positions on the measured object.
And S102, judging whether the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, namely the movement speed of the object to be measured.
In step S102 of this embodiment 2, the number of light sources and the line frequency of the line camera are values that are set by a person skilled in the art according to actual use requirements, and the line frequency that needs to be set is reversely deduced according to the number of light sources and the detection speed that need to be set; the moving speed of the transmission module is the moving speed of the object to be measured, and is also a numerical value that is set by a person skilled in the art according to actual use requirements, and in this embodiment 2, neither numerical value is specifically limited.
S103, when the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, namely the movement speed of the object to be measured, delaying the image of the object to be measured according to a preset integer line in sequence, and obtaining an integer line delayed image of the object to be measured at the same moment after delaying at least once, wherein the position of the image of the object to be measured and the position of the integer line delayed image on the object to be measured are the same.
In step S103 of this embodiment 2, because each level of TDI image respectively acquired by each line image sensor included in the object image to be tested needs to be delayed according to a preset integer line, the number of times of delay is 1 less than that of the preset TDI level, and after the delay, an integer line delay image of each level of TDI image at the same time is obtained.
Further, in step S103 of this embodiment 2, the number of preset lines is calculated by the pixel size and the line spacing of the image sensor and the TDI stage number, where the line spacing is a fixed distance between two adjacent lines of the image sensor, and the preset lines include a preset integer line or a preset decimal line.
Further, the number of the preset lines in step S103 is calculated as follows:
the linear array camera comprises a linear array camera, a Digital Signal Processor (DSP), a digital signal processor and a Digital Signal Processor (DSP);
if P/(NxP') is an integer, TDI delaying is carried out on the image of the object to be detected according to a preset integer line;
if P/(NxP') is decimal, TDI delaying is carried out on the image of the object to be detected according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, N, P, D and N are positive integers, and P' is a positive number.
It should be noted that, when the line spacing D is equal to the pixel size P, and P is N × P', the above calculation formula of the number of preset lines can be changed into
At the moment, the movement speed of the measured object is matched with the line frequency of the line-scan digital camera, the ratio of the collected measured object image to the measured object is the same, and the measured objectAnd carrying out TDI time delay on the volume image according to a preset integer line.
S104, when the line frequency of the linear array camera is set to be not matched with the movement speed of a transmission module, namely the movement speed of the object to be measured, sequentially delaying the image of the object to be measured according to a preset decimal line, and obtaining a decimal line delayed image of the object to be measured at the same moment after delaying at least one time, wherein the positions of the image of the object to be measured and the decimal line delayed image on the object to be measured are the same; in addition, when the line frequency of the line-scan camera is set to be not matched with the movement speed of the transmission module, that is, the movement speed of the object to be measured, the image of the object to be measured may also be sequentially delayed according to a preset integer line, specifically according to the relationship between the movement distance of the object to be measured in unit time and the number of light sources and the size of pixels.
S105, converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
and S106, performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image.
It should be particularly noted that the interpolation amplification processing and the downsampling processing involved in step S105 and step S016 in this embodiment 2 are common technical means in the process of converting a decimal line image into an integer line image by those skilled in the art, and therefore, the detailed processing procedure thereof is not described in detail in this application. Besides the two processing methods for converting the decimal line image into the integer line image mentioned in the present application, the skilled person can also use other common knowledge in the art or conventional technical means to perform processing conversion on the decimal line image, but the whole method implemented by using the method steps of the present application falls within the protection scope of the present application.
And S107, adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
In step S107 of this embodiment 2, image data of corresponding lines of a total of M images needs to be added under the same light source, where the M images include each level of TDI image respectively acquired by each line image sensor of the multi-line image sensor, and an integer line delay image of each level of TDI image obtained after each time delay through M-1 time delay, and the image data of corresponding lines of the TDI image are added to obtain an output image delayed according to a preset TDI level M. Each stage of TDI delayed images refers to the sum of images of each line at different positions on a measured object acquired by a multi-line image sensor in a linear array camera under the same light source, in addition, under the same light source, the line number of the image sensors for acquiring the images is equal to the preset TDI stage number, the preset TDI stage number can be set according to the brightness of an output image obtained as required, and the larger the preset TDI stage number is, the higher the brightness of the obtained output image is.
Specifically, referring to the description in step S103, the number of light sources is N, the preset number of TDI stages is M, correspondingly, there are 4 line image sensors under each light source for simultaneous exposure and image acquisition of the object to be measured, the line frequency of the line camera is equal to the stroboscopic frequency of the light sources by N, the line frequency is N times the moving speed of the object to be measured, the pixel size is P, the line spacing is D, and D is equal to P, and P is N × P',
p' represents the movement distance of the measured object in unit time, V is the movement speed of the measured object, F is the line frequency of the line camera, and the unit time is 1/line frequency of the line camera according to
And calculating the number of the preset integer rows. The number of lines of the TDI level 1 image data delay is
Line, TDI level 2 image data delay
Line, TDI level 3 image data delay
Line, TDI level 4 image data, i.e. the current real-time data stream, is delayed
The row, row 0, does not require a delay.
Then, from TDI class M image data, i.e. the first of the current real-time data stream
Starting line image data, and acquiring TDI (time delay integration) M-th-level image data, namely the first acquired real-time data stream
Adding the line image data with the TDI (toluene Dirichlet Allocation) M-1 level image data, the TDI M-2 level image data, the TDI M-3 level image data and the TDI 1 level image data to obtain the TDI processed output image under each light source, and obtaining the TDI processed output image data of each light source alternately.
In a specific implementation manner of this embodiment 2, the line number of the image sensor is the product of the number of light sources and the number of TDI stages. It should be noted that, in practical application, the line number of the image sensor, that is, the line camera chip including several lines of image sensors, may be selected according to the requirements of those skilled in the art, the number of light sources and the number of TDI stages that need to perform TDI processing.
It should be noted that, in the solutions of embodiment 1 and embodiment 2 of the present application, one solution to be implemented is to require at least 4 line image sensors, support 2 light sources and 2-level TDI, and use image sensors of different lines to expose and acquire images at different positions of a measured object when different light sources are turned on, where the number of light sources and the number of preset TDI levels have no upper limit requirement, and there is no correlation between the number of light sources and the preset number of TDI levels. In the scheme, the number of light sources is preset as the number of TDI stages, namely the number of lines of the image sensor. Another implementation scheme is that at least 2-line image sensors are required, 2-level TDI is supported, and the number of light sources is independent of the TDI level.
Application example 1: presetting TDI series number as image sensor line number and light source number
The following describes the time-sharing exposure and TDI parallel processing procedure by setting the number of light sources to 3, presetting the number of TDI stages to 4, and using a line camera with an image sensor line number of 3 × 4 to 12, in combination with the method of embodiment 2 of the present application, and performing line frequency processing
F represents the line frequency of the linear array camera, V represents the movement speed of the measured object, P is the pixel size, the line frequency of the linear array camera under the same light source is matched with the movement speed of the measured object, and the acquired image of the measured object cannot be stretched or compressed.
As shown in fig. 4, which is a schematic diagram of an arrangement of 12 line image sensors in a line camera, L1., L12 respectively represents a 1 st line image sensor,. and a 12 th line image sensor, and a distance between two adjacent line image sensors is equal to a pixel size, that is, a pixel size of a plurality of linearly arranged pixels constituting the 1 st line image sensor L1 in fig. 4 is equal to a line distance between the 1 st line image sensor L1 and the 2 nd line image sensor L2. And 4 line image sensors are arranged under each corresponding light source to expose and acquire the image of the measured object because the preset TDI series is 4.
As shown in fig. 5, a schematic diagram of acquiring images of a measured object under 3 light sources by 4 different image sensors in a 12-line linear array camera is shown. In fig. 5, at time t1, the light source 1 is turned on, and the 1 st line image sensor L1, the 4 th line image sensor L4, the 7 th line image sensor L7 and the 10 th line image sensor L10 of the line camera are simultaneously exposed to acquire images of each line at different positions of the measured object, that is, the 4-level TDI of the light source 1 shown in fig. 5; at time t2, the light source 2 is turned on, and the 2 nd line image sensor L2, the 5 th line image sensor L5, the 8 th line image sensor L8 and the 11 th line image sensor L11 of the line camera are simultaneously exposed to acquire each line of images of different positions of the measured object, namely the 4-level TDI of the light source 2 shown in fig. 5; at time t3, the light source 3 is turned on, and the 3 rd line image sensor L3, the 6 th line image sensor L6, the 9 th line image sensor L9 and the 12 th line image sensor L12 of the line camera are simultaneously exposed to acquire images of each line at different positions of the object to be measured, i.e. the 4-level TDI of the light source 3 shown in fig. 5. And selecting the set output of each row of images collected by each line image sensor under the corresponding light source during data output. Fig. 6 shows the process of acquiring TDI image data of each stage after time-sharing exposure of 3 light sources, where the obtained TDI image data of each stage, that is, the TDI 1 st-stage line image data, the TDI 2 nd-stage line image data, the TDI 3 rd-stage line image data, and the TDI 4 th-stage line image data in fig. 6, where the TDI 1 st-stage line image data is a first line image of a measured object acquired by a 1 st line image sensor L1 when the light source 1 is turned on at time t1, and a second line image of the measured object acquired by a 1 st line image sensor L1 when the light source 1 is turned on at time t 4; the light sources 2 and 3 are the same in structure and are not repeated, and because one light source is lighted up at the same time, a 4-line image sensor is exposed at the same time to acquire each line of images of different positions of the measured object; therefore, when the light source 1 is turned on at time t1, each line image of the object to be measured acquired by the 4 th line image sensor L4, the 7 th line image sensor L7 and the 10 th line image sensor L10 corresponds to different TDI levels, the image of the object to be measured acquired by the 4 th line image sensor L4 corresponds to TDI level 2 line image data, the image of the object to be measured acquired by the 7 th line image sensor L7 corresponds to TDI level 3 line image data, and the image of the object to be measured acquired by the 10 th line image sensor L10 corresponds to TDI level 4 line image data, and the light source 2 and the light source 3 are the same and will not be described again. The arrangement of each stage of TDI image data is the alternate data of 3 light sources, and the difference between the TDI image data of each stage is that the positions of the images of the measured object shot at the same time are different, so that the TDI function can be realized through data alignment, and each stage of TDI images shot under the same light source needs to be aligned, namely the physical positions of the 4-stage TDI images obtained in the figure 6.
As shown in fig. 7, in order to superimpose the TDI function on the time-sharing exposure, it is necessary to expose and capture images by image sensors with different lines at the same time under each light source, as shown in fig. 6 and 7, the 1 st line image sensor L1, the 4 th line image sensor L4, the 7 th line image sensor L7 and the 10 th line image sensor L10 all perform exposure imaging on the light source 1, the 2 nd line image sensor L2, the 5 th line image sensor L5, the 8 th line image sensor L8 and the 11 th line image sensor L11 all perform exposure imaging on the light source 2, and the 3 rd line image sensor L3, the 6 th line image sensor L6, the 9 th line image sensor L9 and the 12 th line image sensor L12 all perform exposure imaging on the light source 3. Under each light source, there are 4 lines of image data of the object to be measured collected by the image sensor, which correspond to different positions of the object respectively. TDI is the addition of measured object images acquired by a plurality of line image sensors at the same position of the measured object. Therefore, in order to obtain the image data of the object to be measured acquired by the plurality of line image sensors at the same position of the object to be measured under each light source, the image data of the current object to be measured needs to be delayed.
Specifically, the delay is calculated according to the formula of step S103 in embodiment 2, since the number N of light sources is 3, the number M of TDI stages is 4, and since the line distance D is equal to the pixel size P, the number of lines for obtaining the delay of the TDI 1 st-stage image data shown in fig. 7 is (4-1) × 3 × 2 ═ 18 lines, the delay of the TDI 2 nd-stage image data is (4-2) × 3 × 2 ═ 12 lines, the delay of the TDI 3 rd-stage image data is (4-3) × 3 × 2 ═ 6 lines, the delay of the TDI 4 th-stage image data, that is, the current real-time data stream, and the delay of (4-4) × 3 × 2 ═ 0 lines, that is, no delay is required.
Then, starting from the TDI level 4 image data, that is, (4-1) × 3 × 2+1+19 lines of image data of the current real-time data stream, adding the TDI level 4 image data, that is, the 19 th line of image data acquired by the current real-time data stream with the TDI level 3 image data, the TDI level 2 image data and the image data of the corresponding line of the TDI level 1 image data to obtain an output image after TDI processing under each light source, that is, the measured object image data with each light source alternated as shown in fig. 7, at this time, the line height of the output image is the line height of the original measured object image, that is, three times the line height set inside the line camera.
Application example 2: presetting TDI series number as image sensor line number
The process of time-sharing exposure and TDI parallel processing will be described below with a line camera in which the number of light sources is set to 3, the number of preset TDI levels is set to 4, and the number of lines of an image sensor is set to 4, in combination with the method of embodiment 2 of the present application.
As shown in fig. 8, a schematic diagram of the image acquisition of the measured object under 3 light sources by 4-line identical image sensors is shown. In fig. 8, at time t1, the light source 1 is turned on, and the 1 st line image sensor L1, the 2 nd line image sensor L2, the 3 rd line image sensor L3 and the 4 th line image sensor L4 of the line camera are simultaneously exposed to acquire images of each line at different positions of the object to be measured, that is, the 4-level TDI of the light source 1 shown in fig. 8; at time t2, the light source 2 is turned on, and the 1 st line image sensor L1, the 2 nd line image sensor L2, the 3 rd line image sensor L3 and the 4 th line image sensor L4 of the line camera are simultaneously exposed to acquire each line of images of different positions of the measured object, namely the 4-level TDI of the light source 2 shown in fig. 8; at time t3, the light source 3 is turned on, and the 1 st line image sensor L1, the 2 nd line image sensor L2, the 3 rd line image sensor L3 and the 4 th line image sensor L4 of the line camera are simultaneously exposed to acquire images of each line at different positions of the object to be measured, that is, the 4-level TDI of the light source 3 shown in fig. 8. When data are output, the image data sequentially output by the line camera are the image data corresponding to each light source. Fig. 9 shows the process of acquiring TDI image data of each stage after time-sharing exposure of 3 light sources, where the obtained TDI image data of each stage, that is, the TDI 1 st-stage line image data, the TDI 2 nd-stage line image data, the TDI 3 rd-stage line image data and the TDI 4 th-stage line image data in fig. 9, where the TDI 1 st-stage line image data are images of different positions of the object to be measured acquired by 4 lines of the same image sensor when the light source 1 is turned on at time t1, that is, the first line image of the TDI 1 st-stage line image data of the object to be measured is acquired by the 1 st line image sensor L1, the first line image of the TDI 2 nd-stage line image data of the object to be measured is acquired by the 2 nd line image sensor L2, the first line image of the TDI 3 rd-stage line image data of the object to be measured is acquired by the 3 rd line image sensor L3, the first line image of the TDI 4 th line image data of the object to be acquired by the 4 th line image sensor L4, the light source 2 is lighted at the time t2, the principle of collecting the image of the measured object is the same as that of the light source 1, the light source 3 is lighted at the time t3, and the principle of collecting the image of the measured object is the same as that of the light source 1, which is not described herein again. The arrangement of each stage of TDI image data is the alternate data of 3 light sources, and the difference between each stage of TDI image data is that the positions of the images of the object to be measured shot at the same time are different, so that the TDI function can be realized by data alignment, and each stage of TDI image shot under the same light source needs to be aligned, namely the physical positions of the 4-stage TDI images obtained in fig. 9.
The TDI processing procedure in application example 2 is the same as that in application example 1, and is not described herein again.
The difference between the application example 1 and the application example 2 is whether the image sensor of the same line is used for exposure to acquire the image of the measured object when different light sources are on. In addition, data alignment may or may not be performed between the light sources of application example 1 and application example 2, and if data alignment is required between the light sources, the data alignment may be performed through data delay between the light sources after the TDI is performed by each light source, but delay parameters of the data delay between the light sources are different from delay parameters of TDI image data, and delay parameters of the data delay between the light sources of application example 1 and application example 2 are also different.
The application provides a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the time-sharing exposure and TDI parallel processing method applied to the multi-line linear array camera in embodiment 2.
The present application provides a computer-readable storage medium, which stores a computer program, wherein the computer program, when being executed by a processor, implements the steps of the time-sharing exposure and TDI parallel processing method applied to a multi-line linear array camera of embodiment 2.
Claims (10)
1. A time-sharing exposure and TDI parallel processing device applied to a multi-line linear array camera is characterized by comprising:
the system comprises a linear array camera, at least two light sources, a transmission module, a trigger module and a TDI processing module;
the linear array camera comprises at least two line image sensors, and the at least two line image sensors acquire images of a measured object under each light source;
the at least two light sources are connected with at least two channels of the light source controller, and the at least two channels are respectively connected with IO ports corresponding to the linear array camera;
the transmission module is used for transmitting a measured object to enable the measured object to pass through a view field area of the linear array camera according to a certain direction and a certain movement speed;
the linear array camera sends a light source lighting signal to the light source controller when receiving a trigger signal, wherein the light source lighting signal is used for triggering one light source to light up;
acquiring a detected object image when a light source is on by the linear array camera, wherein the detected object image comprises each level of TDI image acquired by each linear image sensor, each level of TDI image corresponds to different positions on the detected object, and the number of the TDI images is equal to the preset number of TDI levels;
the trigger module is used for sending a trigger signal to the linear array camera, and the trigger signal is used for triggering the linear array camera to expose and acquire images;
the TDI processing module is configured to:
when the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, delaying the image of the object to be measured according to a preset integer line in sequence, and after delaying at least once, obtaining an integer line delayed image of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the integer line delayed image on the object to be measured are the same;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
2. The time-sharing exposure and TDI parallel processing device applied to a multi-line camera according to claim 1, wherein said TDI processing module is further configured to:
when the line frequency of the linear array camera is set to be not matched with the movement speed of the transmission module, delaying the image of the object to be measured according to preset decimal lines in sequence, and after delaying at least once, obtaining decimal line delayed images of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the decimal line delayed images on the object to be measured are the same;
converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
3. A time-sharing exposure and TDI parallel processing method applied to a multi-line camera, which is applied to the time-sharing exposure and TDI parallel processing device applied to the multi-line camera according to claim 1 or 2, the method comprising:
acquiring a measured object image when a light source is on by a linear array camera, wherein the measured object image comprises each level of TDI image acquired by each linear image sensor, each level of TDI image corresponds to different positions on the measured object, and the number of the TDI images is equal to the preset number of TDI levels;
judging whether the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module;
when the line frequency of the linear array camera is set to be matched with the movement speed of the transmission module, delaying the image of the object to be measured according to a preset integer line in sequence, and after delaying at least once, obtaining an integer line delayed image of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the integer line delayed image on the object to be measured are the same;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
4. The time-sharing exposure and TDI parallel processing method applied to the multi-line camera as claimed in claim 3, wherein determining whether the line frequency of the line camera is set to match the motion speed of the transmission module further comprises:
when the line frequency of the linear array camera is set to be not matched with the movement speed of the transmission module, delaying the image of the object to be measured according to preset decimal lines in sequence, and after delaying at least once, obtaining decimal line delayed images of the object to be measured at the same moment, wherein the positions of the image of the object to be measured and the decimal line delayed images on the object to be measured are the same;
converting the decimal line delayed image into an integer line delayed image through interpolation amplification processing;
performing down-sampling on the integer row delay image to obtain an integer row delay image with the same resolution as the decimal row delay image;
and adding the image data of the corresponding line of the integer line delay image obtained by at least one time delay to the image of the object to be measured to obtain an output image obtained by delaying the image of the object to be measured according to a preset TDI series, wherein the difference value between the preset TDI series and the delay times is 1.
5. The time-sharing exposure and TDI parallel processing method applied to the multi-line camera as claimed in claim 3 or 4,
the number of the preset lines is calculated through the pixel size and the line spacing of the image sensor and the preset TDI series, wherein the line spacing is a fixed distance between two adjacent lines of the image sensor, and the preset lines comprise preset integer lines or preset decimal lines.
6. The time-sharing exposure and TDI parallel processing method applied to the multi-line camera as claimed in claim 5, wherein the number of preset lines is calculated as follows:
the linear array camera comprises a linear array camera, a Digital Signal Processor (DSP), a digital signal processor and a Digital Signal Processor (DSP);
if P/(NxP') is an integer, TDI delaying is carried out on the image of the object to be detected according to a preset integer line;
if P/(NxP') is decimal, TDI delaying is carried out on the image of the object to be detected according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, N, P, D and N are positive integers, and P' is a positive number.
7. The time-sharing exposure and TDI parallel processing method applied to the multi-line camera as claimed in claim 3 or 4,
and the light source is triggered to light up by a light source lighting signal output to the light source controller by the linear array camera.
8. The time-sharing exposure and TDI parallel processing method applied to the multi-line camera as claimed in claim 3 or 4,
the number of lines of the image sensor is the product of the number of light sources and the TDI series.
9. A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of a time-shared exposure and TDI parallel processing method as claimed in any one of claims 3 to 8 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the steps of a time-shared exposure and TDI parallel processing method applied to a multi-line camera according to any one of claims 3 to 8.
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