CN113810621B - 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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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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Abstract
The device comprises a trigger module, a trigger signal and a light source controller, wherein the trigger module is used for sending a trigger signal to the linear array camera, the linear array camera is used for sending a corresponding light source lighting signal to the light source controller when receiving the trigger signal, and one light source is lighted; meanwhile, the linear array camera collects a measured object image when a light source is lightened; when the line frequency is configured to be matched with the motion speed, the TDI processing module delays the measured object image to obtain an integer line delay image; and adding the image data of the corresponding lines of the measured object image and the integer line delay image to obtain an output image processed according to the preset TDI series. According to the method, each light source corresponds to the multi-line image sensor, TDI processing can be performed while time-sharing exposure is performed, and the brightness of the output measured object image can be improved only by aligning the physical position of each level of TDI image 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-linear array camera.
Background
In industrial detection applications, for example: glass detection, photovoltaic detection and the like are generally performed by scanning an object to be detected by using a linear array camera so as to obtain an image of the object to be detected. In order to detect all defects of the detected object, a plurality of linear array cameras are usually required to be adopted to scan the detected object in combination with different light sources and lighting modes so as to acquire more image information of the detected object, but the method is complex in operation, and the volume of equipment is overlarge due to the fact that the number of the linear array cameras is increased, so that the method is difficult to be applied to practice.
When detecting the defect of the high-speed moving object, the high-speed linear array camera is required to shoot the high-speed moving object, but the exposure time for shooting each row of images by the high-speed linear array camera is very short, the brightness of each row of images is very dark, a very bright light source is required for improving the situation, and the light source is harder to reach the brightness required by the detected high-speed moving object image. Therefore, in detecting defects of a high-speed moving object, TDI (time delay integration) processing is generally adopted, and the brightness of an output image is made to be the sum of the brightness of each line of image by performing accumulated imaging on a multi-line linear array response of the same object, that is, an image gray value, so as to improve the brightness of the resulting high-speed moving object image.
The linear array camera is adopted to match with different light sources, each light source is exposed through time-sharing exposure, the linear array camera is adopted to scan the tested high-speed moving object, the image of the tested high-speed moving object under each light source is obtained, the characteristics of the tested high-speed moving object under a plurality of light sources can be analyzed synchronously, and the problem of image information loss caused by the use of a single light source is avoided. With the above 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 capable of acquiring more image information of the detected high-speed moving object and meeting the detection requirement at the same time of scanning the brightness of the 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 array camera, which are used for solving the problem that in the prior art, a processing method capable of acquiring more image information of a detected high-speed moving object and meeting detection requirements at the same time is not available.
In a first aspect, the present application provides a time-sharing exposure and TDI parallel processing apparatus applied to a multi-line 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 collect images of the measured object under each light source;
at least two light sources are connected with at least two channels of the light source controller, and at least two channels are respectively connected with IO ports corresponding to the linear array camera;
the transmission module is used for transmitting the object to be detected, so that the object to be detected passes through the 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 the trigger signal, wherein the light source lighting signal is used for triggering one light source to light;
the method comprises the steps that a detected object image when a light source is lightened is collected through the linear array camera, the detected object image comprises each level of TDI image which is collected by each line image sensor respectively, each level of TDI image corresponds to different positions on the detected object, and the number of the TDI images is equal to the number of preset TDI stages;
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 collect images;
the TDI processing module is configured to:
when the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module, sequentially delaying the image of the object to be detected according to a preset integer line, and obtaining an integer line delay image of the object to be detected at the same time after delaying at least once, wherein the positions of the image of the object to be detected and the integer line delay image on the object to be detected are the same;
and adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image after delaying the measured object image according to a preset TDI (time delay) level, wherein the difference value between the preset TDI level 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 unmatched with the motion speed of the transmission module, sequentially delaying the image of the detected object according to preset decimal lines, and obtaining decimal line delay images of the detected object at the same moment after delaying at least once, wherein the positions of the image of the detected object and the decimal line delay images on the detected object are the same;
Converting the decimal line delay image into an integer line delay image through interpolation amplification processing;
downsampling the integer line delay image to obtain an integer line delay image with the same resolution as the decimal line delay image;
and adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image after delaying the measured object image according to a preset TDI (time delay) level, wherein the difference value between the preset TDI level 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 array camera, the method including:
the method comprises the steps that a detected object image when a light source is lightened is collected through a linear array camera, the detected object image comprises each level of TDI image which is collected by each line image sensor respectively, each level of TDI image corresponds to different positions on the detected object, and the number of the TDI images is equal to the number of preset TDI stages;
judging whether the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module;
when the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module, sequentially delaying the image of the detected object according to a preset integer line, and obtaining an integer line delay image of the detected object at the same moment after delaying at least once, wherein the positions of the image of the detected object and the integer line delay image on the detected object are the same;
And adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image after delaying the measured object image according to a preset TDI (time delay) level, wherein the difference value between the preset TDI level 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 movement speed of the transmission module further includes:
when the line frequency of the linear array camera is set to be unmatched with the motion speed of the transmission module, sequentially delaying the image of the detected object according to preset decimal lines, and obtaining decimal line delay images of the detected object at the same moment after delaying at least once, wherein the positions of the image of the detected object and the decimal line delay images on the detected object are the same;
converting the decimal line delay image into an integer line delay image through interpolation amplification processing;
downsampling the integer line delay image to obtain an integer line delay image with the same resolution as the decimal line delay image;
and adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image after delaying the measured object image according to a preset TDI (time delay) level, wherein the difference value between the preset TDI level and the delay times is 1.
In a preferred embodiment of the present application, the number of preset rows is calculated by the pixel size and the line spacing of the image sensor, which is a fixed distance between two adjacent lines of the image sensor, and a preset TDI series, where the preset rows include a preset integer number of rows or a preset decimal number of rows.
In a preferred embodiment of the present application, the calculation formula of the preset number of rows is as follows:
wherein M is a preset TDI series, M is an mth TDI delay, P is a pixel size, D is a line interval, d=np, P' represents a motion distance of the measured object in unit time, V is a motion speed of the measured object, F is a line frequency of the line camera, and unit time=1/line frequency of the line camera;
if P/(N x P') is an integer, performing TDI delay on the detected object image according to a preset integer row;
if P/(N x P') is decimal, TDI delay is carried out on the measured object image according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, M, N, P, D, N are positive integers, and P' is a positive number.
In a preferred embodiment of the present application, the light source is triggered to illuminate by a light source illumination signal output to the light source controller by the line camera.
In a 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 TDI series.
In the above technical solution, the number of lines of the image sensor may be equal to the TDI series, but not equal to the number of light sources.
In a third aspect, the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of a time-sharing exposure and TDI parallel processing method applied to a multi-line camera when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements steps of a time-sharing exposure and TDI parallel processing method applied to a multi-line array 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:
according to the method, each light source can correspond to the multi-line image sensor, TDI processing can be performed at the same time of time-sharing exposure, and only the physical position of each level of TDI image shot by the multi-line image sensor under each light source 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 the output image after TDI processing is higher than that of the output image without TDI processing, and the higher the preset TDI level is, the more remarkable the brightness of the output image is improved, and the brightness of the output measured object image can reach the detection requirement without a very bright light source.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of x image sensors arranged in parallel in a line camera;
FIG. 2 is a schematic diagram of imaging an object to be measured;
fig. 3 is a flowchart of a time-sharing exposure and TDI parallel processing method applied to a multi-line array camera according to 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 acquiring images of an object to be measured under 3 light sources by using 4 different image sensors in a 12-line linear array camera in application example 1 of the present application;
fig. 6 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 1 of the present application;
FIG. 7 is a schematic diagram of 3 light source time-sharing exposure and TDI parallel processing in application example 1 of the present application;
FIG. 8 is a schematic diagram of acquiring images of an object under test under 3 light sources by using the same image sensor with 4 lines in application example 2 of the present application;
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
For purposes of clarity, embodiments and advantages of the present application, the following description will make clear and complete the exemplary embodiments of the present application, with reference to the accompanying drawings in the exemplary embodiments of the present application, it being apparent that the exemplary embodiments described are only some, but not all, of the examples of the present application.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Based on the exemplary embodiments described herein, all other embodiments that may be obtained by one of ordinary skill in the art without making any inventive effort are within the scope of the claims appended hereto. Furthermore, while the disclosure is presented in the context of an exemplary embodiment or embodiments, it should be appreciated that the various aspects of the disclosure may, separately, comprise a complete embodiment.
It should be noted that the brief description of the terms in the present application is only for convenience in understanding the embodiments described below, and is not intended to limit the embodiments of the present application. Unless otherwise indicated, these terms should be construed in their ordinary and customary meaning.
In order to facilitate the technical solution of the application, some concepts related to the present application will be described below first.
The image sensor of TDI (Time Delay Integration ) line camera has a plurality of lines (TDI line camera is usually a black and white camera) and the brightness of the output image is the sum of the brightness of each line of image by cumulatively imaging the line responses (image gray values) of the same object.
The image sensor of the linear array camera is linear, the image sensors are arranged in a linear manner, and the image sensor is used for acquiring or detecting the image of the detected object according to the line, when the linear array camera is used for acquiring the image, one line of image of the detected object is obtained once, namely, the width of the image is only a few pixels, and the length is only a few 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 fixed installation of the linear array camera and the movement of the measured object).
Example 1
The application provides a be applied to multi-line array camera's timesharing exposure and TDI parallel processing device, include:
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, wherein the at least two line image sensors are used for collecting images of the detected object under each light source, two lines of images of the detected object are correspondingly collected by the two line image sensors, and the positions of the images of the detected object on the detected object are different;
at least two light sources are connected with at least two channels of the light source controller, and at least two channels are respectively connected with IO ports corresponding to the linear array camera.
The trigger module is configured to send a trigger signal to the line-scan camera, where the trigger signal is used to trigger the line-scan camera to expose and collect an image, and in this embodiment 1, the trigger module may be an encoder or an acquisition card, and the trigger signal may be a pulse trigger signal or a level trigger signal; when the trigger signal is a pulse trigger signal, the line camera exposes on the rising edge or the falling edge of the pulse.
In addition, it should be specifically noted that in embodiment 1 of the present application, the pulse trigger signal for triggering the exposure of the line camera is generally sent through an encoder or an acquisition card, but in practical application, 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 be lighted, a channel of the light source controller corresponding to the lighted light source is connected with an IO port corresponding to the linear array camera, namely, the linear array camera is provided with a plurality of IO ports, the plurality of IO ports can respectively control the light sources correspondingly connected with a plurality of different channels of the light source controller, so that a time-sharing exposure process of the linear array camera under the plurality of light sources is realized, and as the plurality of light sources are respectively connected with different channels, only one light source can be triggered to be lighted at the same time, and the same light source can not be repeatedly triggered to be lighted at different times.
The method comprises the steps that a detected object image when a light source is lightened is collected through the linear array camera, the detected object image comprises at least two line image sensors, namely, each level of TDI image which is collected by each line image sensor in the multi-line image sensor respectively, each level of TDI image corresponds to different positions on the detected object respectively, 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 image at different positions on the detected object which is collected by the multi-line image sensor in the linear array camera under the same light source, in addition, the line number of the image sensor for collecting the image is equal to the number of the preset TDI levels under the same light source, and the preset TDI levels can be set according to output image brightness which is obtained as required.
In addition, the line camera includes a multi-line image sensor, as shown in fig. 1, which is x image sensors arranged in parallel in the line camera, wherein numbers 1, 2, 3, x are for distinguishing the multi-line image sensors, 1 represents a first line image sensor, 2 represents a second line image sensor, 3 represents a third line image sensor, x represents an x-th line image sensor, each line image sensor is composed of a plurality of linearly arranged pixels, and the pixel size is equal to the line spacing (both have no correlation in theory, and the chip is designed to be equal in general), the line spacing refers to the spacing between adjacent two line image sensors, and the exposure time of each line image sensor can be set separately; when the linear array camera is exposed, a multi-line image sensor can be used for simultaneous exposure, and one line of images of different positions of the measured object can be acquired.
The transmission module is used for transmitting the object to be detected, so that the object to be detected passes through the field area of the linear array camera according to a certain direction and a certain movement speed; as shown in fig. 2, which is an imaging schematic diagram of a measured object, the relation between the moving direction of the measured object and the imaging of the line-array camera is reflected in fig. 2, since the moving direction v of the measured object is positive to the right, the sequence number 1 represents a TDI first-stage line, the sequence number 2 represents a TDI second-stage line, for the same position on the measured object, the line of the image sensor that firstly captures the image of the measured object is the TDI first-stage line, and the rest lines are sequentially arranged according to the TDI first-stage line. In fig. 2, the view field of line 1 of the number 1, i.e. the sensor, captures an image of a certain position of the object to be measured at the initial moment, and when the object to be measured moves to the moment t, the view field of line 2 of the number 2, i.e. the sensor, can capture an image of the same position of the object to be measured at the moment t. It should be noted that, if the transmission direction of the transmission module changes, that is, the movement direction of the measured object changes, the image sensor that captures the image of the measured object first is the TDI first-stage line, and the other lines determine the positions of the multi-line image sensor according to the rule that the TDI first-stage lines are sequentially arranged. For a linear array camera, by setting a scanning direction, which image sensor is a TDI first-stage line can be selected, if the scanning direction is set incorrectly, an output image after TDI processing is blurred with ghost, and the ghost is larger than that when TDI processing is not performed.
The TDI processing module is configured to:
when the line frequency of the line-array camera is set to be matched with the motion speed of the transmission module, namely the motion speed of the detected object, delaying each stage of TDI image which is acquired by each line image sensor in the detected object image respectively according to a preset integer, and obtaining an integer line delay image of the detected object at the same moment, namely the integer line delay image of each stage of TDI image after delaying at least once, wherein the positions of the detected object image and the integer line delay image on the detected object are the same;
and adding the measured object image and an integer line delay image obtained by at least one time delay, namely adding image data of corresponding lines of the integer line delay image of each level of TDI image obtained after each time delay to obtain an output image after delaying the measured object image according to a preset TDI level, wherein the difference value between the preset TDI level 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 unmatched with the motion speed of the transmission module, namely the motion speed of the detected object, sequentially delaying the detected object image according to preset decimal lines, and obtaining decimal line delay images of the detected object at the same moment after delaying at least once, wherein the positions of the detected object image and the decimal line delay images on the detected object are the same;
Converting the decimal line delay image into an integer line delay image through interpolation amplification processing;
downsampling the integer line delay image to obtain an integer line delay image with the same resolution as the decimal line delay image;
and adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image after delaying the measured object image according to a preset TDI (time delay) level, wherein the difference value between the preset TDI level 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 measured object, the measured object image may also be delayed according to the preset integer, because the proportion of the collected measured object image to the measured object is the same when the motion speed of the measured object is matched with the line frequency of the line camera, and the measured object image is delayed according to the preset integer; when the motion speed of the measured object is not matched with the line frequency of the linear array camera, the ratio of the acquired measured object image to the measured object is different, compression or stretching can exist, but a preset integer line delay still can exist according to a calculation formula of the preset line number, and the relation between the motion distance of the measured object in unit time and the pixel size is dependent.
Example 2
Corresponding to the foregoing embodiment 1 of the time-sharing exposure and TDI parallel processing device applied to the multi-line array camera, the present application also provides an embodiment of a time-sharing exposure and TDI parallel processing method applied to the multi-line array camera. The method is applied to a time-sharing exposure and TDI parallel processing device applied to a multi-line linear array camera in embodiment 1, and on the basis of the device in the foregoing embodiment 1, as shown in fig. 3, the method in embodiment 2 includes the following steps:
s101, acquiring an object image to be detected when a light source is lightened by a linear array camera, wherein the object image to be detected comprises each level of TDI image respectively acquired by each line image sensor, each level of TDI image respectively corresponds to different positions on the object to be detected, and the number of the TDI images is equal to the number of preset TDI stages.
It should be noted that in step S101 of the present embodiment, the line camera exposure and the light source lighting are synchronized to ensure that at the time of the line camera exposure, only one light source is already lit at that time. Each level of TDI image refers to the sum of images of each line of different positions on a detected object collected by a multi-line image sensor in a linear array camera under the same light source, in addition, the number of lines of the image sensor for collecting the image is equal to the number of preset TDI stages, and the preset TDI stages can be set according to the brightness of an output image obtained as required under the same light source. It should be further noted that, multiple lines of the image sensor may be used, that is, the image sensors of different lines are exposed in different time under different light sources, and each line of images of different positions on the measured object is collected at the same time; the same line image sensor can be used for time-sharing exposure under different light sources to collect images of each line at different positions on the measured object.
S102, judging whether the line frequency of the line camera is set to be matched with the motion speed of the transmission module, namely the motion speed of the measured object.
In step S102 of 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 back-deduced according to the number of light sources and the detection speed that are actually required; the motion speed of the transmission module is the motion speed of the object to be measured, and is a value set by a person skilled in the art according to the actual use requirement, and in this embodiment 2, both values are not specifically limited.
And S103, when the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module, namely the motion speed of the measured object, sequentially delaying the measured object image according to a preset integer line, and obtaining an integer line delay image of the measured object at the same time after delaying at least once, wherein the positions of the measured object image and the integer line delay image on the measured object are the same.
In step S103 of this embodiment 2, since each level of TDI image is acquired by each line image sensor included in the measured object image, when delay is performed, each level of TDI image needs to be delayed according to a preset integer line, the number of times of delay is smaller than the preset TDI level by 1, and after delay, the 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 rows is calculated by the pixel size and the line spacing of the image sensor, which is a fixed distance between two adjacent lines of the image sensor, and the TDI series, and the preset rows include preset integer rows or preset decimal rows.
Still further, the number of preset rows in step S103 is calculated as follows:
wherein M is a preset TDI series, M is an mth TDI delay, P is a pixel size, D is a line interval, d=np, P' represents a motion distance of the measured object in unit time, V is a motion speed of the measured object, F is a line frequency of the line camera, and unit time=1/line frequency of the line camera;
if P/(N x P') is an integer, performing TDI delay on the detected object image according to a preset integer row;
if P/(N x P') is decimal, TDI delay is carried out on the measured object image according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, M, N, P, D, 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=n×p', the above-mentioned predetermined number of rows calculation formula can be modified to
At this time, the motion speed of the measured object is matched with the line frequency of the line camera, the proportion of the collected measured object image to the measured object is the same, and the measured object image is subjected to TDI delay according to a preset integer line.
S104, when the line frequency of the linear array camera is set to be unmatched with the motion speed of the transmission module, namely the motion speed of the measured object, sequentially delaying the measured object image according to preset decimal lines, and obtaining decimal line delay images of the measured object at the same moment after delaying at least once, wherein the positions of the measured object image and the decimal line delay images on the measured object are the same; in addition, when the line frequency of the line-array camera is set to be unmatched with the motion speed of the transmission module, that is, the motion speed of the measured object, the measured object image may be delayed sequentially according to a preset integer line, specifically according to the relationship between the motion distance of the measured object in unit time and the number of light sources and the pixel size.
S105, converting the decimal line delay image into an integral line delay image through interpolation amplification processing;
s106, downsampling the integer line delay image to obtain the integer line delay image with the same resolution as the decimal line delay image.
It should be noted that, the interpolation amplification processing and the downsampling processing in step S105 and step S016 in this embodiment 2 are common technical means for those skilled in the art in the process of converting the decimal image into the integral image, and therefore, the detailed description of the specific processing is omitted in this application. In addition, in addition to the two processing methods for converting the decimal line image into the integral line image mentioned in the application, those skilled in the art may use other common knowledge or conventional technical means in the art to process and convert the decimal line image, but all the processing methods implemented by adopting the steps of the method of the application are all within the protection scope of the application.
And S107, adding the image data of the corresponding lines of the integer line delay image obtained by at least one time delay to obtain an output image obtained by delaying the measured object image according to a preset TDI level, wherein the difference value between the preset TDI level and the delay times is 1.
In step S107 of this embodiment 2, the image data of corresponding rows of M total images are added under the same light source, where the M images include each stage of TDI image acquired by each line image sensor of the multi-line image sensor, and the integer line delay image of each stage of TDI image obtained after each time delay is delayed M-1 times, and the image data of corresponding rows of the integer line delay image is added to obtain an output image after time delay according to the preset TDI level M. The line number of the image sensor for collecting the image is equal to the preset TDI level, the preset TDI level can be set according to the brightness of the output image which is obtained as required, and the larger the preset TDI level is, the higher the brightness of the obtained output image is.
In particular, see the steps ofIn S103, the number of light sources is N, the number of preset TDI series is M, correspondingly, 4 line image sensors under each light source simultaneously expose and collect the image of the measured object, the line frequency of the line camera=the strobe frequency of the light source×the number of light sources N, the line frequency is N times the moving speed of the measured object, the pixel size is P, the line spacing is D, d=p, and p=n×p',
p' represents the motion distance of the measured object in unit time, V is the motion speed of the measured object, F is the line frequency of the line camera, unit time = 1/line frequency of the line camera, according to>
The number of preset integer rows is calculated. The number of lines delayed by TDI level 1 image data is +.>
Line, TDI level 2 image data delay
Line, TDI level 3 image data delay +.>
Line, TDI level 4 image data, i.e. current real-time data stream, delay +.>
No delay is required for the row, i.e. row 0.
Then, from TDI level M image data, i.e. the current real-time data stream
Starting with line image data, TDI level M image data, i.e. the current real-time data stream is acquired +.>
Line image data and TDI level M-1 image data,The image data of the M-2 th level of TDI and the image data of the corresponding line of the M-3 rd level of TDI are added to obtain the output image after TDI processing under each light source, and the output image data of each light source after TDI processing is obtained.
In a specific implementation of embodiment 2, the line number of the image sensor is a product of the light source number and the TDI series. It should be noted that, in practical application, the number of lines of the image sensor corresponding to the number of light sources and the TDI level number required for TDI processing, that is, the line camera chip including several line image sensors, may be selected according to the requirements of those skilled in the art.
It should be noted that, in the schemes of embodiments 1 and 2 of the present application, at least 4 line image sensors are needed to support 2 light sources and 2-level TDI, the image sensors with different lines are used to collect images of different positions of the measured object by exposure when different light sources are turned on, the number of light sources and the number of preset TDI levels have no upper limit requirements, and the two have no correlation. The number of light sources in this scheme is preset TDI series = number of image sensor lines. Another implementation would require at least 2-line image sensors, supporting 2-level TDI, the number of light sources being uncorrelated with the TDI-level.
Application example 1: image sensor line number = light source number preset TDI series
Next, the number of light sources is set to 3, the preset TDI series is set to 4, the process of time-sharing exposure and TDI parallel processing is described by using a line camera with the number of image sensor lines of 3×4=12 in combination with the method of embodiment 2 of the present application, and the line frequency is as follows 
F represents the line frequency of the linear array camera, V represents the moving speed of the measured object, P is the pixel size, at the moment, the line frequency of the linear array camera under the same light source is matched with the moving 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 arrangement diagram of 12 line image sensors in a line camera, L1, L12 represents the 1 st line image sensor, respectively, 12 th line image sensor, and the interval between two adjacent line image sensors is equal to the pixel size, that is, the pixel size of a plurality of linearly arranged pixels constituting the 1 st line image sensor L1 in fig. 4 is equal to the line spacing between the 1 st line image sensor L1 and the 2 nd line image sensor L2. Because the preset TDI level is 4, 4 line image sensors are arranged under each corresponding light source for exposure and acquisition of the measured object image.
Fig. 5 is a schematic diagram showing that images of the object to be measured are collected under 3 light sources respectively by using 4 different image sensors in the 12-line linear array camera. 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 collect each line of images of different positions of the measured object, namely, 4-level TDI of the light source 1 shown in fig. 5; at time t2, the light source 2 is lightened, 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 linear array camera are simultaneously exposed to acquire each line of images of different positions of the measured object, namely 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 collect each line of images of different positions of the measured object, namely, 4-level TDI of the light source 3 shown in fig. 5. And selecting the aggregate output of each row of images acquired by each line of image sensors under the corresponding light source during data output. Fig. 6 shows an acquisition process of TDI image data of each stage after time-sharing exposure of 3 light sources, where each obtained TDI image data is TDI 1 st stage line image data, TDI 2 nd stage line image data, TDI 3 rd stage line image data, and 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 the measured object collected by the 1 st line image sensor L1 when the light source 1 is on at time t1, and the 1 st line image sensor L1 is a second line image of the measured object collected by the 1 st line image sensor L1 when the light source 1 is on at time t 4; the light source 2 and the light source 3 are the same, and are not repeated, and as one light source is lightened at the same moment and a 4-line image sensor is simultaneously exposed, each line of images of different positions of the measured object is collected; therefore, when the light source 1 is on at time t1, each line of images of the measured object collected 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 measured object image collected by the 4 th line image sensor L4 corresponds to TDI level 2 line image data, the measured object image collected by the 7 th line image sensor L7 corresponds to TDI level 3 line image data, the measured object image collected 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 identical and will not be described again. The arrangement of the TDI image data of each stage 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 measured object images shot at the same time are different, so that the TDI function can be realized by data alignment, and the physical positions of the TDI images of each stage shot under the same light source, namely the 4-stage TDI images obtained in fig. 6, need to be aligned.
As shown in fig. 7, in order to superimpose the TDI function on the basis of time-sharing exposure, it is necessary that multiple lines of image sensors with different lines are simultaneously used under each light source to expose and collect images, and 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 are used for exposing and imaging 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 are used for exposing and imaging 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 are used for exposing and imaging the light source 3. The measured object image data collected by the 4 line image sensors are arranged under each light source, and the measured object image data correspond to different positions of an object respectively. TDI is to add the measured object images acquired by the multiple line image sensors at the same position of the measured object. Therefore, in order to obtain the image data of the measured object collected by the plurality of line image sensors at the same position of the measured object under each light source, it is necessary to delay the current image data of the measured object.
Specifically, the delay is calculated according to the formula of step S103 of embodiment 2, since the number of light sources N is 3, the preset TDI series M is 4, and since the line spacing D is equal to the pixel size P, the TDI level 1 image data delay line shown in fig. 7 is obtained as (4-1) ×3×2=18 lines, TDI level 2 image data delay (4-2) ×3×2=12 lines, TDI level 3 image data delay (4-3) ×3×2=6 lines, TDI level 4 image data, i.e., the current real-time data stream, delay (4-4) ×3×2=0 lines, i.e., no delay is required.
Then, starting from the 4 th-level image data of TDI, namely the (4-1) x 3 x 2+1+19 th-line image data of the current real-time data stream, adding the 19 th-line image data obtained by the current real-time data stream and the corresponding-line image data of the 3 rd-level image data of TDI, the 2 nd-level image data of TDI and the 1 st-level image data of TDI to obtain an output image after TDI processing under each light source, namely the image data of the object to be detected, wherein the line height of the output image is three times the line height of the original image of the object to be detected, namely the line height arranged inside the linear array camera.
Application example 2: image sensor line number = preset TDI series
Next, the number of light sources is set to 3, the preset TDI series is set to 4, and the process of time-sharing exposure and TDI parallel processing is described by using a line-array camera with the number of image sensor lines=the preset TDI series=4 in combination with the method of embodiment 2 of the present application.
Fig. 8 is a schematic diagram showing that the image of the object to be measured is collected under 3 light sources by using the same image sensor with 4 lines. 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 collect each line of images of different positions of the measured object, namely, 4-level TDI of the light source 1 shown in fig. 8; at time t2, the light source 2 is lightened, 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 linear array camera are simultaneously exposed to acquire each line of images of different positions of the measured object, namely 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 collect each line of images of different positions of the measured object, namely, 4-level TDI of the light source 3 shown in fig. 8. When the data is output, the image data sequentially output by the linear array camera is the corresponding image data under each light source. Fig. 9 shows an acquisition process of TDI image data of each level after time-sharing exposure of 3 light sources, namely TDI level 1 line image data, TDI level 2 line image data, TDI level 3 line image data and TDI level 4 line image data in fig. 9, wherein the TDI level 1 line image data is a first line image of TDI level 3 line image data of a measured object collected by the same 4-line image sensor when the light source 1 is on at time t1, namely the first line image of TDI level 1 line image data of the measured object is collected by the 1-line image sensor L1, the first line image of TDI level 2 line image data of the measured object is collected by the 2-line image sensor L2, the first line image of TDI level 3 line image data of the measured object is collected by the 3-line image sensor L3, the first line image of TDI level 4 line image data of the measured object is on at time t1, the light source 2 is on at time t2, the light source 1 is on the same time as the light source 1, and the principle that the light source 1 is not on the same at time t 1. The arrangement of the TDI image data of each stage 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 measured object images shot at the same time are different, so that the TDI function can be realized by data alignment, and the physical positions of the TDI images of each stage shot under the same light source, namely the 4-stage TDI images obtained in fig. 9, need to be aligned.
The TDI processing in application example 2 is the same as that in application example 1, and will not be described here again.
The difference between application example 1 and application example 2 is whether or not the image sensor of the same line is used for exposure acquisition of the image of the object to be measured when the different light sources are lighted. In addition, the data alignment may be performed or not between the light sources of application examples 1 and 2, and if the data alignment is required between the light sources, the data delay between the light sources may be achieved after the TDI is performed by the light sources, but the delay parameters of the data delay between the light sources are different from the TDI image data delay parameters, and the delay parameters of the data delay between the light sources of application examples 1 and 2 are also different.
The present application provides a terminal device, including 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 array camera of embodiment 2 when the computer program is executed.
The present application provides a computer-readable storage medium storing 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 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, the device 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 collect images of the measured object under each light source;
at least two light sources are connected with at least two channels of the light source controller, and at least two channels are respectively connected with IO ports corresponding to the linear array camera;
the transmission module is used for transmitting the object to be detected, so that the object to be detected passes through the 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 the trigger signal, wherein the light source lighting signal is used for triggering one light source to light;
the method comprises the steps that a detected object image when a light source is lightened is collected through a linear array camera, wherein the detected object image comprises each level of TDI image which is collected by each linear image sensor respectively, the each level of TDI image corresponds to different positions on a detected object, the number of the TDI images is equal to the number of preset TDI stages, and each level of TDI image refers to each row of images which are collected by each multi-line image sensor in the linear array camera and are at different positions on the detected object under the same light source;
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 collect images;
the TDI processing module is configured to:
when the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module, sequentially delaying the detected object image according to a preset integer line, and obtaining an integer line delay image of the detected object at the same time after delaying each stage of TDI image of the detected object image once, wherein the positions of the detected object image and the integer line delay image on the detected object are the same;
and adding image data of corresponding lines of the integer line delay image obtained by carrying out one-time delay on the measured object image and each level of TDI image to obtain an output image obtained by carrying out time delay on the measured object image according to a preset TDI level, wherein the preset TDI level is 1 more than the time delay times.
2. The time-shared exposure and TDI parallel processing apparatus for a multi-line linear array camera of claim 1, wherein the TDI processing module is further configured to:
when the line frequency of the linear array camera is set to be unmatched with the motion speed of the transmission module, sequentially delaying the detected object image according to preset decimal lines, and obtaining decimal line delay images of the detected object at the same moment after delaying each level of TDI image of the detected object image once, wherein the positions of the detected object image and the decimal line delay images on the detected object are the same;
Converting the decimal line delay image into an integer line delay image through interpolation amplification processing;
downsampling the integer line delay image to obtain an integer line delay image with the same resolution as the decimal line delay image;
and adding image data of corresponding lines of the integer line delay image obtained by carrying out one-time delay on the measured object image and each level of TDI image to obtain an output image obtained by carrying out time delay on the measured object image according to a preset TDI level, wherein the preset TDI level is 1 more than the time delay times.
3. A time-sharing exposure and TDI parallel processing method applied to a multi-line linear array camera, characterized in that the method is applied to a time-sharing exposure and TDI parallel processing device applied to a multi-line linear array camera as claimed in claim 1 or 2, and comprises the following steps:
the method comprises the steps that a detected object image when a light source is lightened is collected through a linear array camera, wherein the detected object image comprises each level of TDI image which is collected by each line image sensor respectively, the each level of TDI image corresponds to different positions on a detected object, the number of the TDI images is equal to the number of preset TDI stages, and each level of TDI image refers to each line of image which is collected by each line image sensor in the linear array camera and is at different positions on the detected object under the same light source;
Judging whether the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module;
when the line frequency of the linear array camera is set to be matched with the motion speed of the transmission module, sequentially delaying the detected object image according to a preset integer line, and obtaining an integer line delay image of the detected object at the same moment after delaying each stage of TDI image of the detected object image once, wherein the positions of the detected object image and the integer line delay image on the detected object are the same;
and adding image data of corresponding lines of the integer line delay image obtained by carrying out one-time delay on the measured object image and each level of TDI image to obtain an output image obtained by carrying out time delay on the measured object image according to a preset TDI level, wherein the preset TDI level is 1 more than the time delay times.
4. The method for parallel processing of time-sharing exposure and TDI applied to a multi-line linear array camera according to claim 3, wherein determining whether the line frequency of the linear array camera is set to match the moving speed of the transmission module further comprises:
when the line frequency of the linear array camera is set to be unmatched with the motion speed of the transmission module, sequentially delaying the detected object image according to preset decimal lines, and obtaining decimal line delay images of the detected object at the same moment after delaying each level of TDI image of the detected object image once, wherein the positions of the detected object image and the decimal line delay images on the detected object are the same;
Converting the decimal line delay image into an integer line delay image through interpolation amplification processing;
downsampling the integer line delay image to obtain an integer line delay image with the same resolution as the decimal line delay image;
and adding image data of corresponding lines of the integer line delay image obtained by carrying out one-time delay on the measured object image and each level of TDI image to obtain an output image obtained by carrying out time delay on the measured object image according to a preset TDI level, wherein the preset TDI level is 1 more than the time delay times.
5. The method for parallel processing of time-sharing exposure and TDI applied to a multi-line camera according to claim 3 or 4, wherein,
the number of the preset rows 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 rows comprise preset integer rows or preset decimal rows.
6. The method for parallel processing of time-sharing exposure and TDI applied to a multi-line linear array camera according to claim 5, wherein the number of preset lines is calculated as follows:
wherein M is a preset TDI series, M is an mth TDI delay, P is a pixel size, D is a line interval, d=np, P' represents a motion distance of the measured object in unit time, V is a motion speed of the measured object, F is a line frequency of the line camera, and unit time=1/line frequency of the line camera;
If P/(N x P') is an integer, performing TDI delay on the detected object image according to a preset integer row;
if P/(N x P') is decimal, TDI delay is carried out on the measured object image according to a preset decimal line;
wherein N is the number of light sources, M is more than 0 and less than M, M, M, N, P, D, N are positive integers, and P' is a positive number.
7. The method for parallel processing of time-sharing exposure and TDI applied to a multi-line camera according to claim 3 or 4, wherein,
and the light source is triggered to be lightened by a light source lightening signal output to the light source controller by the linear array camera.
8. The method for parallel processing of time-sharing exposure and TDI applied to a multi-line camera according to claim 3 or 4, wherein,
the line count of the image sensor is the product of the number of light sources and the TDI series.
9. Terminal equipment comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a time-sharing exposure and TDI parallel processing method applied to a multi-line linear camera according to any of claims 3-8 when executing the computer program.
10. A computer readable storage medium storing 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 array camera according to any one of claims 3-8.
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