WO2021184796A1 - 一种相机曝光处理方法及系统 - Google Patents

一种相机曝光处理方法及系统 Download PDF

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Publication number
WO2021184796A1
WO2021184796A1 PCT/CN2020/129417 CN2020129417W WO2021184796A1 WO 2021184796 A1 WO2021184796 A1 WO 2021184796A1 CN 2020129417 W CN2020129417 W CN 2020129417W WO 2021184796 A1 WO2021184796 A1 WO 2021184796A1
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Prior art keywords
image data
camera
light source
sensor
light sources
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PCT/CN2020/129417
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English (en)
French (fr)
Inventor
董宁
曹桂平
孙海星
王雪
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合肥埃科光电科技有限公司
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Application filed by 合肥埃科光电科技有限公司 filed Critical 合肥埃科光电科技有限公司
Priority to JP2022542412A priority Critical patent/JP7407953B2/ja
Priority to KR1020227023323A priority patent/KR20220105171A/ko
Priority to DE112020006936.2T priority patent/DE112020006936T5/de
Publication of WO2021184796A1 publication Critical patent/WO2021184796A1/zh
Priority to US17/863,570 priority patent/US11917302B2/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • 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
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • 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
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means

Definitions

  • the invention relates to the technical field of machine vision industrial image acquisition, in particular to a camera exposure processing method and system.
  • a line scan camera is a camera that uses a line scan image sensor.
  • the typical application area of a line scan camera is to detect continuous materials, such as metal, plastic, paper, and fiber.
  • the object to be detected usually moves at a uniform speed, and one or more cameras are used to scan it line by line. After collecting one line in sequence, it moves to the next unit length, and continues to collect the next line to achieve uniformity on the entire surface. collection.
  • the most commonly used industrial line scan cameras in the market are single-line scan cameras, but in actual inspection and scanning operations, the image information obtained by the single-line camera often causes problems such as lack of information and insufficient image information due to problems such as light sources.
  • the traditional common processing method is to use multiple single-line cameras with multiple light sources to scan the object to obtain more image information.
  • this method is not only cumbersome and slow, but also because of the addition of cameras.
  • the quantity of the equipment is too large, inconvenient for practical application, and the cost is also high.
  • the present invention proposes a camera exposure processing method and system, which uses a camera and multiple light sources to scan a moving object, which has the advantages of high collection efficiency, small size, and high image recognition.
  • a camera exposure processing method proposed by the present invention includes a camera and n light sources, the number of sensor lines of the camera is N, N ⁇ n, and the object moves through the field of view of the camera in a certain direction.
  • the camera exposure processing method include:
  • a trigger signal to trigger the light source to turn on and off in a fixed order according to the trigger signal, and collect the image data of the object under the exposure of the light source.
  • the sequential lighting order of the n light sources is that the previous light source cycles on After starting y times, the latter light source is turned on y times, among which, 2N-1 ⁇ (n-1) ⁇ y+1;
  • the spliced image is output cyclically to obtain a complete image of the object.
  • the a-th light source is Lamp-a
  • the image data of multiple lines of each working sensor after exposure under the light source is extracted as valid data.
  • y is an integer greater than or equal to 1; when the number of light sources n is an even number, y is an integer greater than or equal to 2.
  • the acquiring of the trigger signal specifically includes:
  • the length ⁇ l corresponds to the length ⁇ l of the object that can be collected according to each line of the sensor, and the object is equally divided by the length ⁇ l.
  • splicing all the image data of the same position of the object where the splicing valid data includes:
  • line delay is performed on multiple lines of the sensor to align the image data of the same position
  • the multiple lines of the sensor of the camera are arranged in one line, and are spaced a fixed distance from each other;
  • the fixed distance is a.
  • a camera exposure processing system that uses a camera and multiple light sources for image acquisition of an object.
  • the number N of multiple lines of the sensor of the camera is greater than or equal to the number of light sources n;
  • the system includes a trigger acquisition module, an extraction module, a splicing module, and Cycle output module;
  • the trigger acquisition module is used to acquire the trigger signal to trigger the light sources to be turned on and off in a fixed order according to the trigger signal, and to collect the object image data under the exposure of the lit light source.
  • the sequence of the n light sources is the first After a light source is turned on for y times, the next light source is turned on for y times, where 2N-1 ⁇ (n-1) ⁇ y+1;
  • the splicing module is used to splice all the image data of the same position of the object when multiple lines of the sensor collect the image data of the same position of the object to obtain the spliced images under different light sources;
  • the cyclic output module is used to cyclically output the spliced image to obtain a complete image of the object.
  • the splicing module includes a buffer module and an alignment output module
  • the buffer module is used to write image data collected by multiple lines of the sensor at the same position of the object at different times into multiple image buffers, and the multiple image buffers respectively correspond to each of the multiple lines of the sensor in a one-to-one correspondence;
  • the alignment output module is used to align the image data of the multiple images buffered in the same position, and sequentially output the image data of the same position of the object collected by the number of lines of the sensor to obtain the stitched images under different light sources.
  • a camera exposure processing device including a storage and a processor
  • the storage is used to store computer programs
  • a trigger signal to trigger the light source to turn on and off in a fixed order according to the trigger signal, and collect the image data of the object under the exposure of the light source.
  • the sequential lighting order of the n light sources is that the previous light source cycles on After starting y times, the latter light source is turned on y times, among which, 2N-1 ⁇ (n-1) ⁇ y+1;
  • the spliced image is output cyclically to obtain a complete image of the object.
  • a computer-readable storage medium storing a number of acquisition and classification programs on the computer-readable storage medium, and the plurality of acquisition and classification programs are used to be called by a processor and execute the following steps:
  • a trigger signal to trigger the light source to turn on and off in a fixed order according to the trigger signal, and collect the image data of the object under the exposure of the light source.
  • the sequential lighting order of the n light sources is that the previous light source cycles on After starting y times, the latter light source is turned on y times, among which, 2N-1 ⁇ (n-1) ⁇ y+1;
  • the spliced image is output cyclically to obtain a complete image of the object.
  • the camera exposure processing method and system provided by the present invention uses a camera and multiple light sources to scan moving objects, and has high collection efficiency and volume.
  • the advantages of small size and high image recognition. This method saves the number of light sources used, makes the equipment space compact, greatly improves the space utilization rate, integrates the traditional features detected by multiple stations into one location for detection, and avoids the detection zone of multiple stations. It can analyze the characteristics of the object under multiple illuminations simultaneously, which can effectively improve the recognition efficiency; at the same time, the line delay is used to obtain the image data at the same position and then spliced and output, and the spliced image under different light sources is obtained, and then the overall image of the object is obtained .
  • Figure 1 is a flow chart of the steps of a camera exposure processing method of the present invention
  • FIG. 2 is a schematic structural diagram of an embodiment of a camera exposure processing method of the present invention.
  • FIG. 3 is a flowchart of the steps of the implementation method of the embodiment in FIG. 2;
  • FIG. 4 is a schematic diagram of the number of sensor lines of the four-line array camera in the embodiment of FIG. 2;
  • Fig. 5 is a schematic diagram of light source control timing in the embodiment of Fig. 2;
  • FIG. 6 is a schematic diagram of the image acquisition process in the first embodiment in FIG. 2;
  • FIG. 7 is a schematic diagram of the output result after image data splicing in the embodiment of FIG. 2;
  • FIG. 8 is a schematic diagram of the image acquisition process in the second embodiment in FIG. 2;
  • FIG. 9 is a schematic flowchart of a camera exposure processing system
  • 1-trigger acquisition module 2-splicing module, 3-cycle output module, 21-buffer module, 22-aligned output module.
  • a camera exposure processing method proposed by the present invention includes a camera and n light sources, the number of sensor lines of the camera is N, N ⁇ n, the object moves through the field of view of the camera in a certain direction, and the camera exposes
  • the processing method includes steps S1 to S3:
  • the camera acquires a trigger signal to trigger the light sources to be turned on and off in a fixed order according to the trigger signal, and to collect the object image data under the exposure of the lit light source, and the order of the n light sources is the previous one. After the light source is turned on for y times, the latter light source is turned on for y times, where 2N-1 ⁇ (n-1) ⁇ y+1.
  • y is an integer greater than or equal to 1, that is, each light source can be turned on one time in turn and cycled.
  • n is an even number
  • y is an integer greater than or equal to 2, avoiding the defect that half of the number of light sources is missing from the image data acquired at the same location, so that for the same location, multiple lines of the sensor can be collected in each light source .
  • S3 cyclically output the stitched image to obtain a complete image of the object.
  • steps S1 to S3 use a camera with different light sources to sequentially expose objects with different light sources, and stitch multiple lines of different sensors of the camera to obtain the effective image data of the same position on the object to obtain all the differences.
  • the image information under the light source can get enough data needed for subsequent image processing.
  • This method has the characteristics of small size, high collection efficiency, and lower cost compared with other methods, showing superior cost performance; at the same time, this method makes the equipment space compact, and integrates the features detected by multiple stations into one location. Detection avoids the errors caused by multiple station detection; it can analyze the features of the object under multiple illumination simultaneously, effectively improving the recognition efficiency.
  • the a-th light source is Lamp-a
  • the image data of multiple lines of each working sensor after exposure under the light source is extracted as valid data.
  • the multiple lines of the sensor of the camera there are at least two lines for the sensors in the multiple lines of the sensor of the camera.
  • the camera is a four-line array camera, it means that the sensor has four lines; the number of lines of the multiple lines of the sensor of the camera is greater than or equal to the number of multiple light sources,
  • the multiple light sources may be light sources with different wavelengths, or light sources with different brightness.
  • step S1: said acquiring a trigger signal includes steps S11 to S12:
  • S11 Calculate the length ⁇ l of the object that can be collected by the number of lines of each sensor in the camera.
  • the object is divided into M blocks according to the length ⁇ l, and the length of each block is equal to ⁇ l.
  • each pixel of the sensor of the camera is a ⁇ a
  • multiple pixels are arranged in a line, each line is separated by a
  • the sequence of multiple lines of the sensor is set to L1 to Ln
  • the magnification of the light path of the camera is set as ⁇
  • a trigger signal is generated every time the object moves distance ⁇ l, which triggers the camera to collect data and turn on and off the corresponding light source.
  • magnification of the camera's shooting optical path is known to the already determined camera, that is, it can be directly obtained; there is a signal control connection relationship between the movement of the object, the camera and the power supply, respectively.
  • the images collected by the camera under different light sources can reach the set pixels.
  • step S2 when multiple lines of the sensor all collect image data at the same position of the object, splicing all the image data at the same position of the object to obtain spliced images under different light sources, where splicing valid data specifically includes steps S21 to S21 to S22:
  • S21 Write image data of the same position of the object collected by multiple lines of the sensor at different times into multiple image buffers, and the multiple image buffers respectively correspond to each of the multiple lines of the sensor in a one-to-one correspondence.
  • S22 Align the image data of the multiple images buffered at the same location, and sequentially output the image data of the same location of the object collected by multiple lines of the sensor to obtain stitched images under different light sources.
  • the multiple lines of the sensor are collected, buffered, and image processed at each moment; if the collection of the object is not continuous, the multiple lines of the sensor are in the setting Carry out photosensitive collection, buffering, and image processing at all times.
  • the image data is aligned through steps S21 to S22 , After using different parts of the buffer to buffer the data of different lines and different moments, the line delay is performed, and the image data at the same position is obtained and then spliced out to complete the normal combination of images.
  • the first embodiment adopts the above camera exposure processing method to perform exposure processing on the object.
  • the camera is selected as a four-line array camera with two light sources for image acquisition, that is, "four lines-two Light” mode.
  • the camera takes a segment of the object for analysis, and divide the segment of the object into 7 equal parts, as shown in the parts M1 to M7 in Figure 6.
  • a picture under each light can be obtained, then stitched into a large picture, and sent to the terminal (PC) for subsequent processing.
  • each pixel of the sensor is a ⁇ a, multiple pixels are arranged in a line, as shown in Figure 4, the interval S between each line is set, the interval is a, and the sequence of multiple lines of the sensor is set as the first in the sensor.
  • the object is imaged on multiple lines of the sensor through the lens of the four-line array camera; there are 2 lights outside, which are controlled by the four-line array camera; the four-line array camera is in the external trigger acquisition mode, and the object moves through the camera's field of view in a certain direction area.
  • the magnification of the optical path is ⁇
  • the exposure process includes S01 to S10:
  • the four-line array camera controls the light source Lamp1 to light up, and extracts the image data of L1-Lamp1-M1 after exposure;
  • L1-Lamp1-M2 is the image of the M2 block under the Lamp1 light source acquired by L1 ;
  • the four-line array camera controls the light source Lamp2 to turn off, then Lamp1 lights up, and extracts the image data of L3-Lamp1-M1, L2-Lamp1-M3 and L1-Lamp1-M5 after exposure;
  • the four-line array camera controls the light source Lamp1 to turn off, then Lamp1 lights up again, and extracts the image data of L3-Lamp1-M2, L2-Lamp1-M4 and L1-Lamp1-M6 after exposure;
  • the four-line array camera controls the light source Lamp1 to turn off, and then Lamp2 lights up, and extracts the image data of L4-Lamp2-M1, L3-Lamp2-M3, L2-Lamp2-M5 and L1-Lamp2-M7 after exposure;
  • L1-Lamp1-M1, L2-Lamp2-M1, L3-Lamp1-M1, L4-Lamp2-M1 are all image data corresponding to M1.
  • L1-Lamp1-M1, L2-Lamp2-M1, L3-Lamp1- M1, L4-Lamp2-M1 are spliced to obtain the spliced image of M1, and then output to the terminal;
  • the "four lines-two lights" mode of the first embodiment is selected, the interval between multiple lines of the sensor is also the same, the object is also divided into blocks M1 to M7, and the object moves one block to trigger the trigger signal;
  • the difference between this embodiment and the first embodiment is that when the number y of turning on each light source is controlled to 4, the two light sources are turned on respectively, as shown in Fig. 8, the exposure process includes S111 to S1011:
  • S111 The object moves in the direction of the arrow. From entering the field of view of the four-line array camera, the object's movement distance ⁇ l, triggers the pulse signal of the sensor L1 of the four-line array camera;
  • L1-Lamp1-M1 is the image of the M1 block under the Lamp1 light source acquired by L1;
  • S311 At time 1, the four-line array camera controls the light source Lamp1 to turn off, then Lamp1 lights up again, and extracts the image data of L1-Lamp1-M2 after exposure;
  • S411 At time 2, the four-line array camera controls the light source Lamp1 to turn off, then Lamp1 lights up again, and extracts the image data of L2-Lamp1-M1 and L1-Lamp1-M3 after exposure;
  • S511 At time 3, the four-line array camera controls the light source Lamp1 to turn off, then Lamp1 lights up again, and extracts the image data of L2-Lamp2-M2 and L1-Lamp2-M4 after exposure;
  • S611 At time 4, the four-line array camera controls the light source Lamp1 to turn off, then Lamp2 turns on, and extracts the image data of L3-Lamp2-M1, L2-Lamp2-M3 and L1-Lamp2-M5 after exposure;
  • S711 At time 5, the four-line array camera controls the light source Lamp2 to turn off, and then Lamp2 lights up again, and extracts the image data of L3-Lamp2-M2, L2-Lamp2-M4 and L1-Lamp2-M6 after exposure;
  • the four-line array camera controls the light source Lamp2 to turn off, and then Lamp2 lights up again, and extracts the image data of L4-Lamp2-M1, L3-Lamp2-M3, L2-Lamp2-M5 and L1-Lamp2-M7 after exposure;
  • L1-Lamp1-M1, L2-Lamp1-M1, L3-Lamp2-M1, and L4-Lamp2-M1 are all image data corresponding to M1.
  • L1-Lamp1-M1, L2-Lamp1-M1, L3-Lamp2- M1, L4-Lamp2-M1 are spliced to obtain a spliced image of M1, and then output to the terminal.
  • the above first and second embodiments use different buffers to buffer the data of different lines and different moments, and then perform line delay.
  • the exposure has a certain delay relative to the light source opening time, which is to align the image data. To obtain the image data of the same position under different light sources, complete the normal combination of images.
  • S001 Write the image data of the object collected by the first line L1 of the sensor at time 0/1 into the first part of the image buffer;
  • S002 Write the image data of the object collected by the sensor first line L1 at time 2/3 into the first part of the image buffer; at the same time write the image data of the object collected by the sensor second line L2 into the second part of the image buffer;
  • S003 Write the image data of the object collected by the first line L1 of the sensor at 4/5 into the first part of the image buffer; write the image data of the object collected by the second line L2 of the sensor into the second part of the image buffer, and collect the object by the third line L3 of the sensor The image data of is written into the third part of the image buffer;
  • S004 Write the image data of the object collected by the first line L1 of the sensor at 6/7 time into the first part of the image buffer; write the image data of the object collected by the second line L2 of the sensor into the second part of the image buffer, and write the image data of the object collected by the third line L3 of the sensor The image data is written into the third part of the image buffer, and the image data of the object collected by the fourth line L4 of the sensor is written into the fourth part of the image buffer;
  • S005 Align the image data at time 6, and stitch the image data of the first line L1, the second line L2, the third line L3, and the fourth line L4 at the M1 block of the object to obtain the M1 block of the object under different light sources Stitched image;
  • S006 Splice the spliced images of objects 2 to 7 under different light sources in sequence, and send the spliced images of objects 1 to 7 to the terminal to obtain a complete image of the object in the selected segment.
  • the above process continues to output all the stitched images of the object to the terminal to obtain a complete image of the object.
  • the camera in this embodiment can be not only a four-line scan camera, but also other line scan cameras such as a two-line scan camera, a six-line scan camera, and the like.
  • this embodiment only uses a four-line array two-light source camera to illustrate the method of the camera and the multi-light source for the exposure processing.
  • a camera exposure processing system includes a camera and n light sources, the number of sensor lines of the camera is N, N ⁇ n, and the object moves through the camera's field of view in a certain direction; the system includes trigger acquisition Module 1, splicing module 2 and circulation output module 3;
  • the trigger acquisition module 1 is used to acquire a trigger signal to trigger the light sources to be turned on and off in a fixed order according to the trigger signal, and to collect the object image data under the exposure of the light source. After the previous light source is cyclically lit y times, the latter light source is cyclically lit y times, where 2N-1 ⁇ (n-1) ⁇ y+1;
  • the splicing module 2 is used to splice all the image data of the same position of the object when multiple lines of the sensor collect the image data of the same position of the object to obtain spliced images under different light sources;
  • the cyclic output module 3 is used to cyclically output the spliced image to obtain a complete image of the object.
  • the splicing module 2 includes a buffer module 21 and an alignment output module 22;
  • the buffer module 21 is configured to write image data of the same position of the object collected by multiple lines of the sensor at different times into multiple image buffers, and the multiple image buffers respectively correspond to each of the multiple lines of the sensor in a one-to-one correspondence;
  • the alignment output module 22 is used to align the image data of the multiple images buffered in the same position, and sequentially output the image data of the same position of the object collected by the number of lines of the sensor to obtain the stitched images under different light sources.
  • a camera exposure processing device including a storage and a processor
  • the storage is used to store computer programs
  • a trigger signal to trigger the light source to turn on and off in a fixed order according to the trigger signal, and collect the image data of the object under the exposure of the light source.
  • the sequential lighting order of the n light sources is that the previous light source cycles on After starting y times, the latter light source is turned on y times, among which, 2N-1 ⁇ (n-1) ⁇ y+1;
  • the spliced image is output cyclically to obtain a complete image of the object.
  • a computer-readable storage medium storing a number of acquisition and classification programs on the computer-readable storage medium, and the plurality of acquisition and classification programs are used to be called by a processor and execute the following steps:
  • a trigger signal to trigger the light source to turn on and off in a fixed order according to the trigger signal, and collect the image data of the object under the exposure of the light source.
  • the sequential lighting order of the n light sources is that the previous light source cycles on After starting y times, the latter light source is turned on y times, among which, 2N-1 ⁇ (n-1) ⁇ y+1;
  • the spliced image is output cyclically to obtain a complete image of the object.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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Abstract

本发明公开了一种相机曝光处理方法及系统，获取触发信号，所述触发信号用于触发所述相机采集图像数据以及所述光源按照固定顺序依次打开、关闭，所述触发信号响应于物体的移动；通过所述触发信号循环触发n个光源分别依次亮起，同时触发所述相机的传感器多条线对物体进行图像采集，提取所述传感器多条线在亮起光源下曝光后物体的图像数据，得到物体的有效数据，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次；当所述相机的传感器多条线数均采集到物体同一位置的图像数据时，拼接物体同一位置的所有有效数据，得到不同光源下的拼接图像；本相机曝光处理方法具有采集效率高、体积小、图像辨识度高的优点。

Description

一种相机曝光处理方法及系统
相关申请的交叉引用
本公开要求于2020年03月20日提交的申请号为202010203560.2，名称为“一种相机曝光处理方法及系统”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本发明涉及机器视觉的工业图像采集技术领域，尤其涉及一种相机曝光处理方法及系统。
背景技术
线阵相机，是采用线阵图像传感器的相机，线阵相机的典型应用领域是检测连续的材料，例如金属、塑料、纸和纤维等。被检测的物体通常匀速运动，利用一台或多台相机对其逐行连续扫描，依次采集完一条线后正好运动到下一个单位长度，继续下一条线的采集，以达到对其整个表面均匀采集。目前市场常用的工业线扫描相机多为单线扫描相机，但在实际的检测扫描操作中，单线相机获取的图像信息往往会因为光源等问题产生信息缺失、图像信息不够充足的问题。
针对以上单线相机的缺陷，传统常见的处理方法是使用多台单线相机配合多个光源对物体进行扫描，以获得更多的图像信息，但此方法不仅操作繁琐、速度慢，而且因为增加了相机的数量导致在设备体积过大，不方便实际应用，成本也较高。
公开内容
基于背景技术存在的技术问题，本发明提出了一种相机曝光处理方法及系统，使用一台相机和多个光源配合扫描运动物体，具有采集效率高、体积小、图像辨识度高的优点。
本发明提出的一种相机曝光处理方法，包括相机和n个光源，所述相机的传感器线数为N，N≥n，物体按照一定方向运动通过相机的视场区域，该相机曝光处理方法，包括：
获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出所述拼接图像，得到物体的完整图像。
进一步地，第a个光源为Lamp-a，根据所述触发信号，光源打开的顺序为Lamp-1-1，Lamp-1-2，···Lamp-1-y，Lamp-2-1，Lamp-2-2，···Lamp-2-y，Lamp-a-1，Lamp-a-2，···Lamp-a-y，Lamp-a-y表示第a个光源第y次亮起，当最后一个光源亮起y次后，返回第一个光源开始重新循环亮起，每次光源打开时，提取各工作传感器多条线的线数在亮起光源下曝光后的图像数据作为有效数据。
进一步地，当光源数量n为奇数时，y是大于等于1的整数；当光源数量n为偶数时，y是大于等于2的整数。
进一步地，在所述获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集中，其中获取触发信号具体包括：
获取物体每移动长度Δl所触发的触发信号，所述长度Δl对应于根据传感器的每条线所能采集物体的长度Δl，将物体按长度Δl进行等分。
进一步地，在当所述相机的传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据中，其中拼接有效数据包括：
将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应；
将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感器多条线所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
进一步地，在所述将多个图像缓存在同一位置的图像数据对齐时，通过对传感器多条线进行线延迟，以将同一位置的图像数据进行对齐；
所述相机的传感器多条线呈一条线设置，彼此间隔固定距离；
当设定相机的像素为a×a时，所述固定距离为a。
一种相机曝光处理系统，使用一相机和多个光源对物体进行图像采集，所述相机的传感器多条线的线数N大于等于光源数量n；系统包括触发获取模块、提取模块、拼接模块和循环输出模块；
触发获取模块用获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
拼接模块用于当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出模块用于循环输出所述拼接图像，得到物体的完整图像。
进一步地，拼接模块包括缓存模块和对齐输出模块；
缓存模块用于将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应；
对齐输出模块用于将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感器多条线的线数所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
一种相机曝光处理装置，包括储存器和处理器；
所述储存器，用于储存计算机程序；
所述处理器用于执行所述计算机程序时，实现如下所述步骤：
获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出所述拼接图像，得到物体的完整图像。
一种计算机可读储存介质，所述计算机可读存储介质上存储有若干获取分类程序，所述若干获取分类程序用于被处理器调用并执行如下步骤：
获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出所述拼接图像，得到物体的完整图像。
本发明提供的一种相机曝光处理方法及系统的优点在于：本发明结构中提供的一种相机曝光处理方法及系统，使用一台相机和多个光源配合扫描运动物体，具有采集效率高、体积小、图像辨识度高的优点。该方法节省了光源的使用数量，使设备空间紧凑，较大程度的提高了空间的利用率，将传统由多个工位检测的特征集成到一个位置进行检测，规避了多个工 位检测带来的误差；可以同步分析物体的多个光照下的特征，有效提升识别效率；同时采用线延迟，得到同一位置的图像数据后拼接输出，得到不同光源下的拼接图像，进而得到物体的整体图像。
附图说明
图1为本发明一种相机曝光处理方法的步骤流程图；
图2为本发明一种相机曝光处理方法的一实施例结构示意图；
图3是图2实施例的实施方法步骤流程图；
图4是图2实施例中四线阵相机的传感器线数示意图；
图5是图2实施例中光源控制时序示意图；
图6是图2中第一实施例中图像采集过程示意图；
图7是图2实施例中图像数据拼接后的输出结果示意图；
图8为图2中第二实施例中图像采集过程示意图；
图9是一种相机曝光处理系统的流程示意图；
其中，1-触发获取模块，2-拼接模块，3-循环输出模块，21-缓存模块，22-对齐输出模块。
具体实施方式
下面，通过具体实施例对本发明的技术方案进行详细说明。
参照图1，本发明提出的一种相机曝光处理方法，包括相机和n个光源，所述相机的传感器线数为N，N≥n，物体按照一定方向运动通过相机的视场区域，相机曝光处理方法，包括步骤S1至S3：
S1：相机获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1。
当光源数量n为奇数时，y是大于等于1的整数，即每个光源可以依次亮起1次进行循环。
当光源数量n为偶数时，y是大于等于2的整数，避免了同一位置获取的图像数据漏掉一半的光源数量的缺陷，使得对于同一位置，传感器多条线在每个光源均能采集到。
S2：当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像。
S3：循环输出所述拼接图像，得到物体的完整图像。
通过步骤S1至S3，使用一台相机配合不同的光源，依次对不同光源的物体进行曝光处理，将相机的不同传感器多条线获取物体上同一位置的有效图像数据进行拼接，以此获得所有不同光源下的图像信息，得到足够的后续图像处理所需的数据。本方法具有体积小、采集效率高的特点，且与其他方法相比成本更低，体现出优越的性价比；同时本方法使设备空间紧凑，将原由多个工位检测的特征集成到一个位置进行检测，规避了多个工位检测带来的误差；可以同步分析物体的多个光照下的特征，有效提升识别效率。
进一步地，第a个光源为Lamp-a，根据所述触发信号，光源打开的顺序为Lamp-1-1，Lamp-1-2，···Lamp-1-y，Lamp-2-1，Lamp-2-2，···Lamp-2-y，Lamp-a-1，Lamp-a-2，···Lamp-a-y，Lamp-a-y表示第a个光源第y次亮起，当最后一个光源亮起y次后，返回第一个光源开始重新循环亮起，每次光源打开时，提取各工作传感器多条线的线数在亮起光源下曝光后的图像数据作为有效数据。
应理解，相机的传感器多条线中的传感器至少有两条线，当相机为四线阵相机时，表示包括传感器有四条线；相机的传感器多条线的线数大于等于多个光源数，多个光源可以是波长不同的光源、也可以是亮度不同的光源等形式。
进一步地，步骤S1：所述获取触发信号，包括步骤S11至S12：
S11：计算所述相机中每条传感器多条线的线数所能采集物体的长度Δl，物体按长度Δl进行M块等分，每一块的长度等于Δl。
所述相机的传感器的每个像素为a×a时，多个像素排成一条线，每条线间隔a，设定传感器多条线的序列为L1至Ln，设相机拍摄光路的放大倍数为β，则每条传感器多条线所能拍摄的物体长度为Δl＝a/β。
S12：获取物体每移动Δl所触发的触发信号。
物体每运动距离Δl即产生一个触发信号，触发相机进行数据采集和相应光源的开闭。
应理解，相机拍摄光路的放大倍数对于已经确定的相机而言是已知的，即是可以直接获取的；物体的运动分别与相机、电源之间是存在信号控制连接关系的。同时相机在不同光源下的采集图像均能达到设定像素。
进一步地，在步骤S2：当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像中，其中拼接有效数据具体包括步骤S21至S22：
S21：将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应。
例如，将传感器第一条线在T 1时刻采集的同一位置物体的图像数据写入第一图像缓存；将传感器第二条线在T 2时刻采集的同一位置物体的图像数据写入第二图像缓存；将将传感器第Q条线在T Q时刻采集的同一位置物体的图像数据写入第Q图像缓存。
S22：将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感器多条线所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
应理解，如果对物体的采集是连续的，则传感器多条线线在每个时刻都在感光采集，缓存，图像处理；如果对物体的采集不是连续的，则传感器多条线线在设定时刻进行感光采集，缓存，图像处理。
由于传感器的多条线之间存在固定距离的物理间隔，同一时刻拍摄的数据并不是同一位置的图像信息，同时进行图像输出会出现图像错位的情况，因此通过步骤S21至S22将图像数据进行对齐，使用不同部分缓存将不同线不同时刻数据进行缓存后，进行线延迟，得到同一位置的图像数据后拼接输出，完成图像的正常组合。
第一实施例，如图2所示，采用以上相机曝光处理方法对物体进行曝光处理，在本实例中，选择相机为四线阵相机，配合两个光源进行图像采集，即“四线-二灯”模式。为了方便说明，取物体的一段进行分析，将物体的一段等分成7块，如图6中的M1～M7部分。扫描物体时，可以获得每个灯光下的一张图，然后拼接成一张大图，发送到终端(PC)进行后续处理。相当于对物体的同一位置拍摄了4次，依次对应了两种光源：Lamp1、Lamp2、Lamp1、Lamp2，可以一次获得了物体在的多个光照、多个位置下的信息，四线阵相机的传感器的每个像素为a×a时，多个像素排成一条线，如图4所示，每条线之间间隔S设置，间隔为a，设定传感器多条线的序列为传感器第一线L1、传感器第二线L2、传感器第三线L3，传感器第四线L4，因此四线阵相机总共存在四条传感器线数和三个固定距离的间隔，如图2所示。物体通过四线阵相机的镜头成像在传感器的多条线上；外部有2个灯，受四线阵相机控制；四线阵相机处于外触发采集模式，物体运动按照一定方向通过相机的视场区域。设光路的放大倍数为β，由于运动方向像素宽度为a，则物面每块的间隔为Δl＝a/β。单次拍摄耗时T，在T时间内物体移动为Δl，即物体运动一个块的长度。
如图2和3所示，为了获得两个灯的拍摄情况，控制每个光源的亮起次数y为2时，两个光源分别依次亮起，如图2至6所示显示其曝光过程包括S01至S10：
S01：物体沿箭头方向移动，从进入四线阵相机的视场起，物体运动距离Δl，触发四线 阵相机的传感器L1脉冲信号；
S02：0时刻，四线阵相机控制光源Lamp1亮起，提取曝光后L1-Lamp1-M1的图像数据；
S03：1时刻，四线阵相机控制光源Lamp1关闭、然后Lamp1再次亮起，提取曝光后L1-Lamp1-M2的图像数据，L1-Lamp1-M2是L1获取的在Lamp1光源下M2物块的图像；
S04：2时刻，四线阵相机控制光源Lamp1关闭、然后Lamp2亮起，提取曝光后L2-Lamp2-M1和L1-Lamp2-M3的图像数据；
S05：3时刻，四线阵相机控制光源Lamp2关闭、然后Lamp2再次亮起，提取曝光后L2-Lamp2-M2和L1-Lamp2-M4的图像数据；
S06：4时刻，四线阵相机控制光源Lamp2关闭、然后Lamp1亮起，提取曝光后L3-Lamp1-M1、L2-Lamp1-M3和L1-Lamp1-M5的图像数据；
S07：5时刻，四线阵相机控制光源Lamp1关闭、然后Lamp1再次亮起，提取曝光后L3-Lamp1-M2、L2-Lamp1-M4和L1-Lamp1-M6的图像数据；
S08：6时刻，四线阵相机控制光源Lamp1关闭、然后Lamp2亮起，提取曝光后L4-Lamp2-M1、L3-Lamp2-M3、L2-Lamp2-M5和L1-Lamp2-M7的图像数据；
S09：L1-Lamp1-M1、L2-Lamp2-M1、L3-Lamp1-M1、L4-Lamp2-M1均为M1对应的图像数据，对L1-Lamp1-M1、L2-Lamp2-M1、L3-Lamp1-M1、L4-Lamp2-M1进行拼接，得到M1的拼接图像，然后输出到终端；
S10：当四线阵相机的传感器四条线均采集到带曝光物体的同一位置信息时，循环将采集到的该物体的同一位置上的图像数据进行拼接，得到传感器四条线、两种光源下的拼接图像，然后输出到终端。
针对以上步骤S01至S09中，为了简化说明过程及成像模型，采用静止离散的近似模型。为了方便说明，取物体的一段进行分析，如图6中的M1～M7部分，设物体运动速度为v，每运动Δl距离即产生一个触发脉冲的触发信号，经过时间t，运动距离为L＝vt，输出触发脉冲n＝L/Δl，产生的图像也为n条。物体从右到左依次通过时，整个成像过程如图6所示，以T为单位间隔时间，划分为不同时刻。从时刻0开始，物体通过视场，传感器每条线每次拍摄到物面的一部分，同一条线不多不少的将所有物面扫描一遍，图6显示了图像的实际采集过程。
第二实施例，选择第一实施例的“四线-二灯”模式，传感器多条线之间的间隔也一致，物体同样分成M1～M7块，物体移动一个块，触发所述触发信号；本实施例与第一实施例的区别是控制每个光源的亮起次数y为4时，两个光源分别依次亮起，如图8所示，其曝光过程包括S111至S1011：
S111：物体沿箭头方向移动，从进入四线阵相机的视场起，物体运动距离Δl，触发四线阵相机的传感器L1脉冲信号；
S211：0时刻，四线阵相机控制光源Lamp1亮起，提取曝光后L1-Lamp1-M1的图像数据，L1-Lamp1-M1是L1获取的在Lamp1光源下M1物块的图像；
S311：1时刻，四线阵相机控制光源Lamp1关闭、然后Lamp1再次亮起，提取曝光后L1-Lamp1-M2的图像数据；
S411：2时刻，四线阵相机控制光源Lamp1关闭、然后Lamp1再次亮起，提取曝光后L2-Lamp1-M1和L1-Lamp1-M3的图像数据；
S511：3时刻，四线阵相机控制光源Lamp1关闭、然后Lamp1再次亮起，提取曝光后L2-Lamp2-M2和L1-Lamp2-M4的图像数据；
S611：4时刻，四线阵相机控制光源Lamp1关闭、然后Lamp2亮起，提取曝光后L3-Lamp2-M1、L2-Lamp2-M3和L1-Lamp2-M5的图像数据；
S711：5时刻，四线阵相机控制光源Lamp2关闭、然后Lamp2再次亮起，提取曝光后L3-Lamp2-M2、L2-Lamp2-M4和L1-Lamp2-M6的图像数据；
S811：6时刻，四线阵相机控制光源Lamp2关闭、然后Lamp2再次亮起，提取曝光后 L4-Lamp2-M1、L3-Lamp2-M3、L2-Lamp2-M5和L1-Lamp2-M7的图像数据；
S911：L1-Lamp1-M1、L2-Lamp1-M1、L3-Lamp2-M1、L4-Lamp2-M1均为M1对应的图像数据，对L1-Lamp1-M1、L2-Lamp1-M1、L3-Lamp2-M1、L4-Lamp2-M1进行拼接，得到M1的拼接图像，然后输出到终端。
S1011：当四线阵相机的传感器四条线均采集到带曝光物体的同一位置信息时，循环将采集到的该物体的同一位置上的图像数据进行拼接，得到传感器四条线、两种光源下的拼接图像，然后输出到终端。
如图5所示，以上第一和第二实施例使用不同缓存将不同线不同时刻数据进行缓存后，进行线延迟，曝光相对于光源打开时间存在一定的延迟，是为了将图像数据进行对齐，以获取不同光源下同一位置的图像数据，完成图像的正常组合。
如图2至6所示，对于以上第一和第二实施例，四线阵相机与两个光源配合曝光带曝光物体时，图像拼接的具体步骤如下S001至S006：
S001：将传感器第一线L1在0/1时刻采集物体的图像数据写入第一部分图像缓存；
S002：将传感器第一线L1在2/3时刻采集物体的图像数据写入第一部分图像缓存；同时将传感器第二线L2采集物体的图像数据写入第二部分图像缓存；
S003：将传感器第一线L1在4/5时刻采集物体的图像数据写入第一部分图像缓存；将传感器第二线L2采集物体的图像数据写入第二部分图像缓存，将传感器第三线L3采集物体的图像数据写入第三部分图像缓存；
S004：将传感器第一线L1在6/7时刻采集物体的图像数据写入第一部分图像缓存；将传感器第二线L2采集物体图像数据写入第二部分图像缓存，将传感器第三线L3采集物体的图像数据写入第三部分图像缓存，将传感器第四线L4采集物体的图像数据写入第四部分图像缓存；
S005：将时刻6的图像数据对齐，将第一线L1、第二线L2、第三线L3、第四线L4在物体的M1块处的图像数据进行拼接，得到物体的M1块处在不同光源下的拼接图像；
S006：依次拼接物体2至7处在不同光源下的拼接图像，并将物体1至7处的拼接图像输送到终端，得到物体在选取段的完整图像。
以上过程不断进行，向终端输出物体所有的拼接图像，得到物体的完整图像。
具体地，物体经过相机视场后，即可获得四幅不同光源下的图像，整合输出后，效果如图7所示，得到四种不同光源下物体的图像。
应理解，在本实施例中的相机不仅可以为四线阵相机，也可以为二线阵相机、六线阵相机等其他线阵相机的形式，光源数也不限于2个也可以为小于相机传感线数量的其他数，本实施例仅仅就四线阵二光源相机来说明相机与多光源配合曝光处理的方法。
如图9所示，一种相机曝光处理系统，包括相机和n个光源，所述相机的传感器线数为N，N≥n，物体按照一定方向运动通过相机的视场区域；系统包括触发获取模块1、拼接模块2和循环输出模块3；
触发获取模块1用于获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
拼接模块2用于当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出模块3用于循环输出所述拼接图像，得到物体的完整图像。
进一步地，拼接模块2包括缓存模块21和对齐输出模块22；
缓存模块21用于将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应；
对齐输出模块22用于将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感 器多条线的线数所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
一种相机曝光处理装置，包括储存器和处理器；
所述储存器，用于储存计算机程序；
所述处理器用于执行所述计算机程序时，实现如下步骤：
获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出所述拼接图像，得到物体的完整图像。
一种计算机可读储存介质，所述计算机可读存储介质上存储有若干获取分类程序，所述若干获取分类程序用于被处理器调用并执行如下步骤：
获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
循环输出所述拼接图像，得到物体的完整图像。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种相机曝光处理方法，其特征在于，包括相机和n个光源，所述相机的传感器线数为N，N≥n，物体按照一定方向运动通过相机的视场区域，该相机曝光处理方法，包括：
    获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；
    当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
    循环输出所述拼接图像，得到物体的完整图像。
  2. 根据权利要求1所述的相机曝光处理方法，其特征在于，第a个光源为Lamp-a，根据所述触发信号，光源打开的顺序为Lamp-1-1，Lamp-1-2，···Lamp-1-y，Lamp-2-1，Lamp-2-2，···Lamp-2-y，Lamp-a-1，Lamp-a-2，···Lamp-a-y，Lamp-a-y表示第a个光源第y次亮起，当最后一个光源亮起y次后，返回第一个光源开始重新循环亮起，每次光源打开时，传感器多条线采集在亮起光源曝光下的物体图像数据。
  3. 根据权利要求1所述的相机曝光处理方法，其特征在于，当光源数量n为奇数时，y是大于等于1的整数；当光源数量n为偶数时，y是大于等于2的整数。
  4. 根据权利要求1所述的相机曝光处理方法，其特征在于，在所述获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集中，其中获取触发信号具体包括：
    获取物体每移动长度Δl所触发的触发信号，所述长度Δl对应于根据传感器的每条线所能采集物体的长度Δl，将物体按长度Δl进行等分。
  5. 根据权利要求1所述的相机曝光处理方法，其特征在于，在当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像中，其中拼接有效数据具体包括：
    将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应；
    将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感器多条线所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
  6. 根据权利要求5所述的相机曝光处理方法，其特征在于，在所述将多个图像缓存在同一位置的图像数据对齐时，通过对传感器多条线进行线延迟，以将同一位置的图像数据进行对齐；
    所述相机的传感器多条线呈一条线设置，彼此间隔固定距离；
    当设定相机的像素为a×a时，所述固定距离为a。
  7. 一种相机曝光处理系统，其特征在于，包括相机和n个光源，所述相机的传感器线数为N，N≥n，物体按照一定方向运动通过相机的视场区域；系统包括触发获取模块(1)、拼接模块(2)和循环输出模块(3)；
    触发获取模块(1)用于获取触发信号，以根据触发信号触发所述光源按照固定顺序依次打开、关闭，并对亮起光源曝光下的物体图像数据进行采集，所述n个光源的依次亮起次序为前一光源循环亮起y次后，后一光源循环亮起y次，其中，2N-1≥(n-1)×y+1；；
    拼接模块(2)用于当传感器多条线均采集到物体同一位置的图像数据时，拼接物体同一位置的所有图像数据，得到不同光源下的拼接图像；
    循环输出模块(3)用于循环输出所述拼接图像，得到物体的完整图像。
  8. 根据权利要求7所述的相机曝光处理方法，其特征在于，拼接模块(2)包括缓存模块(21)和对齐输出模块(22)；
    缓存模块(21)用于将传感器多条线在不同时刻采集到物体同一位置的图像数据写入多个图像缓存，所述多个图像缓存分别与传感器多条线中的每条线一一对应；
    对齐输出模块(22)用于将所述多个图像缓存在同一位置的图像数据对齐，依次输出传感器多条线所采集到物体同一位置的图像数据，以获取不同光源下的拼接图像。
  9. 一种相机曝光处理装置，其特征在于，包括储存器和处理器；
    所述储存器，用于储存计算机程序；
    所述处理器用于执行所述计算机程序时，实现如权利要求1所述的方法：
  10. 一种计算机可读储存介质，其特征在于，所述计算机可读存储介质上存储有若干获取分类程序，所述若干获取分类程序用于被处理器调用并执行如权利要求1所述的方法。
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