A shooting method, device and system for removing ambient light

Abstract

The application discloses a shooting method, device and system for removing ambient light, and the shooting method comprises the following steps in sequence: S1, obtaining a first image and a second image through camera acquisition; S2, performing image subtraction operation on the second image by using the first image to obtain a calculation image; the first image is acquired by a first linear array camera, and the second image is acquired by a second linear array camera; the shooting modes of the first linear array camera and the second linear array camera for a shooting object are as follows: the two cameras move in the same direction relative to the shooting object, and in the relative movement process, the two cameras sequentially shoot each shooting area covered by each of the two cameras, and the shooting area of one camera in the last shooting has an overlapping part with the shooting area of the other camera in the next shooting. The shooting device and system are used for realizing the shooting method. By using the technical scheme provided in the application, the influence of ambient light change on image results can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of image technology, in particular to a shooting method, device and system for removing ambient light. BACKGROUND

[0002] In the prior art, in the following multiple applications, there is a problem of ambient light (background light, sunlight) interfering with the required light source for shooting. For example: using structured light (light with optical patterns) to project onto an object, and the image of the object with the structured light projected is shot; the light source provides light for the camera, but due to the superposition of ambient light, the camera is overexposed or otherwise affected when shooting; the light source irradiates the detection object to produce excitation to cause light emission, and the excited light is imaged to judge the characteristics of the detection object, such as using photoluminescence technology to detect photovoltaic panel defects; or other scenes where ambient light interference needs to be removed.

[0003] Regarding the use of machine vision imaging in security, to eliminate the influence of ambient light on the image result, the prior art uses image subtraction to remove ambient light by shooting images with and without light sources. For example, the patent application file with application number CN201910918496.3 provides an imaging assembly and image imaging method for shielding ambient light interference. In the specific technical solution, a compensation light source is provided, and an image sensor is used to obtain a first image signal when the compensation light source is on and a second image signal when the compensation light source is off. Then, image subtraction operation (CCD photosensitive charge number subtraction operation on the first image signal and the second image signal) is performed to obtain an image (image signal) that removes ambient light interference.

[0004] Further optimizing the image ambient light interference removal technology promotes the use of machine vision in object feature judgment. SUMMARY

[0005] To solve the technical problem of further optimizing the image ambient light interference removal technology and promoting the use of machine vision in object feature judgment, the present application provides a shooting method, device and system for removing ambient light. The technical solution provided by the present application can effectively reduce the influence of ambient light changes on the image result.

[0006] To solve the above problem, the shooting method for removing ambient light provided by the present application solves the problem through the following technical points: a shooting method for removing ambient light, including the following steps performed in sequence:

[0007] S1, acquiring a first image and a second image by a camera, wherein the first image is an image under the action of a compensation light source, and the second image is an image other than the action of the compensation light source;

[0008] S2, performing image subtraction operation on the second image by using the first image to obtain a calculation image;

[0009] The first image is collected by a first linear array camera, and the second image is collected by a second linear array camera;

[0010] The first linear array camera and the second linear array camera have the same relative movement with respect to the object, and in the relative movement, the two cameras sequentially capture the respective shooting areas covered by the two cameras, wherein the shooting area captured by one of the two cameras in the last time has an overlapping part with the shooting area captured by the other camera in the next time.

[0011] In the present scheme, the compensation light source is understood as follows: the first linear array camera captures the image of the object under the irradiation of the compensation light source or the photoluminescence of the object caused by the irradiation of the compensation light source under the corresponding excitation light, and the image can be the first image as described above; the first image is the image under the joint action of the ambient light and the compensation light source, and the second linear array camera captures the image of the object under only the ambient light, and the image can be the second image. As for the calculation image mentioned in step S2, the calculation image is the image shielded from the interference of the ambient light obtained by the subtraction operation.

[0012] Distinguished from the prior art, the scheme limits the camera for completing the corresponding image acquisition: the corresponding image acquisition is completed by a linear array camera, and the limitation of the shooting area related to the time sequence / shooting order of the first linear array camera and the second linear array camera during shooting achieves the following purposes: not only can two kinds of images for image subtraction under different light environments be obtained, but also the influence of environmental light changes on the image results can be effectively reduced: in the prior art, the image under the action of the compensation light source and the image other than the action of the compensation light source are obtained by a plane array camera, and the data readout time of the linear array camera is shorter than that of the plane array camera, so the shooting interval time is smaller; when the linear array camera is used to continuously shoot to obtain the images of the corresponding shooting area one by one along the moving path relative to the shooting object, both the first linear array camera and the second linear array camera have the characteristic that the time interval between two adjacent shootings is short; thus, in the two cameras, the shooting area of the last shooting of one of the two cameras overlaps with the shooting area of the next shooting of the other camera; for the overlapping area, the time interval of the first linear array camera and the second linear array camera acting on the area is smaller; thus, by using the characteristics that the possibility of environmental light changes is smaller and the amount of possible environmental light changes is smaller under a smaller time interval, the purpose of reducing the influence of environmental light changes on the image results is achieved; at the same time, the configuration of the compensation light source in the scheme is simpler: in the prior art, one camera is generally used to complete shooting; in order to obtain images under the illumination of different light sources, a scheme of shooting one image under the illumination of the light source and one image under the non-illumination of the light source is generally adopted, and the working mode of the light source and the camera is more complex; by using the scheme, the compensation light source, the first linear array camera, and the second linear array camera are synchronously moved, and the compensation light source can be kept in the state of being turned on during the working period of the first linear array camera, so that the entire shooting process can be completed; at the same time, the continuous material (material surface) detected by the existing linear array camera is a typical application, and the high-resolution advantage of the linear array camera can be used to effectively improve the calculation image accuracy; at the same time, by using the above same direction relative motion mode, the time interval for obtaining the two images of the above overlapping part is short, and the law of continuously obtaining images line by line is met, so the image acquisition efficiency is high.

[0013] Regarding the above definitions of the first image and the second image, in the implementation step S2, the first image and the second image can each be only a single image from the corresponding linear array camera, or can be a spliced image obtained by splicing multiple images.

[0014] As the shooting method for removing environmental light, a further technical scheme is provided:

[0015] For the shooting mode of the linear array camera generally obtaining images line by line, in order to obtain a spliced image meeting the sense and determine the overall situation of the target area of the shooting object, it is provided that in the first image, the edges of two images adjacent in the acquisition time sequence are connected or have a set overlap rate.

[0016] The edges of two images adjacent in acquisition time sequence meet or have a set overlap rate in the second image. As a person skilled in the art, the two images adjacent in acquisition time sequence are two images adjacent in shooting time sequence in the process of acquiring images by scanning line by line. The present solution is a technical solution in which the images shot by the first linear array camera and the images shot by the second linear array camera both meet the image splicing requirements. The present solution proposes the relationship of multiple images under the action of a light source and the relationship of images other than the action of the light source.

[0017] As a technical solution in which the images shot by the first linear array camera and the second linear array camera are directly used for image subtraction operation, the utilization rate of the images is high. It is provided that, on the object, the image coverage area of the first linear array camera acquired in a single shot is a first shooting area, and the image coverage area of the second linear array camera acquired in a single shot is a second shooting area.

[0018] The relationship between the first shooting area and the second shooting area in acquisition time sequence is that the edges of the first shooting area and the second shooting area meet.

[0019] The first and second shooting areas are of the same size, with the shooting area of ​​one camera in its previous shot completely covered by the shooting area of ​​the other camera in its next shot. In this solution, the temporal adjacency includes the case where both the first and second line scan cameras shoot simultaneously, such as when they shoot and finish shooting simultaneously. The first and second shooting areas that are simultaneously affected are the temporally adjacent first and second shooting areas. It also includes the case where shooting begins and ends at different times. The area shot first can be either the first or second shooting area, and the second or first shooting area shot later satisfies the condition that the shooting area of ​​the first line scan camera completely overlaps with the shooting area of ​​the subsequent line scan camera in its next shot. Using this solution, when performing image subtraction, unlike partial image overlap, all pixel data in the images captured by both line scan cameras can be used for image subtraction. This solution provides a technical approach where the shooting area of ​​one camera in its previous shot completely overlaps with the shooting area of ​​the other camera in its next shot. In practical implementation, considering feasibility and image quality, it is preferable to use the above relative motion as continuous uniform motion. However, due to limitations in the control and motion accuracy of the driving equipment involved in obtaining the relative motion, there may be some errors in the front and rear position relationship (complete overlap relationship) under non-ideal conditions, such as due to fluctuations in the moving speed. However, this will not affect the overall effect and the final detection purpose when used for detecting thin cracks and scratches. When applied to the detection of point defects on the surface of an object, it is preferable to configure the area captured by one camera in its previous capture to be partially covered by the area captured by the other camera in its next capture. Specifically, the covered area is located on the side behind the previously captured area in the direction of movement. For example, when the sensor image sizes of the first and second line scan cameras are the same, the shape and size of the captured areas on the object are the same, and the first and second line scan cameras capture images simultaneously, there is a gap between the edges of the first and second captured areas in a single capture. The next capture by the other camera covers the gap and the side of the previously captured area of ​​one camera that is close to the gap. This not only avoids the situation of missing defects, but also avoids the compensation light reflected from the object's surface from affecting the second image capture effect.

[0020] As mentioned above, for the subject being photographed, the image is generally captured by a line scan camera using a line scan method. In order to ensure that the shooting areas corresponding to the first line scan camera and the second line scan camera meet the above requirements in terms of timing, and at the same time, to ensure that the compensation light source can provide sufficient and uniform brightness to serve the first image without affecting the second image, the compensation light source is provided by a line scan light source.

[0021] The relative positions of the first linear array camera, the second linear array camera and the linear array light source in space are fixed, the shooting area of the first linear array camera is located within the action area of the linear array light source, and the shooting area of the second linear array camera is located outside the action area of the linear array light source. In the scheme, the linear array light source is used to provide compensation light with sufficient brightness, clear boundaries and uniform brightness at each irradiation position, and the relative positions of the first linear array camera, the second linear array camera and the linear array light source in space are fixed, that is, a synchronous movement mode of the three relative to the shooting object is used to facilitate the acquisition of the relationship between the required shooting areas.

[0022] Unlike the prior art, the obtained image has the characteristics of clearness and large image data amount, and in order to facilitate the acquisition efficiency of the calculation image, the following method is used to control the amount of single data processing and the number of data processing times: in step S2, the first image is obtained by image stitching after the first linear array camera is shot multiple times;

[0023] The second image is a stitching image obtained by image stitching after the second linear array camera is shot multiple times;

[0024] The above stitching images are all partial images of the target region of the shooting object. The first image and the second image in the scheme are defined as stitching images, and image subtraction operation is performed after stitching, which can reduce the acquisition times of the calculation image. Setting the above stitching images as partial images of the target region of the shooting object means that the first image and the second image are used to obtain the calculation image after being partially stitched, which avoids the inconvenience of the calculation image acquisition process or the excessively high requirements on hardware and software caused by the large size of the stitching image.

[0025] Based on the characteristic that the boundary of the compensation light source is easy to control, in order to facilitate the process control and action control of the shooting method, it is set that the compensation light source continuously irradiates the shooting area during the entire shooting process of the shooting object. In the scheme, during the same direction relative movement of the two relative to the shooting object, the compensation light source continuously acts on the shooting area of the first linear array camera as the first linear array camera moves.

[0026] The scheme also discloses a shooting device for removing ambient light, which comprises a camera, a compensation light source and a control module. The camera comprises a first linear array camera and a second linear array camera, the first linear array camera is used to obtain a first image, and the second linear array camera is used to obtain a second image. The first image is an image under the action of the compensation light source, and the second image is an image other than the action of the compensation light source. The control module is used to control the actions of the camera and the compensation light source, so that:

[0027] The shooting manner of the first linear array camera and the second linear array camera to the shooting object is that the two cameras move in the same direction relative to the shooting object, and during the relative movement, the two cameras sequentially shoot the respective shooting areas covered by the two cameras, and the shooting area of one camera in the last shooting has an overlapping part with the shooting area of the other camera in the next shooting.

[0028] The shooting device provided by the scheme is used to serve the above shooting method, and the difference from the existing technology is that a linear array camera is used, the linear array camera includes a first linear array camera and a second linear array camera, and the linear array camera meets the requirements of the same direction relative movement, the one-time shooting of each shooting area, and the overlapping of the shooting areas of the two cameras in the action flow or timing. As a person skilled in the art, the control module includes a control program for implementing the shooting method, and the control program can be executed by a processor.

[0029] As a further technical scheme of the shooting device for removing ambient light:

[0030] As a whole scheme or complete product, a driving mechanism is further arranged, and the driving mechanism is used to drive the camera or / and the shooting object to move in space to obtain the relative movement state. As a person skilled in the art, the above relative movement state can be obtained by the movement of the shooting object, for example, the device is installed on a rail, and the bottom surface of a train is shot to identify faults; the above relative movement state can be obtained by the shooting device, for example, the device is carried on a flying object to perform inspection on the surface of a photovoltaic panel.

[0031] The scheme further discloses a shooting system for removing ambient light, including a shooting device and a data processing device, the shooting device is any one of the shooting devices, and the data processing device is used to process the image obtained by the shooting device. The processing is that the first image is subjected to image subtraction operation on the second image to obtain a calculation image.

[0032] The shooting system provided by the scheme is different from the shooting device, and the system composition for implementing the shooting method is further supplemented. It can be considered that the shooting device is a front-end equipment or a data acquisition end for implementing the corresponding shooting method, and in the shooting system, the shooting device and the data processing device are combined, the data processing device is used as an image data processing unit, and finally the shooting method is implemented.

[0033] As a further technical scheme of the shooting system for removing ambient light:

[0034] In order to improve the utilization rate of the data processing device and the implementation cost of the shooting method, the shooting device and the data processing device are in a split structure, and after the shooting device completes the set shooting task, the data stored in the shooting device is transmitted to the data processing device to execute the processing. In the scheme, it can be understood that the split structure is that there is no structural connection relationship in the structural composition, and the shooting device and the data processing device are independent functional modules. The data processing device can be used to serve different shooting devices, and the data processing device is configured as a data processing center to provide data processing services for the obtained images. Further, the data processing device is a cloud server, so as to integrate social resources to a greater extent and use a data processing device with stronger computing power.

[0035] The present application has the following beneficial effects:

[0036] Different from the prior art, the scheme limits the camera for completing corresponding image acquisition: the corresponding image acquisition is completed by a linear array camera, and the limitation of the shooting area related to the time sequence / shooting sequence of the first linear array camera and the second linear array camera during shooting achieves the following purposes: not only two kinds of images for image subtraction under different light environments can be obtained, but also the influence of environmental light change on the image result can be effectively reduced: in the prior art, the image under the action of the compensation light source and the image other than the action of the compensation light source are obtained by a plane array camera, and the linear array camera has a shorter data reading time than the plane array camera, so that the shooting interval time is smaller, when the linear array camera is used to continuously shoot and obtain the images of the corresponding shooting area one by one with respect to the moving path of the shooting object, the first linear array camera and the second linear array camera both have the characteristic that the time interval between two adjacent shooting times is short, so that in the two cameras, the shooting area of the last shooting of one of the two cameras overlaps with the shooting area of the next shooting of the other camera, for the overlapping area, the time interval of the first linear array camera and the second linear array camera acting on the area is smaller, so that by using the characteristics that the possibility of environmental light change is smaller and the amount of possible environmental light change is smaller under a smaller time interval, the purpose of reducing the influence of environmental light change on the image result is achieved; at the same time, the configuration of the compensation light source in the scheme is simpler: in the prior art, one camera is generally used to complete shooting, in order to obtain images under the illumination of different light sources, a scheme of shooting one image under the illumination of the light source and one image under the non-illumination of the light source is generally adopted, and the working cooperation mode of the light source and the camera is more complex, while the scheme is adopted, for example, the compensation light source, the first linear array camera and the second linear array camera are synchronously moved, and the compensation light source can be kept in the state of being turned on all the time in the working period of the first linear array camera, so that the whole shooting process can be completed; at the same time, the continuous material (material surface) detected by the existing linear array camera is a typical application, the high resolution of the linear array camera can be used to effectively improve the calculation image precision; at the same time, by using the above same direction relative motion mode, the time interval for obtaining the two images of the above overlapping part is short, and the law of continuously obtaining images line by line is met, so that the image acquisition efficiency is high.

[0037] The shooting device and the shooting system are used to realize the shooting method. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The figure shows the implementation state of one application embodiment of the shooting method for removing environmental light.

[0039] Figure 1 The reference signs in the figure are as follows: 1, second linear array camera, 2, first linear array camera, 3, linear array light source, 4, shooting object, 5, second shooting area, 6, first shooting area, 7, shooting area of the next shooting of the first linear array camera;

[0040] a represents leftward movement, and b represents rightward movement. DETAILED DESCRIPTION

[0041] The application will be further described in conjunction with the following examples, but the application is not limited to the following examples:

[0042] Example 1

[0043] As shown in the accompanying drawings, a shooting method for removing ambient light comprises the following steps performed in sequence: Figure 1

[0044] S1, obtaining a first image and a second image through camera acquisition, wherein the first image is an image under the compensation of light source, and the second image is an image other than the compensation of light source;

[0045] S2, performing image subtraction operation on the second image using the first image to obtain a calculation image;

[0046] The first image is collected by a first linear array camera 2, and the second image is collected by a second linear array camera 1;

[0047] The shooting mode of the first linear array camera 2 and the second linear array camera 1 for the shooting object 4 is that they move in the same direction relative to the shooting object 4, and in the process of relative movement, they successively shoot each shooting area covered by each of them, wherein the shooting area of one of them in the last shooting has an overlapping part with the shooting area of the other in the next shooting.

[0048] In this scheme, regarding the compensation of light source, it should be understood that the first linear array camera 2 shoots the image of the shooting object 4 under the irradiation of the compensation light source or the image of the shooting object 4 under the light-induced luminescence caused by the irradiation of the compensation light source under the corresponding excitation light, which is the first image as described above; the first image is the image under the joint action of ambient light and compensation light source, and the second linear array camera 1 shoots the image of the shooting object 4 under only ambient light, which is the second image. Regarding the calculation image mentioned in step S2, the calculation image is the image shielded from the interference of ambient light obtained through subtraction operation.

[0049] ​Differing from the prior art, the scheme limits the camera for completing corresponding image acquisition: the corresponding image acquisition is completed by a linear array camera, and through limiting the shooting area related to the time sequence / shooting sequence of the first linear array camera 2 and the second linear array camera 1 during shooting, the following purposes are achieved: not only two kinds of images for image subtraction under different light environments can be obtained, but also the influence of environmental light change on the image result can be effectively reduced: in the prior art, the image under the action of the compensation light source and the image other than the action of the compensation light source are obtained by a plane array camera, and the data readout time of the linear array camera is shorter than that of the plane array camera, so the shooting interval time is smaller; when the linear array camera is used to continuously shoot each corresponding shooting area along the moving path of the shooting object 4, both the first linear array camera 2 and the second linear array camera 1 have the characteristic that the time interval between two adjacent shootings is short; thus, in the two cameras, the shooting area of the last shooting of one of the two cameras overlaps with the shooting area of the next shooting of the other camera, and the time interval of the first linear array camera 2 and the second linear array camera 1 acting on the overlapping area is smaller; thus, by using the characteristics that the possibility of environmental light change is smaller and the amount of possible environmental light change is smaller under a smaller time interval, the purpose of reducing the influence of environmental light change on the image result is achieved; at the same time, the configuration of the compensation light source in the scheme is simpler: in the prior art, one camera is generally used to complete shooting, and in order to obtain images under the irradiation of different light sources, a scheme of shooting one image under the irradiation of the light source and one image under the non-irradiation of the light source is generally adopted, and the working cooperation mode of the light source and the camera is more complex; while the scheme is adopted, for example, the compensation light source, the first linear array camera 2 and the second linear array camera 1 are synchronously moved, and the compensation light source can be kept in the state of being turned on during the entire shooting process in the working period of the first linear array camera 2; at the same time, the material (material surface) continuously detected by the existing linear array camera is its typical application, and the high resolution advantage can be used to effectively improve the calculation image precision; at the same time, by using the above same direction relative motion mode, the time interval for obtaining the two images of the above overlapping part is short, and the law of continuously obtaining images line by line is met, so the image acquisition efficiency is high.

[0050] Regarding the above definition of the first image and the second image, in the implementation step S2, the first image and the second image can each be only a single image from the corresponding linear array camera, or can be a spliced image obtained by splicing multiple images.

[0051] Embodiment 2:

[0052] This embodiment is further refined on the basis of Embodiment 1:

[0053] For the shooting mode of line array camera generally acquiring images by line scanning, in order to obtain the spliced image conforming to the sense organ and determine the overall situation of the target area of the photographed object 4, it is set that: in the first image, the edges of two images adjacent in the acquisition time sequence meet or have a set overlap rate;

[0054] In the second image, the edges of two images adjacent in the acquisition time sequence meet or have a set overlap rate. As a person skilled in the art, the two images adjacent in the acquisition time sequence are two images adjacent in the shooting time sequence in the process of acquiring images by line scanning in turn. The present scheme is a technical scheme in which the image acquired by the first line array camera 2 and the image acquired by the second line array camera 1 both meet the image splicing requirement. The present scheme proposes the relationship of multiple images under the action of the light source and the relationship of images other than the action of the light source.

[0055] Embodiment 3:

[0056] This embodiment is further refined on the basis of embodiment 1:

[0057] As a technical scheme in which the images acquired by the first line array camera 2 and the second line array camera 1 are directly used for image subtraction operation, the utilization rate of the images is high. It is set that: on the photographed object 4, the image acquisition area of the first line array camera 2 is the first shooting area 6, and the image acquisition area of the second line array camera 1 is the second shooting area 5;

[0058] The relationship between the first shooting area 6 and the second shooting area 5 adjacent in the acquisition time sequence is that the edges of the first shooting area 6 and the second shooting area 5 meet.

[0059] The first shooting area 6 and the second shooting area 5 have the same size, and the shooting area in the previous shooting of one is entirely covered by the shooting area in the next shooting of the other. In this scheme, the case where both the first linear array camera 2 and the second linear array camera 1 shoot at the same time is included, such as shooting at the same time and completing shooting at the same time, and the first shooting area 6 and the second shooting area 5 that are simultaneously affected are the first shooting area 6 and the second shooting area 5 that are time-sequentially adjacent; the case where shooting is not started and ended at the same time is also included, and the area shot in advance can be the first shooting area 6 or the second shooting area 5, and the second shooting area 5 or the first shooting area 6 shot later meets the condition that the shooting area when the linear array camera shoots in advance completely overlaps the shooting area in the next shooting of the linear array camera. In this scheme, when image subtraction operation is performed, all pixel point data in the images shot by the two linear array cameras can be used for image subtraction operation, which is different from image partial overlap. This scheme provides a technical scheme in which the shooting area in the previous shooting of one completely overlaps the shooting area in the next shooting of the other. In specific implementation, considering implementability and picture quality, it is preferred to use the above relative motion as continuous uniform motion, but limited by control, driving device motion precision and the like involved in the process of obtaining relative motion, in a non-ideal case, such as due to movement speed fluctuation, there is a certain error in the front and back position relationship (completely overlapping relationship), but when used in the detection of elongated cracks and scratches, the error does not affect the overall effect and the final detection purpose. When used in the detection of surface point defects of the shooting object 4, it is preferred that the shooting area in the previous shooting of one is partially covered by the shooting area in the next shooting of the other, and the specific covered area is on one side at the rear side of the in-advance shooting area in the movement direction, such as the case where the sensor image sizes of the first linear array camera 2 and the second linear array camera 1 are consistent, the shooting area shape and size on the shooting object 4 are consistent, and the first linear array camera 2 and the second linear array camera 1 shoot at the same time, the first shooting area 6 and the second shooting area 5 have a gap at the edge of single shooting, the next shooting of the other covers the gap, and the shooting area in the previous shooting of one is close to one side of the gap, which not only avoids the situation of missing defects, but also avoids the influence of compensation light reflected by the surface object of the shooting object 4 on the second image shooting effect.

[0060] Embodiment 4:

[0061] This embodiment is further refined on the basis of Embodiment 1:

[0062] As described above, for the object 4, the image acquisition by the linear array camera generally adopts the line-by-line scanning mode. In order to make the shooting areas corresponding to the first linear array camera 2 and the second linear array camera 1 meet the requirements in time sequence, and make the compensation light source serve the first image in a manner of providing sufficient and uniform brightness without affecting the second image, it is provided that the compensation light source is provided by the linear array light source 3.

[0063] The relative positions of the first linear array camera 2, the second linear array camera 1 and the linear array light source 3 in space are fixed. The shooting area of the first linear array camera 2 is located within the action area of the linear array light source 3, and the shooting area of the second linear array camera 1 is located outside the action area of the linear array light source 3. In this scheme, the linear array light source 3 is used to provide compensation light with sufficient brightness, clear boundaries and uniform brightness at each irradiation position. The relative positions of the first linear array camera 2, the second linear array camera 1 and the linear array light source 3 in space are fixed, that is, a synchronous movement of the three relative to the object 4 is adopted to facilitate the acquisition of the relationship between the required shooting areas.

[0064] Embodiment 5:

[0065] This embodiment is further refined on the basis of embodiment 1:

[0066] Different from the prior art, the image obtained by the present scheme has the characteristics of being clear and having a large amount of image data. In order to facilitate the acquisition efficiency of the calculation image, the amount of single data processing and the number of data processing are controlled as follows: in step S2, the first image is obtained by multiple shooting of the first linear array camera 2, and the obtained images are spliced to obtain a spliced image;

[0067] The second image is obtained by multiple shooting of the second linear array camera 1, and the obtained images are spliced to obtain a spliced image;

[0068] The above spliced images are all local images of the target area of the object 4. The first image and the second image in this scheme are defined as spliced images. After splicing, image subtraction operation is performed, which can reduce the acquisition times of the calculation image. The above spliced images are all local images of the target area of the object 4, that is, the first image and the second image are used to obtain the calculation image after being spliced, which avoids the inconvenience of calculation image acquisition process or the requirement of high hardware and software caused by too large spliced image.

[0069] Embodiment 6:

[0070] This embodiment is further refined on the basis of embodiment 1:

[0071] Based on the characteristics of the compensation light source boundary easy to control, in order to facilitate the process control and action control of the shooting method, it is provided that: in the whole shooting process of the shooting object 4, the compensation light source continuously irradiates the shooting area. In this scheme, in the same direction relative motion of the two relative to the shooting object 4, the compensation light source keeps the irradiation area continuously acting on the shooting area of the first linear array camera 2 as the first linear array camera 2 moves.

[0072] Embodiment 7:

[0073] This embodiment is based on embodiment 1, and provides a shooting device for removing ambient light, which includes a camera, a compensation light source and a control module. The camera includes a first linear array camera 2 and a second linear array camera 1. The first linear array camera 2 is used to obtain a first image, and the second linear array camera 1 is used to obtain a second image. The first image is an image under the action of the compensation light source, and the second image is an image other than the action of the compensation light source. The control module is used to control the action of the camera and the compensation light source, so that:

[0074] The shooting method of the first linear array camera 2 and the second linear array camera 1 to the shooting object 4 is the same direction relative motion of the two relative to the shooting object 4. In the relative motion process, the two cameras sequentially shoot the respective shooting areas covered by them, and the shooting area of one camera in the last shooting has an overlapping part with the shooting area of the other camera in the next shooting.

[0075] The shooting device provided in this scheme is used to serve the above shooting method, and the difference from the existing technology of the ambient light shooting device is: linear array cameras are used, and the linear array cameras include a first linear array camera 2 and a second linear array camera 1. In the shooting process or action, the same direction relative motion requirement is met, the one-time shooting requirement of each shooting area is met, and the overlap requirement of the shooting areas of the two cameras in the action process or time sequence is met. As a person skilled in the art, it can be understood that the control module includes a control program for realizing the shooting method, and the control program can be executed by a processor.

[0076] Embodiment 8:

[0077] This embodiment is further refined based on embodiment 7:

[0078] As a whole scheme or complete product, it is provided that: it further includes a driving mechanism for driving the camera or / and the shooting object 4 to move in space to obtain the relative motion state. As a person skilled in the art, the above relative motion state can be generated by the movement of the shooting object 4, such as installing the device on the rail to identify faults on the bottom surface of the train of the shooting object 4; the above relative motion state can be generated by the shooting device, such as mounting the device on an aircraft for patrol inspection of the surface of a photovoltaic panel.

[0079] Embodiment 9:

[0080] The embodiment is based on the embodiment 7, and provides a shooting system for removing ambient light, including a shooting device and a data processing device. The shooting device is the shooting device described in the embodiment 7. The data processing device is used for processing an image obtained by the shooting device. The processing is that the first image is subjected to image subtraction operation on the second image to obtain a calculation image.

[0081] The shooting system provided in the scheme is different from the shooting device. The system composition for implementing the shooting method is further supplemented. It can be considered that the shooting device is used as a front-end device or a data acquisition end for implementing the corresponding shooting method. In the shooting system, the shooting device is combined with the data processing device. The data processing device is used as an image data processing unit. Finally, the shooting method described above is implemented.

[0082] Embodiment 10

[0083] The embodiment is based on the embodiment 9 and is further refined.

[0084] In order to improve the utilization rate of the data processing device and the implementation cost of the shooting method, the shooting device and the data processing device are set to be a split structure. After the shooting device completes the set shooting task, the data stored in the shooting device is transmitted to the data processing device to execute the processing. In the scheme, the data processing device can be used to serve different shooting devices. The data processing device is configured as a data processing center to provide data processing services for the obtained images. Further, the data processing device is set to be a cloud server to integrate social resources and use a data processing device with stronger computing power to a greater extent.

[0085] Embodiment 11

[0086] The embodiment is based on the embodiment 1 and provides a specific implementation mode.

[0087] As Figure 1, two line array cameras with fixed relative position (or placed side by side) take pictures simultaneously, two line array cameras move relative to the object 4, the compensation light source is a line array light source 3 matching the shooting area of the line array camera, the line array light source 3 irradiates the shooting area of one of the line array cameras, so that one line array camera takes the picture of the object 4 after being irradiated by the line array light source 3 or the excitation light causing the object 4 to photoluminescence after being irradiated by the line array light source 3, and the other line array camera takes the picture of the object 4 under the ambient light only; the positions of the pictures taken by each line array camera are continuous, and after the pictures are taken, the pictures taken by the two line array cameras are spliced respectively to obtain two spliced pictures, the corresponding positions of the two spliced pictures are identified, the areas of the corresponding positions of the two spliced pictures are subtracted, or the corresponding positions of the pictures of the two spliced pictures are cut and then subtracted, to obtain the picture without ambient light.

[0088] The first line array camera 2 and the second line array camera 1 with fixed relative position, the line array light source 3, the object 4, and the first shooting area 6 and the second shooting area 5 corresponding to the first line array camera 2 and the second line array camera 1 are as shown in Figure 1 , the compensation light source irradiation area of the line array light source 3 coincides with or covers the first shooting area 6, and does not affect the second shooting area 5. Assuming that the object 4 is fixed, the line array camera and the line array light source 3 move, and the moving direction can be direction a or direction b, that is, the line array camera for taking pictures of the ambient light only can be placed in front or behind. In the shooting, the relative positions of the first shooting area 6 and the second shooting area 5 are fixed, and the distance can be set as required, which can be zero. When subtracting, the image of the first line array camera 2 is subtracted from the image of the second line array camera 1.

[0089] The relative movement of the line array camera and the object 4 can be that the object 4 is fixed and the line array camera moves, or that the line array camera is fixed and the object 4 moves.

[0090] The two line array cameras are fixed relative to the line array light source 3, and the two line array cameras preferably have the same size of image sensor, and are installed with the long sides parallel and the two extension lines of the short side coinciding, and the long side is perpendicular to the direction of relative movement of the line array camera and the object 4. If the two line array cameras have different sizes of image sensor, the long sides are parallel in installation, and the two extension lines of the short side of one camera are contained in the two extension lines of the short side of the other camera.

[0091] The position of the shooting area and the object 4 should ensure that the object 4 is completely shot, and the long side of the shooting area of the line array camera covers the object 4 (as shown in Figure 1 , the shooting area exceeds the object 4) or coincides with the edge of the object 4. Preferably, the positions of the front and rear images taken by the line array camera during the movement are continuous, and the image in the direction of the short side of the line array camera covers or coincides with the object 4.

[0092] The image positions of the front and back of each linear array camera are continuous (such as the first shooting area 6 and the next shooting area 7 of the first linear array camera 2), which can obtain better splicing effect. In order to ensure the continuity of the positions, the shooting interval t and the moving speed v need to meet certain relationship, through the short side length d of the image sensor and the scale of the picture, the short side length D of the shooting area can be obtained, and it can be known that, in the case of continuous image positions, the moving distance is D within the time interval t, that is, t = D / v. In the case of non-ideal, if there is a certain error between the front and back positions due to the fluctuation of the moving speed and other reasons, the overall effect will not be affected in some cases.

[0093] The vertical photography or oblique photography of the two linear array cameras is set according to the needs. When the oblique photography is used, the calculation of D needs to consider the oblique angle, which is different from the calculation method described above.

[0094] The linear array light source 3 is used to light the shooting object 4, or to irradiate the shooting object 4 to generate excitation light, and the image under the excitation light is shot.

[0095] The corresponding positions of the two spliced images can be identified by using image recognition technology. For example, if the shooting object 4 is a photovoltaic panel, the edge of the photovoltaic panel is clear and easy to identify, or the distance between the two shooting areas of the two linear array cameras (that is, the distance between the adjacent long sides of the first shooting area 6 and the second shooting area 5) is obtained, and the corresponding position relationship of the two spliced images is obtained, then the corresponding position can be directly expressed by coordinates, or other methods can be used.

[0096] After the shooting is completed, the image splicing can be performed. The entire image of a single linear array camera can be spliced after the shooting of the shooting object 4 is completed, or part of the image can be spliced, or the shooting object 4 can be spliced after part of the shooting is completed. The image splicing can be set according to the needs to avoid the inconvenience of processing the spliced image which is too large.

[0097] For the features of the two linear array cameras shooting at the same time, the shooting starts at the same time and ends at the same time. However, the shooting can also start at different times and end at different times. Since it is not convenient to control the camera to start shooting from the edge of the shooting object 4, the shooting usually starts from the outside of the shooting object 4. In this case, one camera may shoot the shooting object 4 first and the other camera may shoot the shooting object 4 later. The camera that shoots the shooting object 4 first can start shooting first and / or end shooting first, and the other camera can start shooting later and / or end shooting later.

[0098] If the distance between the two shooting areas of the two linear array cameras (that is, the distance between the adjacent long sides of the first shooting area 6 and the second shooting area 5) is zero or the short side length D of the shooting area, the two linear array cameras will shoot the images corresponding to the positions at different times. The position of the following camera follows the position of the front camera. In this case, the corresponding images of a single linear array camera can be directly subtracted, and if necessary, the subtracted images can be spliced into a large spliced image. In this case, the short side length d of the image sensor is equal.

[0099] The distance D of the shooting area of the two linear array cameras can be obtained according to the parameters such as the scale of the photograph, the length of the short side d of the image sensor, the distance between the two image sensors, and the tilt angle.

[0100] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific embodiments of the present application cannot be deemed to be limited to these descriptions. Other embodiments obtained by those skilled in the art without departing from the technical solutions of the present application shall be included in the protection scope of the present application.

Claims

1. A shooting method for removing ambient light, comprising the following steps in sequence: S1, acquiring a first image and a second image by a camera, wherein, The first image is an image under the compensation of the light source, and the second image is an image other than the compensation of the light source; S2, performing image subtraction operation on the second image by using the first image to obtain a calculation image; The first image is collected by a first linear array camera, and the second image is collected by a second linear array camera; The shooting mode of the first linear array camera and the second linear array camera on the shooting object is that they move in the same direction relative to the shooting object, and in the relative movement process, they sequentially shoot each shooting area covered by themselves respectively, and the shooting area of one of them in the last shooting has an overlapping part with the shooting area of the other in the next shooting.

2. The photographing method of removing ambient light according to claim 1, wherein, In the first image, two images adjacent in the acquisition time sequence are edge-connected or have a set overlap rate; In the second image, two images adjacent in the acquisition time sequence are edge-connected or have a set overlap rate.

3. The photographing method of removing ambient light according to claim 1, wherein, On the shooting object, the image coverage area of the single collection of the first linear array camera is the first shooting area, and the image coverage area of the single collection of the second linear array camera is the second shooting area; The relationship between the first shooting area and the second shooting area adjacent in the acquisition time sequence is that the first shooting area and the second shooting area are edge-connected; The size of the first shooting area and the second shooting area is consistent, and the shooting area of one of them in the last shooting is entirely covered by the shooting area of the other in the next shooting.

4. The photographing method of removing ambient light according to claim 1, wherein, The compensation light source is provided by a linear array light source; The relative positions of the first linear array camera, the second linear array camera and the linear array light source in space are fixed, the shooting area of the first linear array camera is within the action area of the linear array light source, and the shooting area of the second linear array camera is outside the action area of the linear array light source.

5. The photographing method of removing ambient light according to claim 1, wherein, In step S2, the first image is a stitching image obtained by stitching the images obtained after multiple shootings of the first linear array camera; The second image is a stitching image obtained by stitching the images obtained after multiple shootings of the second linear array camera; Both of the above stitching images are local images of the target area of the shooting object.

6. The shooting method of removing ambient light according to any one of claims 1 to 5, characterized in that, During the entire shooting process of the shooting object, the compensation light source continuously irradiates the shooting area.

7. A shooting device for removing ambient light, comprising a camera, a compensation light source and a control module, characterized in that, The camera includes a first linear array camera and a second linear array camera, the first linear array camera is used to obtain the first image, and the second linear array camera is used to obtain the second image, wherein the first image is an image under the compensation of the light source, and the second image is an image other than the compensation of the light source, and the control module is used to control the action of the camera and the compensation light source, so that: The shooting mode of the first linear array camera and the second linear array camera on the shooting object is that they move in the same direction relative to the shooting object, and in the relative movement process, they sequentially shoot each shooting area covered by themselves respectively, and the shooting area of one of them in the last shooting has an overlapping part with the shooting area of the other in the next shooting.

8. The apparatus of claim 7, wherein, Further comprising a driving mechanism for driving the camera or / and the shooting object to move in space to obtain the relative movement state.

9. A photographing system for removing ambient light, comprising a photographing device and a data processing device, characterized in that, The photographing device is the photographing device of claim 7 or 8, and the data processing device is used for processing the images obtained by the photographing device, and the processing is that the first image is subjected to image subtraction operation on the second image to obtain a calculation image.

10. The system of claim 9, wherein, The photographing device and the data processing device are in separate structure, and after the photographing device completes the set photographing task, the data stored in the photographing device is transmitted to the data processing device to execute the processing.

Images