Contact type image scanning module based on image sensor and working method thereof

Abstract

The invention relates to a contact type image scanning module based on an image sensor and a working method thereof, and belongs to the technical field of image sensor trigger scanning, the contact type image scanning module comprises a control unit, a CIS image sensor and a semiconductor type displacement sensor, the CIS image sensor and the displacement sensor are connected with the control unit, the displacement sensor and the CI image sensor move along with the main body equipment, the control unit controls the displacement sensor to collect displacement movement data and controls the image scanning starting module to detect the displacement movement distance, and the control unit quantitatively triggers the image scanning starting module to carry out image scanning according to the displacement distance; the beneficial effects of the invention are that the displacement sensor is integrated on the scanning surface of the CIS image acquisition sensor, the CIS image acquisition sensor is connected with the displacement sensor, the CIS image acquisition sensor moves, and the CIS image acquisition sensor records each scanned image in a triggering manner through the control unit, so that the scanning precision is improved. The module of the invention is advantageous to be integrated on a small and portable scanning device.

Description

Technical Field

[0001] The invention belongs to the technical field of image sensor trigger scanning, and in particular relates to a contact image scanning module based on an image sensor and a working method thereof. Background Art

[0002] The CIS image acquisition sensor is connected to the semiconductor displacement sensor. When the displacement sensor moves, the CIS image acquisition sensor is triggered and scans the image at the position of the displacement sensor.

[0003] The existing Chinese patent CN202679477U discloses a roller-type displacement encoder. The roller rotates so that the displacement encoder on the roller encodes the displacement. The combination of the roller and the displacement encoder results in a larger scanner and the roller mechanism is easily damaged. Since the traditional contact scanning method requires the displacement encoder on the roller to move to trigger and scan the CIS image acquisition sensor, it cannot be lightweight and highly integrated.

[0004] The existing trigger scanning methods of CIS image acquisition sensors mainly include two triggering methods: timing triggering and roller-type displacement encoder triggering. Compared with the semiconductor displacement sensor triggering, these two triggering methods have obvious disadvantages: 1. The timing triggering must have a fixed slide rail, and the displacement sensor is driven to move at a constant speed by the rotation of the motor. The constant speed movement of the displacement sensor causes the CIS image acquisition sensor to be triggered and scanned at a fixed time. This method is suitable for fixed scanning equipment (such as desktop scanners) and is not convenient for integration in mobile or portable scanning equipment. 2. The roller-type displacement encoder triggering method, in which the displacement encoder and roller are composed of mechanical structures and are easily damaged. The conventional roller-type displacement encoder cannot be lightweight and miniaturized because the physical properties of the grating or magnetic grating must take into account the resolution, and cannot be integrated in small mobile and portable scanning devices. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the CIS image acquisition sensor and the displacement sensor cannot be integrated on a small and portable scanning device. The present invention provides a contact image scanning module based on an image sensor and a working method thereof. The displacement sensor is integrated on the scanning surface of the CIS image acquisition sensor. The CIS image acquisition sensor is connected to the displacement sensor circuit. As long as the displacement sensor moves and the control unit triggers the control of the CIS image acquisition sensor, the CIS image acquisition sensor records each scanned image. The CIS image acquisition sensor can perform real-time image scanning at each position and trigger-record the scanned image at each position, so that the CIS image acquisition sensor and the displacement sensor are integrated on a small and portable scanning device.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] A contact image scanning module based on an image sensor, comprising:

[0008] Control unit;

[0009] The CIS image acquisition sensor is connected to the control unit, and the CIS image acquisition sensor moves together with the main device. The control unit triggers the CIS image acquisition sensor according to the displacement distance of the CIS image acquisition sensor, so that the CIS image acquisition sensor can perform image scanning in a triggered manner.

[0010] Optionally, the CIS image acquisition sensor has a displacement sensor and a CIS image sensor, and the CIS image sensor is connected to the displacement sensor circuit; wherein the displacement sensor includes a semiconductor ranging sensor, a laser ranging sensor and an inertial measurement sensor;

[0011] The CIS image sensor and the displacement sensor are connected to the control unit. The control unit controls the displacement sensor to collect displacement movement data and controls the CIS image sensor to detect the displacement movement distance. The control unit triggers the CIS image sensor to perform image scanning according to the displacement movement distance (the quantity is that the CIS image sensor and the displacement sensor move 0.08 mm simultaneously per unit time). Through the simultaneous displacement movement of the displacement sensor and the CIS image sensor, the CIS image sensor can record the image scanned in real time.

[0012] Optionally, the displacement sensor has a displacement data acquisition module, and the CI S image acquisition sensor includes an image scanning start module and an image data processing module;

[0013] The displacement data acquisition module is connected to the control unit, the control unit controls the displacement data acquisition module to collect displacement data, the displacement data acquisition module is connected to the image scanning start module, the image scanning start module is connected to the control unit and the image data processing module, the control unit triggers the image scanning start module according to the displacement moving distance of the image scanning start module, and the triggered start of the image scanning start module enables the image data processing module to trigger and record the scanned image.

[0014] A working method of a contact image scanning module based on an image sensor comprises the following steps:

[0015] Step 1): Collect displacement data; wherein the displacement data is collected in real time;

[0016] Step 2): Processing the collected displacement data in real time; wherein the collected displacement data is a displacement in one direction alone, a displacement in two directions at the same time, or a rotation angle in the moving direction, and the collected displacement data is processed in real time using a displacement vector method;

[0017] Step 3): Based on the processed collected displacement data, a displacement offset correction method is used to correct the displacement offset in one direction or in two directions at the same time in real time;

[0018] Step 4): Scan the image in real time, and record each scanned image when no displacement occurs.

[0019] Optionally, in step 1), the real-time acquisition of displacement data is performed by the following steps:

[0020] Step S1): collecting displacement in the x direction alone, collecting displacement in the y direction alone, or collecting displacement in both the x direction and the y direction at the same time;

[0021] Step S2): recording the displacement in the x direction collected separately, or recording the displacement in the y direction collected separately, or recording the displacement in the x direction and the y direction collected together.

[0022] Optionally, in step 2), a displacement vector method is used to process the displacement moving in the x direction alone in real time, or a displacement moving in the y direction alone in real time, using the following formula (1) and formula (2):

[0023]

[0024] In formula (1), is the displacement on the axis at a certain moment, and the displacement direction is moving in one direction. Represents the displacement on the axis at time t1; is the displacement on the axis at another moment, and the displacement direction is moving in one direction. represents the displacement on the axis at time t2, and Move on the same axis, and and Equal in size, and The direction of movement is the same;

[0025] In formula (2), is the displacement offset detection model, To detect the time t2 Whether the movement on the axis is displaced or not, if the If there is no displacement on the axis, Output If at time t2 If the movement on the axis is displaced, Output

[0026] Combining formula (1) and formula (2), J is the displacement difference of moving on the same axis at two different times. If Output Then J is 0, if Output Then J is not 0.

[0027] Optionally, in step 2), the displacement vector method is used to process the displacement moving in the x direction and the displacement moving in the y direction in real time, using the following formula (3) to formula (5):

[0028]

[0029] In formula (3), is the displacement on the x-axis at a certain moment, and the displacement direction is moving towards the x-axis direction. is the displacement on the x-axis at time t; is the displacement on the y-axis at a certain moment, and the displacement direction is moving towards the y-axis direction. is the displacement on the y axis at time t; and All moments are t moments, and are equal in size, It is a displacement offset detection model;

[0030] In formula (4), To detect the time t Does the movement on the x-axis cause displacement? If at time t If there is no displacement in the movement on the x-axis, then Output If at time t The movement on the x-axis is displaced. Output

[0031] In formula (5), To detect the time t Does the movement on the y axis cause displacement? If at time t If there is no displacement in the movement on the y axis, then Output If at time t If the movement on the y axis is offset, Output

[0032] Combining formula (3)-formula (5), λ(·) is the angle calculation function, For calculation and The angle between them, θ is and The angle between; if at time t, Output and Output but Calculate and The angle value θ between them is 90°; if at time t, Output and Output or Output and Output or Output and Output The angle θ is not 90°.

[0033] Optionally, in step 3), the displacement offset correction method corrects the displacement offset in the x direction, or the displacement offset in the y direction, or the displacement offset in both the x direction and the y direction in real time, using the following formula (6):

[0034]

[0035] Where zx is the axis, p is the displacement outside the axis, → is the displacement p toward the axis zx, L is the tension, is the displacement p towards the axis zx under the action of the tension L, ∪(·) is the displacement correction function, In the process of the offset displacement p moving toward the axis zx, the offset displacement p is affected by the tension L so that the offset displacement p is located on the axis zx, and Z is the displacement offset correction result.

[0036] Further, in step 3), during the displacement p of the offset toward the axis zx, the following steps are adopted:

[0037] Step a): moving the offset displacement p toward the axis zx; wherein the offset displacement p oscillates around the axis zx;

[0038] Step b): The deflected point is moved onto the axis zx by the pulling force L.

[0039] Optionally, in step 4), the displacement movement is performed in real time, and during the real-time displacement movement, a real-time image scan is performed on each position, and the scanned image at each position is recorded.

[0040] Beneficial effects of the present invention:

[0041] 1. The present invention integrates a displacement sensor on the scanning surface of the CIS image acquisition sensor. The CIS image acquisition sensor is connected to the displacement sensor circuit. The CIS image acquisition sensor and the displacement sensor move with the main device. As long as the main device moves, the displacement sensor moves, and the displacement data acquisition module acquires the displacement data. At the same time, the displacement data acquisition module works and the control unit controls the image scanning start module so that the image scanning start module triggers the start of the image data processing module. The image data processing module triggers the recording of each scanned image. In this way, the CIS image acquisition sensor can perform real-time image scanning at each position and record the scanned image at each position, so that the CIS image acquisition sensor and the displacement sensor module are integrated on a small and portable scanning device.

[0042] 2. The present invention utilizes real-time processing of the collected displacement data, wherein the collected displacement data is the displacement moving in one direction alone or in two directions simultaneously, and utilizes a displacement vector method to process the collected displacement data in real time, and based on the processed collected displacement data, utilizes a displacement offset correction method to correct the displacement offset in one direction or in two directions simultaneously in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a system structure diagram of the present invention;

[0045] Figure 2 This is a diagram of the integrated structure of the CIS image acquisition sensor and the displacement sensor of the present invention;

[0046] Figure 3 It is a work flow chart of the present invention;

[0047] Figure 4 A schematic diagram of the displacement vector method of the present invention for real-time processing of displacement moving in the x-direction alone;

[0048] Figure 5 A schematic diagram of the displacement vector method of the present invention for real-time processing of displacement moving in the y direction alone;

[0049] Figure 6 This is a schematic diagram of the displacement vector method of the present invention processing the displacement moving in the x direction and the displacement moving in the y direction in real time. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0051] Example 1

[0052] like Figure 1 As shown, this embodiment provides a contact image scanning module based on an image sensor, including: a control unit and a CIS image acquisition sensor (contact image acquisition sensor), the CIS image acquisition sensor moves with the main device, and the control unit triggers the CIS image acquisition sensor according to the displacement distance of the CIS image acquisition sensor, so that the CIS image acquisition sensor can perform image scanning in a triggered manner.

[0053] The CIS image acquisition sensor comprises a displacement sensor and a CIS image sensor, and the CIS image sensor is connected to the displacement sensor circuit; wherein the displacement sensor comprises a semiconductor distance measuring sensor, a laser distance measuring sensor and an inertial measurement sensor.

[0054] The CIS image sensor and the displacement sensor are connected to a control unit. The control unit controls the displacement sensor to collect displacement data and controls the CIS image sensor to detect the displacement distance. The control unit quantitatively triggers the CIS image sensor to perform image scanning according to the displacement distance. Through the simultaneous displacement of the displacement sensor and the CIS image sensor, the CIS image sensor can record the image scanned in real time.

[0055] Specifically, Figure 2 As shown, the displacement sensor has a displacement data acquisition module, and the CIS image acquisition sensor includes an image scanning start module and an image data processing module;

[0056] The displacement data acquisition module is connected to the control unit, the control unit controls the displacement data acquisition module to collect displacement data, the displacement data acquisition module is connected to the image scanning start module, the image scanning start module is connected to the control unit and the image data processing module, the control unit triggers the image scanning start module according to the displacement moving distance of the image scanning start module, and the triggered start of the image scanning start module enables the image data processing module to trigger and record the scanned image.

[0057] The control unit and the CIS image acquisition sensor are integrated into one body, and the displacement sensor is integrated on the scanning surface of the CIS image acquisition sensor. The CIS image acquisition sensor is connected to the displacement sensor circuit. As long as the displacement sensor moves, the displacement data acquisition module acquires the displacement data. At the same time, the displacement data acquisition module works and the image scanning start module is controlled in real time by the control unit so that the image scanning start module triggers the start of image scanning. The triggering work of the image scanning start module enables the image data processing module to trigger the recording of each scanned image. In this way, the CIS image acquisition sensor can perform real-time image scanning at each position and record the scanned image at each position.

[0058] Example 2

[0059] Based on Example 1, Figure 3 As shown, this embodiment provides a working method of a contact image scanning module based on an image sensor, comprising the following steps:

[0060] Step 1): The displacement data acquisition module acquires displacement data; wherein the displacement data is acquired in real time;

[0061] Step 2): The displacement data acquisition module processes the acquired displacement data in real time; wherein the acquired displacement data is the displacement moving in one direction (x-axis direction or y-axis direction), the displacement moving in two directions (x-axis direction and y-axis direction) at the same time, or the rotation angle in the moving direction, and the acquired displacement data is processed in real time using the displacement vector method;

[0062] Step 3): Based on the processed collected displacement data, the main control chip (not shown in the figure) connected to the image data processing module uses a displacement offset correction method to correct the displacement offset in one direction or in two directions at the same time in real time;

[0063] Step 4): The image scanning start module of the CI S image acquisition sensor scans the image in real time, and when no displacement occurs, the image data processing module records each scanned image.

[0064] Specifically, in step 1), the real-time acquisition of displacement data is as follows:

[0065] Step S1): collecting displacement in the x direction alone, collecting displacement in the y direction alone, or collecting displacement in both the x direction and the y direction at the same time;

[0066] Step S2): recording the displacement in the x direction collected separately, or recording the displacement in the y direction collected separately, or recording the displacement in the x direction and the y direction collected together.

[0067] In step 2), the displacement vector method is used to process the displacement of the x-direction in real time (such as Figure 4 ), or real-time processing of displacements in the y direction alone (such as Figure 5 ), using the following formula (1) and formula (2):

[0068]

[0069] In formula (1), is the displacement on the axis at a certain moment, and the displacement direction is moving in one direction. Represents the displacement on the axis at time t1; is the displacement on the axis at another moment, and the displacement direction is moving in one direction. represents the displacement on the axis at time t2, and Move on the same axis, and and Equal in size, and The direction of movement is the same;

[0070] In formula (2), is the displacement offset detection model, To detect the time t2 Whether there is displacement deviation in the movement on the axis (displacement deviation is The moving direction is perpendicular to the axis), if at time t2 If there is no displacement on the axis, Output If at time t2 If the movement on the axis is displaced, Output

[0071] Combining formula (1) and formula (2), J is the displacement difference of moving on the same axis at two different times. If Output Then J is 0, if Output Then J is not 0.

[0072] because, and Move on the same axis, and and Equal in size, and The direction of movement is the same. Once the next moment The movement on the axis causes displacement offset, and the displacement difference of the movement on the same axis at different times If it is not 0, then the next moment Movement occurs with displacement offset.

[0073] like Figure 6 As shown, in step 2), the displacement vector method is used to process the displacement moving in the x direction and the displacement moving in the y direction in real time, using the following formula (3)-formula (5):

[0074]

[0075] In formula (3), is the displacement on the x-axis at a certain moment, and the displacement direction is moving towards the x-axis direction. is the displacement on the x-axis at time t; is the displacement on the y-axis at a certain moment, and the displacement direction is moving towards the y-axis direction. is the displacement on the y axis at time t; and All moments are t moments, and are equal in size, It is a displacement offset detection model;

[0076] In formula (4), To detect the time t Does the movement on the x-axis cause displacement offset (displacement offset is The moving direction is perpendicular to the x-axis), if at time t If there is no displacement in the movement on the x-axis, then Output If at time t The movement on the x-axis is displaced. Output

[0077] In formula (5), To detect the time t Whether the movement on the y axis has a displacement offset (the displacement offset is The moving direction is perpendicular to the y axis), if at time t If there is no displacement in the movement on the y axis, then Output If at time t If the movement on the y axis is offset, Output

[0078] Combining formula (3)-formula (5), λ(·) is the angle calculation function, For calculation and The angle between them, θ is and The angle between; if at time t, Output and Output but Calculate and The angle value θ between them is 90° (because the angle between the x-axis and the y-axis is 90°); if at time t, Output and Output or Output and Output or Output and Output The angle θ is not 90°.

[0079] if only and The movement does not cause displacement, and the angle value θ is 90°. and Any movement is offset, and and The movement will cause displacement and the angle value θ is not 90°.

[0080] Example 3

[0081] Based on Example 2, Figure 4 As shown, combining formula (1) and formula (2), on a single x-axis, at different times and On the x-axis, is time t1, is time t2, and equal, Once displacement occurs at time t2, Not 0.

[0082] like Figure 5 As shown, combining formula (1) and formula (2), on a single y-axis, at different times and On the y-axis, is time t1, is time t2, and equal, Once displacement occurs at time t2, Not 0.

[0083] Example 4

[0084] Based on Example 2, Figure 6 As shown, combining formula (3)-formula (5), is the displacement on the x-axis at time t, is the displacement on the y axis at time t, and All of them are displaced at time t, and are equal in size, as long as at time t On the x-axis and at time t On the y-axis, the angle θ is 90°. Once the and on the y axis Any displacement occurs, and the displacement on the x-axis at time t and on the y axis There is displacement and offset, and the angle value θ is not 90°.

[0085] Example 5

[0086] In addition, based on Example 2, in step 3), the displacement offset correction method corrects the displacement offset in the x direction, or the displacement offset in the y direction, or the displacement offset in both the x direction and the y direction in real time, using the following formula (6):

[0087]

[0088] Where zx is the axis, p is the displacement outside the axis, → is the displacement p toward the axis zx, L is the tension, is the displacement p towards the axis zx under the action of the tension L, ∪(·) is the displacement correction function, In the process of the offset displacement p moving toward the axis zx, the offset displacement p is affected by the tension L so that the offset displacement p is located on the axis zx, and Z is the displacement offset correction result.

[0089] Further, in step 3), during the displacement p of the offset toward the axis zx, the following steps are adopted:

[0090] Step a): moving the offset displacement p (i.e., the displacement deviating from the x-axis or the y-axis) toward the axis zx; wherein the offset displacement p oscillates around the axis zx;

[0091] Step b): The deflected displacement p is moved onto the axis zx by the tensile force L.

[0092] In addition, in step 4), the displacement movement is detected in real time, and in the process of real-time displacement movement, real-time image scanning is performed at each position, and the scanned image at each position is recorded. Because the displacement sensor is integrated on the scanning surface of the CIS image acquisition sensor, and the CIS image acquisition sensor is connected to the displacement sensor circuit, as long as the displacement sensor has displacement movement and the control unit triggers the control image scanning start module, the image scanning start module of the CIS image acquisition sensor starts the image scanning, so that the CIS image acquisition sensor can perform real-time image scanning at each position and record the scanned image at each position.

[0093] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A contact image scanning module based on an image sensor, characterized in that: include: Control unit; CIS image acquisition sensor, the CIS image acquisition sensor is connected to the control unit, the CIS image acquisition sensor moves with the main device, the control unit triggers the CIS image acquisition sensor according to the displacement distance of the CIS image acquisition sensor, so that the CIS image acquisition sensor can perform image scanning in a triggered manner.

2. A contact image scanning module based on an image sensor according to claim 1, characterized in that: The CIS image acquisition sensor comprises a displacement sensor and a CIS image sensor, and the CIS image sensor is connected to the displacement sensor circuit; wherein the displacement sensor comprises a semiconductor ranging sensor, a laser ranging sensor and an inertial measurement sensor; The CIS image sensor and the displacement sensor are connected to the control unit. The control unit controls the displacement sensor to collect displacement movement data and controls the CIS image sensor to detect the displacement movement distance. The control unit quantitatively triggers the CIS image sensor to perform image scanning according to the displacement movement distance. Through the simultaneous displacement movement of the displacement sensor and the CIS image sensor, the CIS image sensor can record the image scanned in real time.

3. A contact image scanning module based on an image sensor according to claim 2, characterized in that: The displacement sensor has a displacement data acquisition module, and the CIS image acquisition sensor includes an image scanning start module and an image data processing module; The displacement data acquisition module is connected to the control unit, the control unit controls the displacement data acquisition module to collect displacement data, the displacement data acquisition module is connected to the image scanning start module, the image scanning start module is connected to the control unit and the image data processing module, the control unit triggers the image scanning start module according to the displacement moving distance of the image scanning start module, and the triggered start of the image scanning start module enables the image data processing module to trigger and record the scanned image.

4. A working method of a contact image scanning module based on an image sensor, using a contact image scanning module based on an image sensor according to any one of claims 1 to 3, characterized in that: The steps include: Step 1): Collect displacement data; wherein the displacement data is collected in real time; Step 2): Processing the collected displacement data in real time; wherein the collected displacement data is a displacement in one direction alone, a displacement in two directions at the same time, or a rotation angle in the moving direction, and the collected displacement data is processed in real time using a displacement vector method; Step 3): Based on the processed collected displacement data, a displacement offset correction method is used to correct the displacement offset in one direction or in two directions at the same time in real time; Step 4): Scan the image in real time, and record each scanned image when no displacement occurs.

5. The working method of the contact image scanning module based on the image sensor according to claim 4, characterized in that: In step 1), the real-time acquisition of displacement data is performed by the following steps: Step S1): collecting displacement in the x direction alone, collecting displacement in the y direction alone, or collecting displacement in both the x direction and the y direction at the same time; Step S2): recording the displacement in the x direction collected separately, or recording the displacement in the y direction collected separately, or recording the displacement in the x direction and the y direction collected together.

6. The working method of the contact image scanning module based on the image sensor according to claim 4, characterized in that: In step 2), the displacement vector method is used to process the displacement moving in the x direction alone in real time, or the displacement moving in the y direction alone in real time, using the following formula (1) and formula (2): In formula (1), is the displacement on the axis at a certain moment, and the displacement direction is moving in one direction. Represents the displacement on the axis at time t1; is the displacement on the axis at another moment, and the displacement direction is moving in one direction. represents the displacement on the axis at time t2, and Move on the same axis, and and Equal in size, and The direction of movement is the same; In formula (2), is the displacement offset detection model, To detect the time t2 Whether there is displacement on the axis, if the If there is no displacement on the axis, Output If at time t2 If the movement on the axis is displaced, Output Combining formula (1) and formula (2), J is the displacement difference of moving on the same axis at two different times. If Output Then J is 0, if Output Then J is not 0.

7. The working method of the contact image scanning module based on the image sensor according to claim 4, characterized in that: In step 2), the displacement vector method is used to process the displacement moving in the x direction and the displacement moving in the y direction in real time, using the following formula (3) to formula (5): In formula (3), is the displacement on the x-axis at a certain moment, and the displacement direction is moving towards the x-axis direction. is the displacement on the x-axis at time t; is the displacement on the y-axis at a certain moment, and the displacement direction is moving towards the y-axis direction. is the displacement on the y axis at time t; and All moments are t moments, and are equal in size, It is a displacement offset detection model; In formula (4), To detect the time t Does the movement on the x-axis cause displacement? If at time t If there is no displacement in the movement on the x-axis, then Output If at time t The movement on the x-axis is displaced. Output In formula (5), To detect the time t Does the movement on the y axis cause displacement? If at time t If there is no displacement in the movement on the y axis, then Output If at time t If the movement on the y axis is offset, Output Combining formula (3)-formula (5), λ(·) is the angle calculation function, For calculation and The angle between them, θ is and The angle between; if at time t, Output and Output but Calculate and The angle value θ between them is 90°; if at time t, Output and Output or Output and Output or Output and Output The angle θ is not 90°.

8. The working method of the contact image scanning module based on the image sensor according to claim 4, characterized in that: In step 3), the displacement offset correction method corrects the displacement offset in the x direction, or the displacement offset in the y direction, or the displacement offset in both the x direction and the y direction in real time, using the following formula (6): Where zx is the axis, p is the displacement outside the axis, → is the displacement p toward the axis zx, L is the tension, is the displacement p towards the axis zx under the action of the tension L, ∪(·) is the displacement correction function, In the process of the offset displacement p moving toward the axis zx, the offset displacement p is affected by the tension L so that the offset displacement p is located on the axis zx, and Z is the displacement offset correction result.

9. The working method of the contact image scanning module based on the image sensor according to claim 8, characterized in that: In step 3), during the displacement p of the offset toward the axis zx, the following steps are adopted: Step a): moving the offset displacement p toward the axis zx; wherein the offset displacement p oscillates around the axis zx; Step b): The deflected point is moved onto the axis zx by the pulling force L.

10. The working method of the contact image scanning module based on the image sensor according to claim 4, characterized in that: In the step 4), the displacement movement is performed in real time. During the real-time displacement movement, a real-time image scan is performed at each position, and the scanned image at each position is recorded.

Images