Anti-interference image acquisition method and device based on multi-device acquisition

Abstract

The invention provides an anti-interference image acquisition method based on multi-device acquisition, the method relates to a plurality of image acquisition devices, the detection tracks of the plurality of image acquisition devices coincide, and the effective acquisition areas of the adjacent image acquisition devices are partially overlapped. The image acquisition equipment is divided into corresponding acquisition equipment groups according to equipment information, and the method comprises the following steps: acquiring object information of a target acquisition object, and determining exposure delay time according to the object information; determining the equipment group delay time corresponding to different acquisition equipment groups according to the exposure delay time and the number of the acquisition equipment groups; and calling the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time. Acquisition devices with overlapped laser positions are grouped, acquisition is performed in a delayed manner in different groups, stroke increase and complexity increase in point cloud processing for staggering mutual influence are not needed, and the cost of image acquisition and imaging is reduced.

Description

Technical Field

[0001] The present invention mainly relates to the field of image processing, and particularly to an anti-interference image acquisition method and device based on multi-device acquisition. Background Art

[0002] For the 3D point cloud imaging solution of larger objects, its field of view is large, but the accuracy requirement is high. In this case, a single line-scan camera cannot meet the requirements, and generally multiple line-scan cameras are arranged in parallel for scanning. However, parallel arrangement scanning generally uses the same trigger source, which will cause interference between laser lines of different cameras. To avoid this interference, currently, the cameras are installed in opposite directions adjacent to each other to avoid the problem of interference between laser lines of adjacent cameras. However, this will increase the overall movement stroke of the entire sensor end; point cloud stitching also needs to be performed between each camera in the Y direction of movement; this will greatly increase the entire installation space and also increase the point cloud stitching in the Y direction of movement, which will greatly increase the difficulty and cost of the entire project. Summary of the Invention

[0003] In view of the above problems, the present application is proposed to provide an anti-interference image acquisition method and device based on multi-device acquisition that overcomes the above problems or at least partially solves the above problems, including:

[0004] An anti-interference image acquisition method based on multi-device acquisition, the method involves multiple image acquisition devices, wherein the detection trajectories of the multiple image acquisition devices coincide, and the effective acquisition areas of adjacent image acquisition devices partially overlap. The image acquisition devices divide the corresponding acquisition device groups according to device information; wherein, the acquisition device groups include at least two groups, and the device group delay times corresponding to different acquisition device groups are different, including the steps of:

[0005] Obtain the object information of the target acquisition object, and determine the exposure delay time according to the object information;

[0006] Determine the device group delay times corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups;

[0007] Call the acquisition device groups to perform image acquisition on the target acquisition object according to the device group delay times.

[0008] Further, it also includes:

[0009] Obtain the device information of the image acquisition devices;

[0010] Determine the acquisition interference range of the image acquisition devices according to the device information;

[0011] Determine a number of acquisition device groups according to the acquisition interference range; wherein, the image acquisition devices within the same acquisition device group are not affected by scanning interference.

[0012] Further, the step of obtaining the object information of the target acquisition object and determining the exposure delay time according to the object information includes:

[0013] Obtain the object information of the target acquisition object; wherein the object information includes object length information and object shape information;

[0014] Determine the acquisition surface according to the object shape information;

[0015] Determine the acquisition surface length according to the object length information;

[0016] Determine the exposure delay time according to the acquisition surface and the acquisition surface length.

[0017] Further, the step of determining the exposure delay time according to the acquisition surface and the acquisition surface length includes:

[0018] Determine the number of acquisition images according to the acquisition surface and the acquisition surface length;

[0019] Determine the acquisition frame rate according to the number of acquisition images;

[0020] Determine the exposure delay time according to the acquisition frame rate and the number of acquisition device groups.

[0021] Further, the step of determining the device group delay time corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups includes:

[0022] Determine the group exposure time of each acquisition device group according to the exposure delay time;

[0023] Determine the device group delay time according to the group exposure time.

[0024] Further, the step of determining the group exposure time of each acquisition device group according to the exposure delay time includes:

[0025] Determine the device weight of the acquisition device according to the device information;

[0026] Perform weighted aggregation on the acquisition devices to generate the acquisition weight of the acquisition device group;

[0027] Determine the acquisition order of the acquisition device group according to the acquisition weight, and determine the group exposure time according to the acquisition order.

[0028] Further, the exposure delay time is 0 - 1s.

[0029] An anti-interference image acquisition device based on multi-device acquisition, the multi-line scanning anti-interference device implements the steps of the anti-interference image acquisition method based on multi-device acquisition described in any one of the above, including:

[0030] An acquisition module, which acquires the object information of the target acquisition object and determines the exposure delay time according to the object information;

[0031] A delay module, which is used to determine the device group delay time corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups;

[0032] An acquisition module, which is used to call the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

[0033] An electronic device, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the steps of the anti-interference image acquisition method based on multi-device acquisition described in any one of the above.

[0034] A computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the anti-interference image acquisition based on multi-device acquisition described in any one of the above.

[0035] The present application has the following advantages:

[0036] In the embodiments of the present application, aiming at the shortcoming of mutual interference between devices during image acquisition of large objects in the prior art, the present application provides a method for preventing laser mutual interference by delaying image acquisition, specifically: an anti-interference image acquisition method based on multi-device acquisition, the method involves multiple image acquisition devices, wherein the detection trajectories of the multiple image acquisition devices coincide, and the effective acquisition areas of adjacent image acquisition devices partially overlap. The image acquisition devices are divided into corresponding acquisition device groups according to device information; wherein, the acquisition device group includes at least two groups, and the device group delay times corresponding to different acquisition device groups are different, including the steps of: acquiring the object information of the target acquisition object and determining the exposure delay time according to the object information; determining the device group delay time corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups; calling the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time. By grouping the acquisition devices with overlapping laser positions and performing delayed acquisition for different groups, there is no need to increase the travel distance and the complexity of point cloud processing to avoid mutual influence, thereby reducing the cost of image acquisition and imaging. Description of the Drawings

[0037] To more clearly illustrate the technical solution of the present application, the accompanying drawings required for the description of the present application will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0038] Figure 1 is a flowchart of the steps of an anti-interference image acquisition method based on multi-device acquisition provided by an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of the module structure of an anti-interference image acquisition device based on multi-device acquisition provided by an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. Detailed implementation manners

[0041] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0042] The inventor found through analyzing the prior art that: for the 3D point cloud imaging solution of larger objects, multiple acquisition devices are required to acquire images of the object. When the laser lines of multiple line-scan cameras are arranged in a staggered manner, for an object of the same length, such a camera arrangement requires an increase in the movement travel distance by the distance of the overall length of the cameras; for the point cloud stitching algorithm, this arrangement also requires the calibration of the camera coordinates in both the X and Y directions for point cloud stitching and fusion, which greatly increases the difficulty of point cloud processing.

[0043] Referring to Figure 1 , there is shown an anti-interference image acquisition method based on multi-device acquisition provided by an embodiment of the present application;

[0044] The method involves multiple image acquisition devices, wherein the detection trajectories of the multiple image acquisition devices coincide, and the effective acquisition areas of adjacent image acquisition devices partially overlap. The image acquisition devices are divided into corresponding acquisition device groups according to device information; wherein, there are at least two acquisition device groups, and the device group delay times corresponding to different acquisition device groups are different, including the steps:

[0045] S110, obtaining object information of the target collection object, and determining the exposure delay time according to the object information;

[0046] S120, determining the device group delay time corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups;

[0047] S130: Call the acquisition device group to acquire images of the target object according to the delay time of the device group.

[0048] This application has the following advantages:

[0049] In the embodiment of the present application, in view of the disadvantage of mutual interference between devices during image acquisition of larger objects in the prior art, the present application provides a method for preventing mutual interference of lasers by delayed image acquisition, specifically: an anti-interference image acquisition method based on multi-device acquisition, the method involves multiple image acquisition devices, wherein the detection trajectories of multiple image acquisition devices overlap, the effective acquisition areas of adjacent image acquisition devices partially overlap, and the image acquisition devices are divided into corresponding acquisition device groups according to device information; wherein the acquisition device group includes at least two groups, and the device group delay times corresponding to different acquisition device groups are different, including the steps of: obtaining the object information of the target acquisition object, and determining the exposure delay time according to the object information; determining the device group delay time corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups; calling the acquisition device group to acquire images of the target acquisition object according to the device group delay time. By grouping the acquisition devices with overlapping laser positions, and performing acquisition with different group delays, it is not necessary to increase the travel and increase the complexity of point cloud processing in order to avoid mutual influence, thereby reducing the cost of image acquisition and imaging.

[0050] Next, an anti-interference image acquisition method based on multi-device acquisition in this exemplary embodiment will be further described.

[0051] In one embodiment of the present invention, it also includes:

[0052] Acquire device information of the image acquisition device;

[0053] Determining a collection interference range of the image collection device according to the device information;

[0054] A plurality of acquisition device groups are determined according to the acquisition interference range; wherein the image acquisition devices in the same acquisition device group are not affected by scanning interference.

[0055] It should be noted that the device information includes device model, device coordinates, device movement trajectory, etc. The laser range of the device is determined by the device model and device coordinates, the laser interference range is determined, and the laser interference range during the acquisition process of the device is determined by the device movement trajectory, ensuring that the lasers of the acquisition devices within the same acquisition device group do not affect each other.

[0056] In the normal case, the acquisition devices can be divided into 2 acquisition device groups, that is, two adjacent acquisition devices are in different groups. The delay time of the 2 acquisition device groups is relatively short and will not affect the acquisition frame rate, resulting in more accurate imaging.

[0057] As described in step S110 above, obtain the object information of the target acquisition object and determine the exposure delay time based on the object information.

[0058] It should be noted that according to the specific object information of the target acquisition object, information such as the movement track of the acquisition device is determined, and targeted image acquisition of the target acquisition object is performed to ensure the quality of the acquired images.

[0059] In an embodiment of the present invention, the specific process of "obtaining the object information of the target acquisition object and determining the exposure delay time based on the object information" described in step S110 can be further described in combination with the following description.

[0060] As described in the following steps, obtain the object information of the target acquisition object; wherein the object information includes object length information and object shape information;

[0061] As described in the following steps, determine the acquisition surface based on the object shape information;

[0062] As described in the following steps, determine the length of the acquisition surface based on the object length information;

[0063] As described in the following steps, determine the exposure delay time based on the acquisition surface and the length of the acquisition surface.

[0064] It should be noted that the number of images to be acquired is determined according to the object length information, and the interval time between adjacent acquired images is determined by the object shape information, ensuring that the acquired images can accurately describe the 3D information of the target acquisition object, and the exposure delay time is determined by the object information, that is, the total exposure time when all acquisition devices acquire images once, facilitating the subsequent calculation of the corresponding exposure time for each acquisition device group.

[0065] In an embodiment of the present invention, the specific process of "determining the exposure delay time based on the acquisition surface and the length of the acquisition surface" can be further described in combination with the following description.

[0066] As described in the following steps, determine the number of acquired images based on the acquisition surface and the length of the acquisition surface;

[0067] As described in the following steps, determine the acquisition frame rate according to the number of acquired images;

[0068] As described in the following steps, determine the exposure delay time according to the acquisition frame rate and the number of acquisition device groups.

[0069] It should be noted that determining the acquisition frame rate according to the number of images ensures that the frame rate is not lower than the lowest preset value, ensuring that the subsequent exposure delay time will not affect the quality of the acquired images.

[0070] As described in step S120 above, determine the device group delay time corresponding to each acquisition device group according to the exposure delay time and the number of acquisition device groups.

[0071] In an embodiment of the present invention, the specific process of "determining the device group delay time corresponding to each acquisition device group according to the exposure delay time and the number of acquisition device groups" described in step S120 can be further described in combination with the following description.

[0072] It should be noted that according to the total exposure delay time used by all acquisition device groups and the number of acquisition device groups, the exposure delay time is allocated to each acquisition device group according to the weight of the acquisition device, ensuring that the acquisition device group with a higher weight is allocated a longer exposure time.

[0073] As described in the following steps, determine the group exposure time of each acquisition device group according to the exposure delay time;

[0074] As described in the following steps, determine the device group delay time according to the group exposure time.

[0075] It should be noted that determining the group exposure time of each acquisition device group according to the exposure delay time, that is, determining the exposure time of each acquisition device group. The exposure time of the first acquisition device group is relatively long, and the exposure time of subsequent acquisition device groups needs to be longer than that of the previous group.

[0076] In an embodiment of the present invention, the specific process of the step "determining the group exposure time of each acquisition device group according to the exposure delay time" can be further described in combination with the following description.

[0077] As described in the following steps, determine the device weight of the acquisition device according to the device information;

[0078] As described in the following steps, perform weighted aggregation on the acquisition devices to generate the acquisition weight of the acquisition device group;

[0079] As described in the following steps, determine the acquisition order of the acquisition device group according to the acquisition weight, and determine the group exposure time according to the acquisition order.

[0080] It should be noted that the position where each acquisition device acquires an image is determined according to the device information and the object information of the target acquisition object, and the weight of this position for the overall target acquisition object is determined according to the position of the acquired image. This weight is assigned to the corresponding acquisition device to determine the weight corresponding to each acquisition device. Aggregate the weights of the acquisition devices in the acquisition device group to determine the weight of each device group, and determine the acquisition order of the acquisition device group according to this weight.

[0081] It is also possible to determine the key position of the target acquisition object according to the object information of the target acquisition object, set the acquisition device corresponding to the key position to the highest weight, and set the acquisition device group corresponding to this device as the first acquisition device group.

[0082] In an embodiment of the present invention, the exposure delay time is 0 - 1s.

[0083] Ensure the exposure delay time so that the batch acquisition of images by each acquisition device will not cause a large error to the result, and the generated error can be ignored.

[0084] As described in step S130 above, call the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

[0085] As an example, five line scan cameras LC1, LC2, LC3, LC4, and LC5 are arranged in sequence, and the laser lines coincide on a straight line. At this time, there is partial overlap in the fields of view between adjacent cameras. By setting the delay T for LC2 and LC4, and setting the delays for LC1, LC3, and LC5 to 0; the encoder provides a differential signal to trigger the cameras, the encoder trigger mode is set to 2 - phase 4 - increment, and the interval points are set to 8. If no delay is set, all cameras will be triggered simultaneously, which will cause interference between different cameras. However, by setting the delay time T and exposure time T1 for cameras LC2 and LC4, LC1, LC3, and LC5 start exposure directly, and the exposure time is T. Cameras LC2 and LC4 perform exposure T1 after a delay of T, and T1 is slightly larger than T. In this way, the exposure times of LC2 and LC4 are staggered from those of LC1, LC3, and LC5 and will not affect each other. Since the exposure time of the line scan camera is about dozens of microseconds and the running speed is generally not greater than 200mm / s, the maximum deviation in the Y - direction between LC2, LC4 and LC1, LC3, LC5 due to the delay does not exceed 10um and can be completely ignored.

[0086] The application scenarios of the present invention are generally scenarios with a relatively large field of view width and high precision requirements. In the case of interference in the synchronous shooting of multi-line scan cameras, by setting a trigger delay at the line scan camera end, the shooting is carried out at staggered times. However, this delay interval is relatively small because the frame rate of line scan cameras is generally large, usually above 1K and up to 64K at most. Therefore, the existing deviation has almost no impact on the acquisition results. The high-speed frame rate delay strategy can shorten the movement stroke without affecting the point cloud accuracy and its frame rate, only reaching the length of the object to be scanned, instead of the movement stroke = the length of the scanned object + the length of the camera as in the original scheme, saving installation space and cost; this method simplifies the difficulty of point cloud stitching and fusion and improves the rate of 3D point cloud imaging.

[0087] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, please refer to the partial description of the method embodiments.

[0088] Referring to Figure 2 , there is shown a device for anti-interference image acquisition based on multi-device acquisition provided by an embodiment of the present application. The device involves multiple image acquisition devices. Among them, the detection trajectories of the multiple image acquisition devices coincide, and the effective acquisition areas of adjacent image acquisition devices partially overlap. The image acquisition devices divide the corresponding acquisition device groups according to device information; among them, there are at least two acquisition device groups, and the device group delay times corresponding to different acquisition device groups are different;

[0089] Specifically, it includes:

[0090] An acquisition module 210, which acquires the object information of the target acquisition object and determines the exposure delay time according to the object information;

[0091] A delay module 220, which is used to determine the device group delay times corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups;

[0092] An acquisition module 230, which is used to call the acquisition device groups to perform image acquisition on the target acquisition object according to the device group delay time.

[0093] In an embodiment of the present invention, it further includes:

[0094] A device information module, which is used to acquire the device information of the image acquisition device;

[0095] An interference range module, which is used to determine the acquisition interference range of the image acquisition device according to the device information;

[0096] A grouping module, configured to determine a plurality of groups of acquisition devices according to the acquired interference range; wherein, the image acquisition devices within the same group of acquisition devices are not affected by scanning interference.

[0097] In an embodiment of the present invention, the obtaining module 210 includes:

[0098] An object information sub-module, configured to obtain object information of a target acquisition object; wherein the object information includes object length information and object shape information;

[0099] An acquisition surface sub-module, configured to determine an acquisition surface according to the object shape information;

[0100] A length sub-module, configured to determine the length of the acquisition surface according to the object length information;

[0101] An exposure delay sub-module, configured to determine an exposure delay time according to the acquisition surface and the length of the acquisition surface.

[0102] In an embodiment of the present invention, the exposure delay sub-module includes:

[0103] An image quantity unit, configured to determine the quantity of acquired images according to the acquisition surface and the length of the acquisition surface;

[0104] A frame rate unit, configured to determine an acquisition frame rate according to the quantity of acquired images;

[0105] An exposure delay time determination unit, configured to determine an exposure delay time according to the acquisition frame rate and the quantity of groups of acquisition devices.

[0106] In an embodiment of the present invention, the delay module 220 includes:

[0107] A group exposure time sub-module, configured to determine the group exposure time of each group of acquisition devices according to the exposure delay time;

[0108] A device group delay time sub-module, configured to determine a device group delay time according to the group exposure time.

[0109] In an embodiment of the present invention, the group exposure time sub-module includes:

[0110] A device weight unit, configured to determine the device weight of the acquisition device according to the device information;

[0111] An acquisition seeking unit, configured to perform weighted aggregation on the acquisition devices to generate an acquisition weight of the group of acquisition devices;

[0112] A group exposure time determination unit, configured to determine the acquisition order of the group of acquisition devices according to the acquisition weight, and determine the group exposure time according to the acquisition order.

[0113] In an embodiment of the present invention, it further includes:

[0114] An exposure time range module, configured to determine that the exposure delay time range is 0 - 1 s.

[0115] Referring to Figure 3 , a computer device for an anti-interference image acquisition method based on multi-device acquisition according to the present invention is shown, which may specifically include the following:

[0116] The above computer device 12 is presented in the form of a general computing device, and the components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0117] The bus 18 represents one or more of several types of bus 18 structures, including a memory bus 18 or a memory controller, a peripheral bus 18, a graphics acceleration port, a processor, or a local bus 18 using any bus 18 structure in multiple bus 18 structures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus 18, a Micro Channel Architecture (MAC) bus 18, an Enhanced ISA bus 18, a Video Electronics Standards Association (VESA) local bus 18, and a Peripheral Component Interconnect (PCI) bus 18.

[0118] The computer device 12 typically includes a variety of computer system-readable media. These media can be any available media accessible by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0119] The system memory 28 may include computer system-readable media in the form of volatile memory, such as a Random Access Memory (RAM) 30 and / or a cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 may be used for reading and writing non-removable, non-volatile magnetic media (commonly referred to as a "hard disk drive"). Although Figure 3 not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (such as a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (such as a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 through one or more data media interfaces. The memory may include at least one program product, and this program product has a set of (for example, at least one) program modules 42, and these program modules 42 are configured to execute the functions of the embodiments of the present invention.

[0120] A program / utilities 40 having a set (at least one) of program modules 42 can be stored, for example, in a memory. Such program modules 42 include—but are not limited to—an operating system, one or more application programs, other program modules 42, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 42 generally execute the functions and / or methods in the embodiments described in the present invention.

[0121] The computer device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, a camera, etc.), can also communicate with one or more devices that enable medical staff to interact with the computer device 12, and / or can communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the computer device 12 can also communicate with one or more networks (such as a local area network (LAN)), a wide area network (WAN), and / or a public network (such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the computer device 12 through a bus 18. It should be understood that although Figure 3 not shown in the figure, other hardware and / or software modules can be used in combination with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units 16, external disk drive arrays, RAID systems, tape drives, and data backup storage systems 34, etc.

[0122] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing an anti-interference image acquisition method based on multi-device acquisition provided by the embodiments of the present invention.

[0123] That is, when the above-mentioned processing unit 16 executes the above-mentioned program, it realizes: obtaining the object information of the target acquisition object, and determining the exposure delay time according to the object information;

[0124] Determining the device group delay time corresponding to different said acquisition device groups according to the exposure delay time and the number of said acquisition device groups;

[0125] Calling the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

[0126] In the embodiments of the present invention, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it realizes an anti-interference image acquisition method based on multi-device acquisition provided by all embodiments of the present application:

[0127] That is, when the program is executed by the processor, it realizes: obtaining the object information of the target acquisition object, and determining the exposure delay time according to the object information;

[0128] Determining the device group delay time corresponding to each of the acquisition device groups according to the exposure delay time and the number of the acquisition device groups;

[0129] Invoking the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

[0130] Any combination of one or more computer-readable media may be adopted. The computer-readable medium may be a computer data signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPOM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0131] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal may take various forms, including - but not limited to - an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0132] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the healthcare provider's computer, partially on the healthcare provider's computer, executed as an independent software package, partially on the healthcare provider's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the healthcare provider's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider). Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference may be made to each other.

[0133] Although the preferred embodiments of the embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0134] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0135] The above provides a detailed introduction to a method and device for anti-interference image acquisition based on multi-device acquisition provided by the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. An anti-interference image acquisition method based on multi-device acquisition, characterized in that, The method involves multiple image acquisition devices. Among them, the detection trajectories of the multiple image acquisition devices coincide, and the effective acquisition areas of adjacent image acquisition devices partially overlap. The image acquisition devices are divided into corresponding acquisition device groups according to device information. Among them, there are at least two acquisition device groups, and the device group delay times corresponding to different acquisition device groups are different, including the steps: Obtain the object information of the target acquisition object, and determine the exposure delay time according to the object information; Determine the device group delay times corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups; Call the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

2. The method according to claim 1, characterized in that, It also includes: Obtain the device information of the image acquisition device; Determine the acquisition interference range of the image acquisition device according to the device information; Determine several acquisition device groups according to the acquisition interference range; among them, there is no scanning interference effect on the image acquisition devices within the same acquisition device group.

3. The method according to claim 1, wherein The step of obtaining the object information of the target acquisition object and determining the exposure delay time according to the object information includes: Obtain the object information of the target acquisition object; where the object information includes object length information and object shape information; Determine the acquisition surface according to the object shape information; Determine the acquisition surface length according to the object length information; Determine the exposure delay time according to the acquisition surface and the acquisition surface length.

4. The method according to claim 3, wherein The step of determining the exposure delay time according to the acquisition surface and the acquisition surface length includes: Determine the number of acquisition images according to the acquisition surface and the acquisition surface length; Determine the acquisition frame rate according to the number of acquisition images; Determine the exposure delay time according to the acquisition frame rate and the number of acquisition device groups.

5. The method according to claim 1, wherein The step of determining the device group delay times corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups includes: Determine the group exposure time of each acquisition device group according to the exposure delay time; Determine the device group delay time according to the group exposure time.

6. The method according to claim 5, characterized in that, The step of determining the group exposure time of each acquisition device group according to the exposure delay time includes: Determine the device weight of the acquisition device according to the device information; Perform weighted aggregation on the acquisition devices to generate the acquisition weight of the acquisition device group; Determine the acquisition order of the acquisition device group according to the acquisition weight, and determine the group exposure time according to the acquisition order.

7. The method according to claim 1, wherein The exposure delay time is 0 - 1s.

8. An anti-interference image acquisition device based on multi-device acquisition, characterized in that, The steps for the multi-line scanning anti-interference device to implement the anti-interference image acquisition method based on multi-device acquisition as described in any one of claims 1 to 7 include: An acquisition module, which obtains the object information of the target acquisition object and determines the exposure delay time according to the object information; A delay module, which is used to determine the device group delay times corresponding to different acquisition device groups according to the exposure delay time and the number of acquisition device groups; An acquisition module, which is used to call the acquisition device group to perform image acquisition on the target acquisition object according to the device group delay time.

9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the steps of the anti-interference image acquisition method based on multi-device acquisition as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it implements the steps of the anti-interference image acquisition based on multi-device acquisition as described in any one of claims 1 to 7.

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