Multi-channel color imaging system and control method thereof

Abstract

The invention provides a multi-channel color imaging system and a control method thereof, and relates to the technical field of image processing, in the system, at least three channels of stroboscopic light sources are arranged, so that the stroboscopic light sources with different wavelengths are used for periodically and circularly irradiating a detected object, and then a multi-channel color image of the detected object is obtained. The problems that a traditional RGB color camera is low in imaging resolution and a black-and-white camera is single in scene are solved. In addition, the system is simple in light path structure, high in photon utilization rate, free of manual switching of optical filters and convenient to operate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image processing, in particular to a multi-channel color imaging system and a control method thereof. BACKGROUND

[0002] Most of the color cameras used in the current optical detection field distinguish different colors / spectra of light by setting different color filters in front of a single pixel, so as to obtain a color image; such a structure will cause each color channel of a single pixel to only occupy a small part of the entire pixel area, and the spatial resolution accuracy and light source energy utilization rate are greatly limited. Therefore, in scenes such as flash detection that require high imaging accuracy, a black-and-white camera is often used to improve the imaging quality and photon utilization rate, but such a scene can only obtain grayscale data, and the use scene is relatively single; if a color image is obtained on this basis, different filters need to be set and switched for separate imaging, which not only is complicated to operate, but also is easy to cause light path deviation during the switching process, affecting the imaging effect. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a multi-channel color imaging system and a control method thereof, which sets at least three channels of stroboscopic light sources, so as to periodically and cyclically irradiate the detected object by using stroboscopic light sources of different wavelengths, and then obtain a multi-channel color image of the detected object, solving the problems of low imaging resolution of traditional RGB color cameras and single scene of black-and-white cameras; in addition, the light path structure of the system is simple, the photon utilization is high, and there is no need to manually switch the filters, which is convenient to operate.

[0004] In a first aspect, the embodiments of the present application provide a multi-channel color imaging system for flash imaging of a detected object placed in a motion platform; the multi-channel color imaging system at least comprises: a first stroboscopic light source, a second stroboscopic light source, a third stroboscopic light source, a first dichroic mirror, a second dichroic mirror, a beam splitter, a black-and-white imaging camera and a controller; wherein the controller is connected with the first stroboscopic light source, the second stroboscopic light source, the third stroboscopic light source, the black-and-white imaging camera and the motion platform respectively; The first dichroic mirror and the beam splitter are respectively arranged on the two sides of the second dichroic mirror, and a first transmission light path corresponding to the first dichroic mirror, a second transmission light path corresponding to the second dichroic mirror and an input light path corresponding to the beam splitter constitute a main light path of the multi-channel color imaging system; The detected object corresponding to the multi-channel color imaging system is arranged in a first reflection light path corresponding to the beam splitter; the black-and-white imaging camera is arranged in a second reflection light path corresponding to the beam splitter; the first reflection light path and the second reflection light path constitute an imaging light path of the multi-channel color imaging system; The first stroboscopic light source is arranged in the first transmission light path; The second stroboscopic light source is arranged in a first reflected light path corresponding to the first dichroic mirror; The third stroboscopic light source is arranged in a second reflected light path corresponding to the second dichroic mirror; The different wavelengths of visible light emitted by the first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source are transmitted to the light splitter through the main light path, and then irradiate the detected object through the imaging light path; The motion table is used to drive the detected object to sequentially reach a plurality of preset light source triggering positions in a flying shot scanning direction; The controller is used to determine the multi-channel stroboscopic light source corresponding to the light source triggering position and the triggering time length corresponding thereto, control the multi-channel stroboscopic light source to periodically and cyclically irradiate the detected object according to the triggering time length, and control the black-and-white imaging camera to obtain a multi-channel color image through multiple exposures of the detected object through the imaging light path.

[0005] Optionally, the multi-channel color imaging system further comprises a focusing lens; wherein the focusing lens is arranged in the main light path; the focusing lens is located between the light splitter and the second dichroic mirror; The focusing lens is used to focus the different wavelengths of visible light emitted by the first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source, so that the surface of the detected object forms a Kohler illumination.

[0006] Optionally, the multi-channel color imaging system further comprises a barrel lens and an objective lens; wherein the barrel lens is arranged in the imaging light path, and the barrel lens is located between the light splitter and the black-and-white imaging camera; the objective lens is arranged in the imaging light path, and the objective lens is located between the light splitter and the detected object; The barrel lens and the objective lens are used to image the detected object and correct aberration.

[0007] Optionally, the multi-channel color imaging system further comprises a fourth stroboscopic light source; the fourth stroboscopic light source is connected with the controller; the fourth stroboscopic light source is arranged around the objective lens; visible light or infrared light and ultraviolet light emitted by the fourth stroboscopic light source are transmitted to the imaging light path through the objective lens after being scattered or photo-induced by the detected object.

[0008] Optionally, the wavelengths of the first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source correspond to RGB, RYB or CMY color channels respectively; The first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source are carried by an integrated light box comprising a plurality of coupled light sources; The multi-channel color imaging system further comprises an optical fiber; the optical fiber is arranged in the main light path and the imaging light path, and is used to transmit the visible light of the stroboscopic light source in the main light path.

[0009] In a second aspect, the present application provides a multi-channel color imaging control method, which is applied to the multi-channel color imaging system mentioned in the first aspect; the method comprises: determine a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object; determine a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object; determine a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object; determine a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object;

[0010] Optionally, the step of determining a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object comprises: determine the number of channels of the multi-channel stroboscopic light source according to the number of light sources corresponding to the multi-channel stroboscopic light source; determine the field of view width of the detected object in the black-and-white imaging camera using the imaging light path of the multi-channel color imaging system; determine a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object using the field of view width and the number of channels.

[0011] Optionally, the step of determining a plurality of light source trigger positions of the detected object in the motion platform corresponding to the fly-by scanning direction of the detected object using the field of view width and the number of channels comprises: calculate the exposure interval corresponding to the detected object using the field of view width and the number of channels; wherein the exposure interval = field of view width / number of channels; control the motion of the motion platform in the fly-by scanning direction and real-time acquire the motion distance between the current position of the detected object and the previous light source trigger position; determine the position corresponding to the motion distance equal to the exposure interval as the current light source trigger position.

[0012] Optionally, the step of controlling the multi-channel stroboscopic light source to sequentially irradiate the detected object according to the trigger time corresponding to the light source trigger position and controlling the black-and-white imaging camera to sequentially acquire digital images of the detected object using the imaging light path when the motion platform reaches the light source trigger position in the fly-by scanning direction using the controller comprises: determine the trigger sequence and trigger time corresponding to the first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source; The controller is used to control the motion platform to move at a constant speed along the stroboscopic scanning direction, when the detected object reaches the trigger position corresponding to the first stroboscopic light source, the first stroboscopic light source is controlled to irradiate the detected object according to the first trigger time length, and the black-and-white imaging camera is controlled to acquire the first digital image of the detected object through the imaging light path; When the detected object reaches the trigger position corresponding to the second stroboscopic light source, the second stroboscopic light source is controlled to irradiate the detected object according to the second trigger time length, and the black-and-white imaging camera is controlled to acquire the second digital image of the detected object through the imaging light path; When the detected object reaches the trigger position corresponding to the third stroboscopic light source, the third stroboscopic light source is controlled to irradiate the detected object according to the third trigger time length, and the black-and-white imaging camera is controlled to acquire the third digital image of the detected object through the imaging light path.

[0013] Optionally, the step of obtaining the multi-channel color image based on the digital images acquired by the black-and-white imaging camera in sequence comprises: obtaining a full-channel region corresponding to the digital image under the channel number by using the trigger position of the light source; obtaining the multi-channel color image based on the full-channel region.

[0014] In a third aspect, the present application also provides a controller, which comprises a processor and a memory, the memory stores computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to realize the steps of the multi-channel color imaging control method provided in the second aspect.

[0015] In a fourth aspect, the present application also provides a storage medium, which stores computer executable instructions, and the computer executable instructions, when called and executed by a processor, cause the processor to realize the steps of the multi-channel color imaging control method provided in the second aspect.

[0016] The multi-channel color imaging system comprises a first stroboscopic light source, a second stroboscopic light source, a third stroboscopic light source, a first dichroic mirror, a second dichroic mirror, a beam splitter, a black-and-white imaging camera and a controller.

[0017] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the description and claims.

[0018] In order to make the above-mentioned objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are specifically described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 A structural schematic diagram of a multi-channel color imaging system provided by an embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of another multi-channel color imaging system provided by an embodiment of the present application is shown in the figure. Figure 3 A flow chart of a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 4 A flow chart of step S301 in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 5 A flow chart of step S403 in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 6 A flow chart of step S303 in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 7 A flow chart of step S304 in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 8 A color imaging principle diagram in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 9 A principle diagram of a light source triggering flow in a multi-channel color imaging control method provided by an embodiment of the present application is shown in the figure. Figure 10 A structural schematic diagram of a controller provided by an embodiment of the present application is shown in the figure.

[0021] Icon: 10a-first stroboscopic light source; 10b-second stroboscopic light source; 10c-third stroboscopic light source; 10d-fourth stroboscopic light source; 20a-first dichroic mirror; 20b-second dichroic mirror; 30-splitting mirror; 40-black-and-white imaging camera; 50-detected object; 60-controller; 70-motion stage; 80-focusing lens; 91-barrel lens; 92-objective lens; 101-processor; 102-memory; 103-bus; 104-communication interface. EMBODIMENT

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In optical inspection, the object to be inspected is usually fixed on a moving stage, and the area to be inspected is controlled by moving the stage to achieve large-area optical inspection. Common large-area image acquisition methods include stop-and-go, line scanning, and rapid scanning. In stop-and-go mode, the moving stage stops after moving to the desired position and takes pictures while stationary. This method requires the stage to spend a lot of time constantly accelerating, decelerating, and settling, which limits the productivity of this mode. Line scanning mode uses a line array or TDI camera to continuously take pictures while the stage moves at a constant speed, but it is difficult to capture multiple channels at the same time. Rapid scanning optical inspection systems use a high-speed area array camera to periodically expose and acquire images of different areas of the object to be inspected during the movement of the moving platform (i.e., during the scanning process). Since it does not require stopping and settling, rapid scanning optical inspection can achieve high productivity, but it has high requirements for light source power and energy utilization.

[0024] Existing aerial imaging solutions generally use global exposure CMOS area array cameras for image acquisition, with minimum exposure times typically on the order of microseconds. During the scanning process, controlling the movement speed of the stage ensures that the stage's movement distance within the exposure time is less than a certain size, guaranteeing clear imaging. However, to obtain a sufficiently strong signal in a short time, aerial imaging solutions require a sufficiently strong light source, an optical path with high energy utilization, and a camera with high quantum efficiency. Furthermore, to obtain multispectral images, aerial imaging solutions can directly use a color CMOS camera for color imaging, or use a monochrome CMOS camera to image and detect samples under specific spectral illumination, then switch the illumination source to image and detect samples under other spectral illuminations, and finally perform multispectral image synthesis and analysis. However, during multiple scans, unavoidable alignment deviations may occur, leading to errors in multispectral image synthesis and affecting detection accuracy.

[0025] Most current color cameras used in optical inspection are designed to acquire pixels in red, green, and blue, or other different colors. By placing different color filters in front of individual pixels, they can distinguish different colors / spectrums of light. This design results in each color channel of a single pixel occupying only a small portion of the entire pixel area, severely limiting spatial resolution and light source energy utilization. Therefore, if a color camera is used directly for aerial inspection, its weak signal acquisition capability, inspection yield, and defect sensitivity are all inferior to those using a comparable monochrome camera.

[0026] In existing detection imaging technologies, when using monochrome cameras for aerial imaging, illumination is mostly provided by a single color of light or white light, resulting in the acquisition of grayscale data for only a single spectral band. While monochrome cameras offer higher photon utilization and thus higher throughput, they can only output grayscale images within a specific wavelength range. Furthermore, the optical detection results are affected by the choice of light source and material properties, leading to insufficient reliability and accuracy. Additionally, to obtain color images, this approach requires separate imaging of certain colors (e.g., red, green, and blue, i.e., RGB) using methods such as switching filters and then combining the images, or using an additional color camera and imaging optical path for re-imaging. These solutions increase imaging steps, sacrifice detection efficiency, and increase equipment costs.

[0027] Based on this, embodiments of the present invention provide a multi-channel color imaging system and its control method, which can periodically acquire grayscale images of the object under red, green, and blue channel illumination during single-line aerial photography and generate color images for automatic defect detection and manual secondary inspection. The system is equipped with at least three channels of stroboscopic light sources, thereby periodically illuminating the object using stroboscopic light sources of different wavelengths to obtain multi-channel color images of the object. This solves the problems of low imaging resolution of traditional RGB color cameras and limited scene selection of black and white cameras. Furthermore, the system has a simple optical path structure, high photon utilization, and eliminates the need for manual filter switching, making it easy to operate.

[0028] To facilitate understanding of this embodiment, a multi-channel color imaging system disclosed in this invention will first be described in detail, such as... Figure 1 As shown, the multi-channel color imaging system is used to perform aerial imaging of an object placed on a motion stage, and includes at least: a first frequency flash source 10a, a second frequency flash source 10b, a third frequency flash source 10c, a first dichroic mirror 20a, a second dichroic mirror 20b, a beam splitter 30, a black and white imaging camera 40, and a controller 60; wherein, the controller 60 is connected to the first frequency flash source 10a, the second frequency flash source 10b, the third frequency flash source 10c, the first dichroic mirror 20a, the second dichroic mirror 20b, the beam splitter 30, the black and white imaging camera 40, and the motion stage 70.

[0029] The first dichroic mirror 20a and the beam splitter 30 are respectively disposed on both sides of the second dichroic mirror 20b, and the first transmission light path corresponding to the first dichroic mirror 20a, the second transmission light path corresponding to the second dichroic mirror 20b, and the input light path corresponding to the beam splitter 30 constitute the main light path of the multi-channel color imaging system.

[0030] The object 50 to be detected in the multi-channel color imaging system is set in the first reflected light path corresponding to the beam splitter 30; the black and white imaging camera 40 is set in the second reflected light path corresponding to the beam splitter 30; the first reflected light path and the second reflected light path constitute the imaging light path of the multi-channel color imaging system.

[0031] The first frequency flash source 10a is disposed in the first transmission light path; the second frequency flash source 10b is disposed in the first reflection light path corresponding to the first dichroic mirror 20a; the third frequency flash source 10c is disposed in the second reflection light path corresponding to the second dichroic mirror 20b; visible light of different wavelengths emitted by the first frequency flash source 10a, the second frequency flash source 10b and the third frequency flash source 10c is transmitted through the main light path to the beam splitter 30 and then illuminates the object to be detected 50 through the imaging light path; the motion stage 70 is used to drive the object to be detected 50 to the preset multiple light source trigger positions in sequence according to the flying scanning direction; The controller 60 is used to determine the multi-channel strobe light source corresponding to the trigger position of the light source and its corresponding trigger duration, control the multi-channel strobe light source to periodically irradiate the object under test 50 according to the trigger duration, and control the black and white imaging camera 40 to obtain a multi-channel color image by exposing the object under test 50 multiple times through the imaging optical path.

[0032] The visible light emitted by the three independently controllable stroboscopic sources—first stroboscopic source 10a, second stroboscopic source 10b, and third stroboscopic source 10c—at different wavelengths is coupled by the first dichroic mirror 20a and the second dichroic mirror 20b to form a coaxial output illumination source in the main optical path. These three stroboscopic sources correspond one-to-one with the red, green, and blue spectral channels of optical detection. This light source is reflected by the beam splitter 30 into the imaging optical path and finally incident on the object under test 50 through the objective lens. The reflected and scattered light from the sample surface of the object under test 50 returns through the reverse incident optical path, ultimately forming an image in the black-and-white imaging camera 40.

[0033] like Figure 2 As shown, the multi-channel color imaging system also includes a focusing lens 80; wherein, the focusing lens 80 is disposed in the main optical path; the focusing lens 80 is located between the beam splitter 30 and the second dichroic mirror 20b. The focusing lens 80 is used to focus visible light of different wavelengths emitted by the first flash source 10a, the second flash source 10b, and the third flash source 10c, so that the surface of the object being detected 50 forms Kohler illumination.

[0034] The multi-channel color imaging system also includes a tube lens 91 and an objective lens 92. The tube lens 91 is positioned in the imaging optical path between the beam splitter 30 and the black and white imaging camera 40. The objective lens 92 is positioned between the beam splitter 30 and the object under test 50. The objective lens 92 is an infinity conjugate objective lens, which works with the tube lens 91 to image the object under test 50 and correct aberrations.

[0035] The multi-channel color imaging system also includes a fourth-frequency flash source 10d; the fourth-frequency flash source 10d is connected to the controller 60; the fourth-frequency flash source 10d is arranged around the objective lens 92; the visible light, infrared light and ultraviolet light emitted by the fourth-frequency flash source 10d are scattered by the object being detected 50 or photoluminescent, and then propagated to the imaging optical path through the objective lens 92.

[0036] Optionally, the wavelengths of the first stroboscopic source 10a, the second stroboscopic source 10b, and the third stroboscopic source 10c correspond to the RGB, RYB, or CMY color channels, respectively. The above color imaging scheme is not limited to the bright-field three-color scheme and can be extended to a wider range of multispectral optical imaging technologies such as ultraviolet / visible / infrared. The dark-field channel can also be expanded by adding monopolar, multi-level, or annular dark-field stroboscopic illumination around the objective lens through the fourth stroboscopic source 10d.

[0037] The first frequency flash source 10a, the second frequency flash source 10b, and the third frequency flash source 10c can be carried by an integrated light box containing multiple coupled light sources. In addition, the multi-channel color imaging system may also include optical fibers; the optical fibers are placed in the main optical path and the imaging optical path for transmitting visible light from the intermediate frequency flash source in the main optical path.

[0038] In the above embodiments, a monochrome area array camera is used to acquire images. For each channel, the effective pixels and photon receiving area ratio of the monochrome camera are much larger than those of the color area array camera. This results in higher spatial resolution and better image quality in the images obtained by this scheme.

[0039] Furthermore, in the imaging optical path of the above embodiment, a single black-and-white area array camera is used and no beam splitter or other beam splitting element is used before imaging. This makes the photon utilization rate of this solution high (no conflict between channels; compared with common color cameras, the photon utilization rate of the RGB three channels is more than twice that of color cameras), strong ability to collect weak signals, and high sensitivity to small defects.

[0040] This solution is highly scalable, allowing for the addition of more acquisition channels by introducing light sources with different wavelengths and illumination methods. These additional channels include, but are not limited to, visible light, ultraviolet, infrared, and dark-field channels. This makes the solution more adaptable, allowing for adjustments to the channels used for detection based on the needs of the sample, resulting in a stronger difference between defects and the background, making them easier to detect.

[0041] In summary, this multi-channel color imaging system has at least three channels of stroboscopic light sources, which periodically illuminate the object 50 using stroboscopic light sources of different wavelengths, thereby obtaining a multi-channel color image of the object 50. This solves the problems of low imaging resolution of traditional RGB color cameras and limited scene selection of black and white cameras. In addition, the system has a simple optical path structure, high photon utilization, and does not require manual switching of filters, making it easy to operate.

[0042] This invention also provides a multi-channel color imaging control method, such as... Figure 3 As shown, this method is applied to the multi-channel color imaging system mentioned in the above embodiments; the method includes: Step S301: Determine the trigger positions of multiple light sources corresponding to the object being detected in the motion stage based on the scanning direction of the flying camera corresponding to the object being detected.

[0043] This step is based on the scanning requirements of the object under test 50. First, it is determined that the object under test 50 needs to be scanned by a motion stage 70, and the scanning direction (e.g., horizontal or vertical) directly determines the movement path of the motion stage 70. Based on this path, and considering the illumination range of the multi-channel stroboscopic light sources (first stroboscopic light source 10a, second stroboscopic light source 10b, and third stroboscopic light source 10c), the imaging field of view of the black-and-white imaging camera 40, and the size and detection accuracy requirements of the object under test 50, multiple specific light source trigger positions are defined on the movement trajectory of the motion stage 70. These positions must ensure that at each position, the light source illumination and camera imaging can cover different detection areas of the object under test 50, and that the detection areas of adjacent positions can be seamlessly connected, laying the foundation for the subsequent complete acquisition of image information of the object under test 50.

[0044] Step S302: Determine the multi-channel strobe light source corresponding to the trigger position of the light source and its corresponding trigger duration; wherein, the multi-channel strobe light source includes at least a first strobe light source, a second strobe light source and a third strobe light source.

[0045] This step is a crucial matching process for achieving accurate color imaging. Since the first, second, third, and other stroboscopic light sources emit different wavelengths (e.g., corresponding to the wavelengths of the three primary colors: red, green, and blue), the detection requirements of the object 50 in the corresponding wavelength bands also differ. Therefore, a corresponding multi-channel stroboscopic light source combination needs to be determined for each object 50. This may involve a single light source working independently or multiple light sources working collaboratively. Simultaneously, considering the light path throughput, the movement speed of the object 50 (the movement rate driven by the stage 70), and the camera's exposure sensitivity, the camera gain, exposure time, light intensity of the light source, and trigger duration are calculated and determined. These exposure parameters must ensure that within the short time it takes for the stage 70 to move the object 50 to the vicinity of the exposure position (a relative distance of less than 1 or 2 pixels), the light source can provide sufficient light to allow the camera to clearly capture the image, avoiding insufficient light leading to a low signal-to-noise ratio or excessive light leading to overexposure.

[0046] In step S303, when the motion stage is controlled by the controller to reach the light source trigger position sequentially along the scanning direction, the multi-channel strobe light source is controlled to periodically turn on and illuminate the object to be detected sequentially according to the trigger duration corresponding to the light source trigger position. The controller is also used to control the black and white imaging camera to acquire digital images of the object to be detected sequentially through the imaging optical path.

[0047] This step is the core execution link for the coordinated operation of all components of the multi-channel color imaging system, and is uniformly scheduled by the controller 60. First, the controller 60 drives the motion stage 70 to move smoothly along the preset scanning direction. When the motion stage 70 carries the object 50 to the first light source trigger position, the controller 60 immediately sends a trigger signal to the multi-channel strobe light source corresponding to that position. The light source is periodically turned on according to the trigger duration determined in step S302, thereby illuminating the object 50. At the same time, the controller 60 synchronously sends an exposure command to the black and white imaging camera 40. The camera performs an image acquisition on the object 50 under the light source illumination through the imaging optical path composed of the beam splitter 30, the first dichroic mirror 20a, and the second dichroic mirror 20b, acquiring the digital image corresponding to that position. Subsequently, the motion stage 70 continues to move. When it reaches the next light source trigger position, the controller 60 repeats the above-mentioned trigger light source illumination-control camera exposure action until the object 50 passes through all light source trigger positions in sequence, and the camera completes the sequential acquisition of all digital images. Throughout the process, the movement of the motion stage 70, the triggering and shutting down of the light source, and the exposure of the camera must be strictly synchronized to avoid image misalignment or missed capture due to timing deviations.

[0048] Step S304: Obtain multi-channel color images based on digital images acquired sequentially by the black-and-white imaging camera.

[0049] This step is the processing stage that converts the acquired raw digital images into a final color image. Since each digital image acquired in step S303 is an imaging result of the object 50 under illumination by a specific light source (different wavelengths) (e.g., an image corresponding to red light illumination, and another corresponding to green light illumination), these images respectively carry the reflection information of light of different wavelengths from the object 50, i.e., different color channel information of the color image. Therefore, through an image fusion algorithm, digital images corresponding to different wavelength light sources in the same detection area (or different detection areas associated through coordinate matching) are synthesized by channel fusion. For example, the digital image corresponding to red light imaging is used as the red channel, the image corresponding to green light imaging as the green channel, and the image corresponding to blue light imaging as the blue channel, and integrated into a complete multi-channel color image. The final color image can fully present the color information of the object 50, meeting the needs of subsequent detection, analysis, and other applications.

[0050] Optionally, step S301, which determines the trigger positions of multiple light sources corresponding to the object being detected in the motion stage based on the scanning direction of the flying camera corresponding to the object being detected, is as follows: Figure 4 As shown, it includes: Step S401: Determine the number of channels of the multi-channel stroboscopic light source based on the number of light sources corresponding to the multi-channel stroboscopic light source.

[0051] This step is fundamental to defining the system's imaging color dimensions. The core characteristic of a multi-channel stroboscopic light source is that it achieves color imaging through light of different wavelengths; the number of these wavelengths directly determines the number of imaging channels in the system. For example, when the system contains three stroboscopic light sources (corresponding to the wavelengths of the three primary colors of red, green, and blue, respectively), the number of channels in the multi-channel color imaging system can be determined to be 3. If more wavelengths of light sources are subsequently added, the number of channels will increase accordingly. Determining the number of channels provides a crucial basis for subsequently defining trigger positions and matching light sources with image channels, ensuring consistency between the imaging dimensions and color reproduction requirements.

[0052] Step S402: Determine the field of view of the object being detected in the black and white imaging camera using the imaging optical path of the multi-channel color imaging system.

[0053] This step is crucial for quantifying the range of a single imaging shot. The imaging optical path of the multi-channel color imaging system is composed of a beam splitter 30, a first dichroic mirror 20a, and a second dichroic mirror 20b. After refraction / reflection, the light is finally projected onto the photosensitive chip of the monochrome imaging camera 40. By measuring the effective imaging size of the photosensitive chip (e.g., horizontal pixel count × pixel size) and combining it with the magnification / reduction ratio of the optical path (determined by the focal length and spacing of the lenses), the actual physical width of the object 50 in the camera's field of view, i.e., the field of view width, can be calculated. This parameter directly determines the horizontal (or vertical, depending on the scanning direction) range of the object 50 that a single imaging shot can cover, and is the core reference for subsequently determining the spacing between trigger positions.

[0054] Step S403: Based on the scanning direction of the flying camera, determine the trigger positions of multiple light sources corresponding to the object being detected in the motion stage using the field of view width and the number of channels.

[0055] This step combines the imaging range with the number of channels to transform it into a trigger node for the motion stage 70. After determining the scanning direction (e.g., lateral scanning), it is necessary to ensure that each area of ​​the object under inspection 50 is illuminated and imaged by the light sources of all channels. For example, in a 3-channel system, each detection area needs to be illuminated by red, green, and blue light sources sequentially. Therefore, based on the field of view width and the number of channels, the movement path of the motion stage 70 is segmented, so that each segment corresponds to a light source trigger position. This ensures that the light sources of different channels can cover the same detection area at different positions, paving the way for complete acquisition of color information.

[0056] Optionally, step S403, which determines the trigger positions of multiple light sources corresponding to the object being detected in the motion stage based on the scanning direction of the camera using the field of view width and the number of channels, is as follows: Figure 5 As shown, it includes: Step S501: Calculate the exposure spacing corresponding to the object being detected using the field of view width and the number of channels; where, exposure spacing = field of view width / number of channels.

[0057] This step is the core calculation for determining the trigger position spacing. The exposure spacing is essentially the interval between each trigger illumination by the light source after the stage 70 moves a certain distance. Since the number of channels determines how many different wavelengths of light source need to illuminate the same detection area (e.g., 3 channels require 3 illuminations), to ensure that the 3 illuminations completely cover the detection area within the field of view, the field of view needs to be evenly distributed to each channel. That is, exposure spacing = field of view / number of channels.

[0058] In step S502, the motion stage is controlled to move in the scanning direction of the flying camera, and the movement distance between the current position of the object being detected and the previous light source trigger position is obtained in real time.

[0059] This step involves the dynamic tracking of the position. The controller 60 drives the motion stage 70 to move the object 50 according to a preset scanning direction (e.g., uniform horizontal movement). Simultaneously, the motion stage 70's built-in position sensors (e.g., optical scales, encoders) collect displacement data in real time, thereby calculating the actual distance between the current position of the object 50 and the previous light source trigger position. The purpose of acquiring this distance in real time is to accurately determine whether the object 50 has reached the preset exposure interval position, providing real-time positional information for subsequent light source triggering.

[0060] Step S503: Sequentially determine the positions corresponding to when the movement distance is equal to the exposure gap as the current light source trigger positions.

[0061] This step is crucial for accurately locating the trigger node. When the controller 60 detects through the position sensor that the movement distance of the object 50 is exactly equal to the exposure gap calculated in step S501, it immediately marks the current position of the motion stage 70 as the light source trigger position. For example, when moving 1mm (exposure gap) for the first time, the first trigger position is marked; moving another 1mm marks the second trigger position, and so on. Each trigger position corresponds to a light source in one channel, ensuring that the corresponding light source is triggered every time the motion stage 70 moves by one exposure gap, achieving a precise cycle of movement-triggering-imaging.

[0062] Optionally, in step S303, when the controller 60 controls the motion stage 70 to sequentially reach the light source trigger position along the scanning direction, the controller controls the multi-channel strobe light source to sequentially illuminate the object 50 according to the trigger duration corresponding to the light source trigger position, and the controller 60 controls the black and white imaging camera 40 to sequentially acquire digital images of the object 50 through the imaging optical path, as follows: Figure 6 As shown, it includes: Step S601: Determine the triggering order and triggering duration of the first frequency flash source 10a, the second frequency flash source 10b, and the third frequency flash source 10c.

[0063] This step is a preliminary planning stage for determining the operating sequence of the light sources. Since the three stroboscopic light sources have different wavelengths (e.g., red, green, and blue), and the monochrome imaging camera 40 needs to acquire images at different wavelengths to synthesize a color image, the triggering order of the light sources must be clearly defined first. Specifically, this can be set according to the color synthesis requirements (e.g., red-green-blue, or other sequences) to ensure that subsequent images can be matched according to the corresponding channels. Simultaneously, considering the movement speed of the object being detected 50 (e.g., the motion stage 70 moves 1µm per second), the camera exposure time (e.g., 1µs), and the light intensity of the light sources, a dedicated triggering duration is set for each light source: for example, the red light source needs to be triggered for 2µs to ensure sufficient light, and the green light source for 1.5µs, ensuring that each light source provides enough light during triggering so that the camera can acquire a clear digital image.

[0064] In step S602, the controller controls the motion stage to move at a constant speed along the scanning direction. When the object to be detected reaches the trigger position corresponding to the first frequency flash source, the controller controls the first frequency flash source to illuminate the object to be detected for a first trigger duration, and controls the black and white imaging camera to acquire the first digital image of the object to be detected through the imaging optical path.

[0065] This step is the execution phase of the initial imaging cycle. The controller 60 drives the motion stage 70 to move at a constant speed along the scanning direction. When the object under test 50 reaches the first light source trigger position (determined by step S503), the controller 60 immediately sends a trigger signal to the first frequency flash source 10a. The first frequency flash source 10a begins to illuminate the object under test 50 according to a preset first trigger duration. Simultaneously, the controller 60 sends an exposure command to the black and white imaging camera 40. The camera captures the image of the object under test 50 illuminated by the first frequency flash source 10a through the imaging optical path, i.e., the first digital image (such as a red channel image). After acquisition, the first frequency flash source 10a stops illuminating, and the motion stage 70 continues to move.

[0066] Step S603: When the object to be detected reaches the trigger position corresponding to the second frequency flash source, control the second frequency flash source to illuminate the object to be detected according to the second trigger duration, and control the black and white imaging camera to acquire the second digital image of the object to be detected through the imaging optical path.

[0067] This step is the second imaging cycle, with the same logic as step S602 but corresponding to a different channel. As the stage 70 continues to move, when the object 50 reaches the trigger position corresponding to the second-frequency flash source 10b, the controller 60 triggers the second-frequency flash source 10b, causing it to illuminate the object 50 for the second trigger duration; simultaneously, it controls the camera exposure to acquire a second digital image (such as a green channel image). This step requires ensuring the synchronization of the stage 70's moving speed, the triggering timing of the second-frequency flash source 10b, and the camera exposure to avoid misalignment of the detection areas of the second digital image and the first digital image due to timing deviations.

[0068] Step S604: When the object to be detected reaches the trigger position corresponding to the third frequency flash source, control the third frequency flash source to illuminate the object to be detected according to the third trigger duration, and control the black and white imaging camera to acquire the third digital image of the object to be detected through the imaging optical path.

[0069] This step is the third imaging cycle, completing the acquisition of three-channel images. When the object 50 reaches the trigger position corresponding to the third-frequency flash source 10c, the controller 60 triggers the third-frequency flash source 10c, illuminating it for the third trigger duration; the camera simultaneously exposes, acquiring the third digital image (such as the blue channel image). At this point, the same detection area of ​​the object 50 has completed the acquisition of red, green, and blue channel images, providing complete raw image data for subsequent color synthesis.

[0070] Optionally, step S304, which obtains multi-channel color images based on digital images sequentially acquired by a black-and-white imaging camera, is as follows: Figure 7 As shown, it includes: Step S701: Using the light source trigger position, obtain the corresponding full-channel region in the digital image with the number of channels.

[0071] This step is crucial for selecting the effective imaging area. Since each stroboscopic source trigger position corresponds to one channel of image acquisition (e.g., the first position corresponds to the red image, the second position to the green image), and the trigger positions are set based on the exposure interval (the same detection area will pass through three trigger positions sequentially), it is necessary to find the corresponding detection area, i.e., the full-channel area, in the three digital images using the coordinate information of the stroboscopic source trigger positions. For example, the full-channel areas of the first, second, and third digital images are the superimposed area of ​​the three. This superimposed area is the latter third of the first digital image, the first two-thirds of the second digital image, and the first third of the third digital image.

[0072] Step S702: Acquire a multi-channel color image based on the full-channel region.

[0073] This step is the final stage in integrating channel information to generate a color image. The full-channel regions determined in step S701 are fused according to color composition rules. For example, the grayscale value of the red channel image is used as the red component of that region in the color image, the grayscale value of the green channel image is used as the green component, and the grayscale value of the blue channel image is used as the blue component. An image composition algorithm (such as an RGB color space conversion algorithm) is used to integrate the three components into a single color pixel. This operation is repeated for all full-channel regions of the object 50 being detected, ultimately stitching them together to form a complete multi-channel color image that fully presents the color information of the object 50, meeting the needs of subsequent detection and analysis.

[0074] like Figure 8 The diagram illustrates the principle of color imaging in a multi-channel color imaging control method. The relative position between the object being detected 50 and the multi-channel color imaging system is controlled by a motion stage 70. During single-row RGB color imaging detection, the motion stage 70 moves at a constant speed along a fixed direction, while the system acquires images in a cycle of three exposures.Figure 8 As shown, the multi-channel color imaging system performs one exposure and acquires an image of one channel within a square area every time the motion stage 70 moves a certain distance. The movement distance between each exposure is less than or equal to 1 / 3 of the camera's field of view. Image acquisition is repeated in the order of channel 1, channel 2, and channel 3, ultimately obtaining images of all areas to be acquired for each channel in that row. When this scheme is extended to n-color composite imaging, the multi-channel color imaging system performs image acquisition in a cycle of n exposures, and the movement distance of the detected object 50 in each imaging interval is 1 / n of the camera's field of view.

[0075] like Figure 9 The diagram illustrates the principle of the light source triggering process in a multi-channel color imaging control method. When the motion stage 70 moves to the predetermined exposure position of each channel, the motion stage encoder sends a trigger signal, which is transmitted to the relevant control circuit. The control circuit counts and divides the trigger signal, then outputs it to the three stroboscopic light sources, triggering them sequentially at different positions in each cycle. Simultaneously, it transmits the trigger signal to the black-and-white imaging camera 40, illuminating the object 50 under inspection with stroboscopic light sources in different spectral channels while controlling the black-and-white imaging camera 40 to acquire images. The images acquired by the black-and-white imaging camera 40 under illumination by the three stroboscopic light sources are read by the computer, classified and processed according to channel (which is also the corresponding stroboscopic light source), and then stitched together to obtain complete images of each channel. Finally, the images of the overlapping parts of the red, green, and blue channels can be used for defect detection separately, or they can be synthesized in RGB color mode to obtain a color image of the object 50 under inspection, which is then used for defect detection analysis.

[0076] As demonstrated by the multi-channel color imaging control method described above, this method can complete multi-channel image acquisition in a single scan, resulting in high overall scanning speed and productivity. Furthermore, the near-simultaneous acquisition of each channel enhances the consistency of image acquisition conditions, such as focus position. In addition, this method can acquire a color image of the sample under test simultaneously with optical detection, which, compared to black and white images, better matches the observation results of the human eye under microscopes and other conditions, facilitating manual review and comparison with test results from other devices.

[0077] The multi-channel color imaging system provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned multi-channel color imaging system embodiments. For the sake of brevity, any parts not mentioned in the method embodiment can be referred to the corresponding content in the aforementioned multi-channel color imaging system embodiments.

[0078] A schematic diagram of the controller 60 in this embodiment is shown below. Figure 10 As shown, it includes a processor 101 and a memory 102; wherein, the memory 102 is used to store one or more computer instructions, which are executed by the processor 101 to implement the steps of the above-described multi-channel color imaging method.

[0079] Figure 10 The controller 60 shown also includes a bus 103 and a communication interface 104. The processor 101, the communication interface 104 and the memory 102 are connected via the bus 103.

[0080] The memory 102 may include high-speed random access memory (RAM) 102, and may also include non-volatile memory 102, such as at least one disk storage device 102. The bus 103 may be an ISA bus 103, a PCI bus 103, or an EISA bus 103, etc. The bus 103 can be divided into an address bus 103, a data bus 103, a control bus 103, etc. For ease of representation, Figure 10 The symbol is represented by only one double-headed arrow, but this does not mean that there is only one bus 103 or one type of bus 103.

[0081] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and to send encapsulated IPv4 packets or IPv4 packets to the user terminal through the network interface.

[0082] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by software instructions. The processor 101 may be a general-purpose processor 101, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor 101 may be a microprocessor 101, or it may be any conventional processor 101. The steps of the method disclosed in the embodiments of this disclosure can be directly implemented by the hardware decoding processor 101, or implemented by a combination of hardware and software modules in the decoding processor 101. The software modules can reside in a random access memory 102, flash memory, read-only memory 102, programmable read-only memory 102, electrically erasable programmable memory 102, registers, or other mature storage media in the art. This storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and, in conjunction with its hardware, completes the steps of the method in the aforementioned embodiments.

[0083] This invention also provides a storage medium storing a computer program, which is executed by processor 101 to perform the steps of the multi-channel color imaging method described in the foregoing embodiments.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, devices, and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interface 104. Indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0085] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0086] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0087] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor 101. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory 102 (ROM), a random access memory 102 (RAM), a magnetic disk, or an optical disk.

[0088] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. A multi-channel color imaging system, characterized in that, The multi-channel color imaging system is used to capture images of an object placed on a motion stage. The multi-channel color imaging system includes at least: a first stroboscopic flash source, a second stroboscopic flash source, a third stroboscopic flash source, a first dichroic mirror, a second dichroic mirror, a beam splitter, a monochrome imaging camera, and a controller. The controller is connected to the first stroboscopic flash source, the second stroboscopic flash source, the third stroboscopic flash source, the monochrome imaging camera, and the motion stage. The first dichroic mirror and the beam splitter are respectively disposed on both sides of the second dichroic mirror, and the first transmission light path corresponding to the first dichroic mirror, the second transmission light path corresponding to the second dichroic mirror, and the input light path corresponding to the beam splitter constitute the main light path of the multi-channel color imaging system. The object to be detected in the multi-channel color imaging system is placed in the first reflected light path corresponding to the beam splitter; the black and white imaging camera is placed in the second reflected light path corresponding to the beam splitter; the first reflected light path and the second reflected light path constitute the imaging light path of the multi-channel color imaging system. The first stroboscopic light source is disposed in the first transmission optical path; The second stroboscopic light source is disposed in the first reflected light path corresponding to the first dichroic mirror; The third strobe light source is disposed in the second reflected light path corresponding to the second dichroic mirror; Visible light of different wavelengths emitted by the first stroboscopic light source, the second stroboscopic light source, and the third stroboscopic light source propagates through the main optical path to the beam splitter, and then illuminates the object to be detected through the imaging optical path; The motion platform is used to move the object being detected sequentially to multiple preset light source trigger positions according to the scanning direction of the flying camera; The controller is used to determine the multi-channel strobe light source corresponding to the trigger position of the light source and its corresponding trigger duration, control the multi-channel strobe light source to periodically irradiate the object under test according to the trigger duration, and control the black and white imaging camera to expose the object under test multiple times through the imaging optical path to obtain a multi-channel color image.

2. The multi-channel color imaging system according to claim 1, characterized in that, The multi-channel color imaging system further includes: a focusing lens; wherein the focusing lens is disposed in the main optical path; the focusing lens is located between the beam splitter and the second dichroic mirror; The focusing lens is used to focus visible light of different wavelengths emitted by the first stroboscopic light source, the second stroboscopic light source and the third stroboscopic light source, so that the surface of the object being tested is illuminated by Kohler illumination.

3. The multi-channel color imaging system according to claim 1, characterized in that, The multi-channel color imaging system further includes: a tube lens and an objective lens; wherein, the tube lens is disposed in the imaging optical path, and the tube lens is located between the beam splitter and the black and white imaging camera; the objective lens is disposed in the imaging optical path, and the objective lens is located between the beam splitter and the object being detected; The tube lens and the objective lens are used to image the object being tested and correct aberrations.

4. The multi-channel color imaging system according to claim 3, characterized in that, The multi-channel color imaging system further includes a fourth-frequency flash source; the fourth-frequency flash source is connected to the controller; the fourth-frequency flash source is disposed around the objective lens; the visible light, infrared light, and ultraviolet light emitted by the fourth-frequency flash source are scattered or photoluminescent by the object being detected and then propagated through the objective lens to the imaging optical path.

5. The multi-channel color imaging system according to claim 1, characterized in that, The wavelengths of the first stroboscopic light source, the second stroboscopic light source, and the third stroboscopic light source correspond to RGB, RYB, or CMY color channels, respectively. The first stroboscopic light source, the second stroboscopic light source, and the third stroboscopic light source are carried by an integrated light box containing multiple coupled light sources; The multi-channel color imaging system also includes an optical fiber; the optical fiber is disposed in the main optical path and the imaging optical path and is used to transmit visible light from the intermediate frequency flash source in the main optical path.

6. A multi-channel color imaging control method, characterized in that, The method is applied to the multi-channel color imaging system according to any one of claims 1 to 5; the method includes: The trigger positions of multiple light sources corresponding to the object being detected in the motion platform are determined based on the scanning direction of the flying camera corresponding to the object being detected. Determine the multi-channel strobe light source corresponding to the trigger position of the light source and its corresponding trigger duration; wherein, the multi-channel strobe light source includes at least the first strobe light source, the second strobe light source and the third strobe light source; When the motion stage is controlled by the controller to reach the light source trigger position sequentially along the scanning direction, the multi-channel strobe light source is controlled to periodically turn on and off, and the object to be detected is sequentially irradiated according to the trigger duration corresponding to the light source trigger position. The black and white imaging camera is controlled by the controller to sequentially acquire digital images of the object to be detected through the imaging optical path. A multi-channel color image is obtained based on the digital images sequentially acquired by the black-and-white imaging camera.

7. The multi-channel color imaging control method according to claim 6, characterized in that, The step of determining the trigger positions of multiple light sources corresponding to the object being detected in the motion stage based on the scanning direction of the flying camera corresponding to the object being detected includes: The number of channels of the multi-channel stroboscopic light source is determined based on the number of light sources corresponding to the multi-channel stroboscopic light source; The imaging optical path of the multi-channel color imaging system is used to determine the field of view of the object being detected in the black-and-white imaging camera. Based on the scanning direction of the flying camera, the trigger positions of multiple light sources corresponding to the motion platform are determined using the field of view width and the number of channels.

8. The multi-channel color imaging control method according to claim 7, characterized in that, The step of determining the trigger positions of multiple light sources corresponding to the object being detected in the motion stage based on the scanning direction of the flying camera, using the field of view width and the number of channels, includes: The exposure spacing corresponding to the object being detected is calculated using the field of view width and the number of channels; wherein, the exposure spacing = the field of view width / the number of channels; The motion stage is controlled to move in the scanning direction of the flying camera, and the movement distance between the current position of the object being detected and the previous light source trigger position is obtained in real time. The positions corresponding to when the movement distance equals the exposure interval are sequentially determined as the current light source trigger positions.

9. The multi-channel color imaging control method according to claim 6, characterized in that, The steps of controlling the motion stage to sequentially reach the light source trigger position along the scanning direction using the controller, controlling the multi-channel strobe light source to sequentially illuminate the object to be detected according to the trigger duration corresponding to the light source trigger position, and controlling the black and white imaging camera to sequentially acquire digital images of the object to be detected through the imaging optical path using the controller include: Determine the triggering order and triggering duration corresponding to the first strobe light source, the second strobe light source, and the third strobe light source; The controller controls the motion stage to move at a constant speed along the scanning direction of the flying camera. When the object to be detected reaches the trigger position corresponding to the first stroboscopic light source, the controller controls the first stroboscopic light source to illuminate the object to be detected for a first trigger duration, and controls the black and white imaging camera to acquire the first digital image of the object to be detected through the imaging optical path. When the object to be detected reaches the trigger position corresponding to the second strobe light source, the second strobe light source is controlled to illuminate the object to be detected according to the second trigger duration, and the black and white imaging camera is controlled to acquire the second digital image of the object to be detected through the imaging optical path; When the object to be detected reaches the trigger position corresponding to the third frequency flash source, the third frequency flash source is controlled to illuminate the object to be detected for a third trigger duration, and the black and white imaging camera is controlled to acquire the third digital image of the object to be detected through the imaging optical path.

10. The multi-channel color imaging control method according to claim 7, characterized in that, The step of obtaining a multi-channel color image based on the digital images sequentially acquired by the black-and-white imaging camera includes: Using the light source trigger position, obtain the corresponding full-channel region in the digital image with the specified number of channels; The multi-channel color image is obtained based on the full-channel region.

Images