CN103198462B - Intense radiation resistant visual sensing device based on information fusion - Google Patents
Intense radiation resistant visual sensing device based on information fusion Download PDFInfo
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Abstract
The invention discloses a kind of intense radiation resistant visual sensing device based on information fusion, and it includes image information acquisition device (1) and image information processing device (3)；Image information acquisition device (1) includes amasthenic lens (11), spectroscope (12) and two imaging sensors（13、14）；Image information processing device (3) includes digital processing unit and image information recovery module；Image information recovery module includes image segmentation module, brightness of image geometric correction module and information fusion method noise and rejects module；Information fusion method noise rejects module to the image Jing Guo brightness of image geometric correction resume module to carrying out correlation modeling, performs the image information before arithmetic operation is disturbed.It can be effectively reduced influence of the intense radiation to vision sensor, greatly improve the robustness of strong radiation environment visual sensing, ensure high quality target scene image information acquisition.
Description
Technical field
The present invention relates to field of precision measurement, and it is a kind of vision sensing equipment, and particularly one kind is based on information fusion for it
Intense radiation resistant visual sensing device.
Background technology
Vision sensor（Imaging sensor can also be, or is charge coupled cell, English Charge-coupled
Device, abbreviation CCD）The photoelectric cell belonged in opto-electronics, its core are the photosensitive element array that active pixel is formed, in addition
Also include sequential and control circuit, functional circuit, the processing of analog signal and output interface etc., CCD can turn optical image
Data signal is turned to, i.e., image pixel is converted into data signal, just as film.Radiation effects meeting in space radiation environment
Photoelectric component performance is caused to damage, it is serious to reduce the quality for obtaining visual information, reduce sensor service life.At present,
Vision sensor radioresistance major measure is to take pixel electronic circuit internal structure to reinforce and radiate isolation.Pixel electronic circuit
Internal structure, which is reinforced, mainly two ways, when, the redundant latch of latch is taken in order to avoid Single event upset effecf
Structure is deposited, i.e., data is latched in the different place of two or more, takes the form suitably fed back, after single event,
Destroyed data recovery is come；Second, in order to strengthen anti-integral dose radiation ability and mitigate the shadow of single event latch-up effect
Ring, take ring-like grid and protection ring structure reaches the purpose of reinforcing.These radioresistance methods taken at present, although can reach
To certain radioresistance effect, but these method and technologies are complicated, and processing cost is high, and these measure radioresistance effects are failed to understand
Aobvious, noise (image noise) is high, it is difficult to reaches the ideal effect for eliminating signal noise caused by radiation.
The content of the invention
The purpose of the present invention is to overcome the above-mentioned deficiency of prior art and provide a kind of anti-intense radiation based on information fusion
Vision sensing equipment, it can be effectively reduced influence of the intense radiation to vision sensor, greatly improve strong radiation environment vision
The robustness of sensing, ensure the acquisition of high quality target scene image information.
The technical scheme is that：A kind of intense radiation resistant visual sensing device based on information fusion, it includes image
Information acquisition device and image information processing device；Image information acquisition device includes amasthenic lens, spectroscope and two images
Sensor, amasthenic lens are convex lens, and spectroscope is located in the light path of amasthenic lens focusing, and an imaging sensor is positioned at light splitting
In one light path of mirror, another imaging sensor is located in spectroscopical another light path；Image information acquisition device and figure
As being connected between information processor by communication system, its image information that can gather image information acquisition device transmits
To image information processing device；Image information processing device includes digital processing unit and image information recovery module；At numeral
Reason device includes input interface, memory, processor and output interface；Image information recovery module is placed in digital processing unit
In, it includes image segmentation module, brightness of image geometric correction module and information fusion method noise and rejects module, image segmentation mould
Block respectively can be split the two-way image information come from image information acquisition device transmission, choose the same of two-way image
Image frame region, to ensure the uniformity in image frame region；Brightness of image geometric correction module can be respectively to by scheming
The disparity and luminance difference of the two-way image information of the same area synchronization extracted as splitting module are corrected, and are obtained
Geometrical relationship to the two-way image information of Same Scene region synchronization is consistent with monochrome information, forms image pair；Information
Fusion method noise rejects module to the image Jing Guo brightness of image geometric correction resume module to carrying out correlation modeling, performs fortune
Calculate the image information before operation is disturbed, you can image noise caused by radiation interference is rejected, before restoring radiation interference
Image information.
Further technical scheme is the present invention：Another is provided between another described imaging sensor and spectroscope
Spectroscope, another spectroscope are located in previous spectroscopical another light path, and another imaging sensor is located at another spectroscope
A light path on.
Technical scheme of the invention further is：Described communication system is cable and its interface or is wireless telecommunications
System.
Further technical scheme is the present invention：Reinforcing hardware is additionally provided with described imaging sensor, communication system,
The influence of radiation interference can be reduced by reinforcing hardware, to reduce image noise.
The also further technical scheme of the present invention is：Described spectroscope also cascades more than one spectroscope, Mei Gefen
An imaging sensor is equipped with the light path that light microscopic separates more, i.e. spectroscope forms cascade, and multiple images sensor is adopted
The multiway images information of collection, which is respectively transmitted, is carried out multiway images information to image information processing device, image information processing device
Combination of two, multipair image pair is obtained, before every a pair of images by image information processing device to restoring one group of radiation interference
Image information, the image information before multigroup radiation interference that image information processing device can restore these integrated,
Obtain the image information before more accurate radiation interference.
The also further technical scheme of the present invention is：The focus adjustable of described amasthenic lens；Digital processing unit is energy
Carry out the computer of Digital Signal Processing.
The present invention has following features compared with prior art：
1. the double source vision sensor of same imaging region（That is double image sensor）Probability very little is contaminated simultaneously, is adopted
Feel information fusion with double vision, build more visual sensing information fusion framework (i.e. recalls information fusion method noises under strong radiation environment
Reject module and correlation modeling is carried out to two-way image information, after computing, image noise information caused by rejecting radiation interference, obtain
Image information before to radiation interference, that is, restore the image information before radiation interference), it is effectively reduced intense radiation and vision is passed
The influence of sensor, the robustness of strong radiation environment visual sensing is substantially increased, ensure that high quality target scene image information obtains
Take.
2. its small volume, integrated level are high, precision is high, Aero-Space, nuclear resource exploitation are can be widely applied to, to promoting aviation
Space flight, nuclear resource exploitation can produce positive meaning.
3. spectroscope may make up multi-stage cascade with imaging sensor, the accuracy of image information reduction can be further improved.
In order to illustrate more clearly of the present invention, following examples are enumerated, but its scope to invention is without any restrictions.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the structured flowchart of the image information acquisition device of invention；
Fig. 3 is the structured flowchart of the digital processing unit of the image information processing device of invention；
Fig. 4 is the workflow principle schematic of invention.
Embodiment
Embodiment 1
As shown in figure 1, a kind of intense radiation resistant visual sensing device based on information fusion, it includes image information acquisition dress
Put 1 and image information processing device 3；As shown in Fig. 2 image information acquisition device 1 includes amasthenic lens 11, spectroscope 12 and two
Individual imaging sensor（13、14）, amasthenic lens 11 is convex lens, and its focus adjustable, spectroscope 12 can be by single light path（Come from
Scene light source）It is divided into two-way light path, i.e. same image frame can be divided into identical two-way image frame by spectroscope 12, light splitting
Mirror 12 is located in the light path of the focusing of amasthenic lens 11, and an imaging sensor 13 is located in a light path of spectroscope 12, another
Individual imaging sensor 14 is located in another light path of spectroscope 12, and imaging sensor 14 can also increase by one with spectroscope 12
Spectroscope 15, spectroscope 15 is by previous stage spectroscope（That is spectroscope 12）A light path be divided into two-way light path again, thus may be used
To form multi-stage cascade relation（It is not shown in the drawings）, can be that more than two imaging sensors gather same light source figure simultaneously
As providing condition, in a word, multiple spectroscopes can realize multiple images sensor while gather same image；Spectroscope can solve
Different images sensor synchronization is in different visual angles collection Same Scene image and differed so as to carry out image comparison
The problem of, spectroscope is not used even, and different images sensor is in diverse location, and the image of collection will not be just the same, difficult
To carry out image comparative analysis, it is difficult to realize the purpose of the present invention；Meanwhile same amasthenic lens 11 also ensure that different images pass
Sensor（That is CCD）The uniformity of image is gathered, if two-way imaging sensor carries out signal by amasthenic lens to scene respectively
Collection, because focal length and the angle coverage of each amasthenic lens camera lens have difference, so two images can not be also completely superposed, equally
It is difficult to image comparative analysis, it is difficult to realize the purpose of the present invention；When under ionizing radiation environment, imaging sensor（I.e.
CCD）The noise of random distribution can be produced under ionizing radiation environment（Scheme i.e. as caused by radiation interference in some position of image
Image patch point）, the distributions of these noise information is random, i.e., the noise that two-way imaging sensor is introduced by ionising radiation is not phase
Close, inventor is also clearly seen by testing photo, and under radiation environment, picture that imaging sensor is passed back, which generates, makes an uproar
Point, the position that noise occurs are random, and the noise in the two images that the transmission of different images sensor comes is duplicate general
Rate is also almost nil.
Connected between image information acquisition device 1 and image information processing device 3 by communication system, communication system connection
Can be cable and its interface circuit, or wireless telecommunication system, wireless telecommunication system include wireless transceiver, interface electricity
The parts such as road；Communication system connection should also include the circuits such as level conversion, I/V conversions, signal amplification, A/D conversions.
The parts such as imaging sensor, communication system can also use hardware reinforcement technique, reduce shadow caused by radiation interference
Ring, to reduce image noise.
Image information processing device 3 includes digital processing unit and image information recovery module；As shown in figure 3, at numeral
Reason device includes input interface, memory, processor and output interface, and digital processing unit, which can also be one, can carry out numeral
The common computer of signal transacting；Image information recovery module is placed in digital processing unit, and it includes image segmentation module, figure
Image brightness geometric correction module and information fusion method noise reject module, and image segmentation module will can obtain from image information respectively
The two-way image information for taking the transmission of device 1 is split, and chooses the same image frame region of two-way image so that use
Two-way image information is the same area of collection scene, to ensure the uniformity in image frame region, while can ensure to handle
The synchronization of speed, i.e., the two-way image information of the same area of synchronization is split in pairs；Brightness of image geometric correction
The disparity of the two-way image information for the same area synchronization that module can be extracted to passing through image segmentation module respectively
It is corrected with luminance difference, obtains the geometrical relationship and monochrome information of the two-way image information of Same Scene region synchronization
Unanimously, image pair is formed（The two-way figure gathered by two imaging sensors in synchronization to Same Scene the same area
Picture, the two-way image after as segmentation module, brightness of image geometric correction resume module is image pair）.
Information fusion method noise rejects module can be to image pair（For described above " image to "）Correlation is carried out to build
Mould（Correlation function, namely correlation analysis are established, is generally understood as fusion method）, perform arithmetic operation after can obtain interference before
Image information, you can reject radiation interference caused by image noise, restore the image information before radiation interference.
The structural principle and specific algorithm of information fusion method noise rejecting module are as follows：
Use cross-correlation functionRepresent two different random informationsWithAt different momentsWith
The degree of correlation of value（That is the information for two imaging sensors that image information processing device 3 receives, respectively by image point
After cutting module, brightness of image geometric correction resume module, obtain comprising the two-way image information including random noise information
With, functionRepresent two-way image informationWithCorrelation）, it is defined as：
WhereinMathematic expectaion operator is represented, ifWithIt is completely uncorrelated, thenIt is zero；For flat
Steady random information, its statistical characteristic value are unrelated with start time；Order,, then,
It is abbreviated as, i.e.,：
Statistical average averagely is represented with the time, cross-correlation function is also referred to as：
In actual applications, time of integration T can not possibly be infinitely great, is frequently in limited time of integration T and calculates correlation
The estimate of function, i.e.,
In formula,RepresentWithCross-correlation functionEstimate；Because the time of integration is limited,
So estimate result has deviation, but as long as time of integration long enough, this deviation can control is in the model that can allow
In enclosing；
Pending image information is digital information in this specific embodiment, carries out using correlation analysis during relevant treatment
Discrete computing formula, its calculating formula is：
It is assumed that scene light source is, the output information of imaging sensor 13 is（There is no radiation interference
When）, interference is introduced due to radiation, i.e., caused image noise information；The output information of imaging sensor 14 is, interference is introduced due to radiation, i.e., caused image noise information, obtain：
The output information of imaging sensor 13 carries out correlation analysis with the output information of imaging sensor 14, obtains：
Due to random noise、With information source（Scene light source）It is orthogonal two-by-two, then three after above formula
It is zero, i.e.,：
Eliminated in the image information that thus noise information sound is formed from scene light source, can be according to various
ValueJudge information source（The image information that i.e. scene light source is formed）Feature.
The application method and basic functional principle of the present invention：In use, image information acquisition device 1 is adopted installed in needs
Under the strong radiation environment for collecting image information, amasthenic lens 11 is set to be directed at the scene for needing to gather image information, Image Information Processing
Device 3 is put in the place of image information reception, at this moment two imaging sensors（13、14）Collection is from amasthenic lens 11 simultaneously
Scene image information（One amasthenic lens 11 ensure that the uniformity of two imaging sensor collection scenes with spectroscope 12, be
The premise of follow-up correlation analysis, otherwise can not carry out correlation analysis, i.e., can not carry out information fusion）, pass through communication system
It is respectively transmitted to image information processing device 3, image information processing device 3 calls image segmentation module and brightness of image several respectively
What correction module carries out preliminary treatment to two-way image information, and then recalls information fusion method noise rejects module to two-way image
Information carries out correlation modeling（Correlation function is established, correlation analysis is carried out, is generally understood as information fusion）, after computing,
Image noise information caused by rejecting radiation interference, obtains the image information before radiation interference, that is, before restoring radiation interference
Image information.
As described above, more than two spectroscopes can also be used, the light path that each spectroscope separates more is reconfigured at
One imaging sensor, i.e. spectroscope form cascade, and the multiway images information of multiple images sensor collection is respectively transmitted to figure
As information processor 3, multiway images information is carried out combination of two, obtains multipair image pair, often by image information processing device 3
Then a pair of images reduce these to the image information before one group of radiation interference is restored by image information processing device 3
Image information before the multigroup radiation interference gone out is integrated（Usually average）, more accurate radiation interference can be obtained
Preceding image information；This easy flexible design for similarly belonging to the present invention.
The present invention is not limited to above-mentioned concrete structure and the course of work, as long as using the knot essentially identical with the present invention
Structure, pass using with the essentially identical operation principle of the present invention, the anti-intense radiation vision for reaching the effect essentially identical with the present invention
Induction device just falls within the protection domain of invention.
Claims (10)
1. a kind of intense radiation resistant visual sensing device based on information fusion, it includes image information acquisition device (1) and image
Information processor (3)；It is characterized in that：Image information acquisition device (1) includes amasthenic lens (11), spectroscope (12) and two
Imaging sensor（13、14）, amasthenic lens (11) is convex lens, and spectroscope (12) is located at the light path of amasthenic lens (11) focusing
On, an imaging sensor (13) is located in a light path of spectroscope (12), and another imaging sensor (14) is positioned at light splitting
In another light path of mirror (12)；Pass through communication system between image information acquisition device (1) and image information processing device (3)
Connection, it can send the image information that image information acquisition device (1) gathers to image information processing device (3)；Image
Information processor (3) includes digital processing unit and image information recovery module；Digital processing unit includes input interface, deposited
Storage, processor and output interface；Image information recovery module is placed in digital processing unit, it include image segmentation module,
Brightness of image geometric correction module and information fusion method noise reject module, and image segmentation module can be respectively by from image information
The two-way image information that acquisition device (1) transmission comes is split, and chooses the same image frame region of two-way image, to ensure
The uniformity in image frame region；Brightness of image geometric correction module can be respectively to by the same of image segmentation module extraction
The disparity and luminance difference of the two-way image information of region synchronization are corrected, and obtain Same Scene region with for the moment
The geometrical relationship at the quarter two-way image information consistent with monochrome information, forms image pair；Information fusion method noise rejects module pair
Image by brightness of image geometric correction resume module performs the figure before arithmetic operation is disturbed to carrying out correlation modeling
As information, you can image noise caused by rejecting radiation interference, restore the image information before radiation interference；
Described information fusion method noise rejects module and performs arithmetic operation as following operation：Scene light source be s (t), an image
Sensor (13) output information is K1s(t), radiation interference n1(t)；Another imaging sensor (14) output information is K2 s
(t), radiation interference n2(t)；Two imaging sensors of image information acquisition device (1) will be come from（13、14）Random make an uproar
Point n1(t)、n2(t) and information source s (t) orthogonal noise K two-by-two1Rsn2(τ)+ K2Rsn1(τ) + Rn1n2(τ) weed out,
Obtain the noiseless image information of scene light source formation, wherein Rsn2(τ)、Rsn1(τ)、Rn1n2(τ) be respectively s (t) and n2(t)、s
(t) and n1(t)、n1(t) and n2(t) between correlative, correlative R calculation formula is：Rxy(τ)=E[y(t)x(t-τ)], its
Middle E expressions mathematic expectaion operator, y (t) represent t random information y, x (t-τ) representt-τThe random information at moment
X, i.e.,τFor random information x and y at the time of it is poor.
2. the intense radiation resistant visual sensing device according to claim 1 based on information fusion, it is characterized in that：Described is another
Another spectroscope (15) is provided between one imaging sensor (14) and spectroscope (12), another spectroscope (15) is positioned at previous
In another light path of spectroscope (12), another imaging sensor (14) is located in a light path of another spectroscope (15).
3. the intense radiation resistant visual sensing device according to claim 2 based on information fusion, it is characterized in that：Described is logical
News system is cable and its interface or is wireless telecommunication system.
4. the intense radiation resistant visual sensing device according to claim 2 based on information fusion, it is characterized in that：Described figure
As being additionally provided with reinforcing hardware on sensor, communication system, the influence of radiation interference can be reduced by reinforcing hardware, be made an uproar with reducing image
Point.
5. the intense radiation resistant visual sensing device according to claim 3 based on information fusion, it is characterized in that：Described figure
As being additionally provided with reinforcing hardware on sensor, communication system, the influence of radiation interference can be reduced by reinforcing hardware, be made an uproar with reducing image
Point.
6. the intense radiation resistant visual sensing device according to claim 2 based on information fusion, it is characterized in that：Described is another
One spectroscope (15) also cascades more than one spectroscope, is equipped with the light path that the spectroscope each cascaded separates more
One imaging sensor, i.e. spectroscope form cascade, and the multiway images information of multiple images sensor collection is respectively transmitted to figure
As information processor (3), multiway images information is carried out combination of two, obtains multipair image by image information processing device (3)
Right, every a pair of images are to the image information before one group of radiation interference is restored by image information processing device (3), image information
Processing unit (3) is integrated the image information before multigroup radiation interference that these are restored, obtains more accurately radiating dry
Image information before disturbing.
7. the intense radiation resistant visual sensing device according to claim 3 based on information fusion, it is characterized in that：Described is another
One spectroscope (15) also cascades more than one spectroscope, is equipped with the light path that the spectroscope each cascaded separates more
One imaging sensor, i.e. spectroscope form cascade, and the multiway images information of multiple images sensor collection is respectively transmitted to figure
As information processor (3), multiway images information is carried out combination of two, obtains multipair image by image information processing device (3)
Right, every a pair of images are to the image information before one group of radiation interference is restored by image information processing device (3), image information
Processing unit (3) is integrated the image information before multigroup radiation interference that these are restored, obtains more accurately radiating dry
Image information before disturbing.
8. the intense radiation resistant visual sensing device according to claim 4 based on information fusion, it is characterized in that：Described is another
One spectroscope (15) also cascades more than one spectroscope, is equipped with the light path that the spectroscope each cascaded separates more
One imaging sensor, i.e. spectroscope form cascade, and the multiway images information of multiple images sensor collection is respectively transmitted to figure
As information processor (3), multiway images information is carried out combination of two, obtains multipair image by image information processing device (3)
Right, every a pair of images are to the image information before one group of radiation interference is restored by image information processing device (3), image information
Processing unit (3) is integrated the image information before multigroup radiation interference that these are restored, obtains more accurately radiating dry
Image information before disturbing.
9. the intense radiation resistant visual sensing device according to claim 5 based on information fusion, it is characterized in that：Described is another
One spectroscope (15) also cascades more than one spectroscope, is equipped with the light path that the spectroscope each cascaded separates more
One imaging sensor, i.e. spectroscope form cascade, and the multiway images information of multiple images sensor collection is respectively transmitted to figure
As information processor (3), multiway images information is carried out combination of two, obtains multipair image by image information processing device (3)
Right, every a pair of images are to the image information before one group of radiation interference is restored by image information processing device (3), image information
Image information before multigroup radiation interference that processing unit (3) can restore these is integrated, and obtains more accurately radiating
Image information before interference.
10. the intense radiation resistant visual sensing device according to claim 1 or 2 based on information fusion, it is characterized in that：It is described
Amasthenic lens (11) focus adjustable；Digital processing unit is the computer that can carry out Digital Signal Processing.
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