CN106291583A - A kind of transversal scanning synthetic method of big angular distance strobed laser imaging - Google Patents
A kind of transversal scanning synthetic method of big angular distance strobed laser imaging Download PDFInfo
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- CN106291583A CN106291583A CN201610888076.1A CN201610888076A CN106291583A CN 106291583 A CN106291583 A CN 106291583A CN 201610888076 A CN201610888076 A CN 201610888076A CN 106291583 A CN106291583 A CN 106291583A
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Abstract
The invention discloses the transversal scanning synthetic method of a kind of big angular distance strobed laser imaging, for range gating laser imaging transversal scanning synthesis system, the transmitting deflection angle of pulse laser is changed the most continuously by intelligent machine rotating mechanism, and then obtain a series of laser-gated images by gated imaging device, and by the chip that processes of described gated imaging device, the process of this series of laser-gated image synchronization is synthesized the composograph at a big visual angle.The present invention can utilize the range-gated laser of small angle to obtain the gating image at big visual angle, during imaging, synchronizes to synthesize image, it is possible to obtain the target complete subject image that a width shows in same plane region simultaneously within the shortest time.Technical scheme is simple to operate, strong adaptability, is particularly suitable in range-gated laser system using.
Description
Technical field
The invention belongs to technique of laser imaging field, be specifically related to laterally sweeping of a kind of big angular distance strobed laser imaging
Retouch synthetic method, a kind of method particularly relating to range gating Laser synthesizing big visual angle gating image utilizing small angle.
Background technology
Large area array technique of laser range gated technology, is to utilize pulse laser and large area array CMOS gated imaging device, with laser
The time order and function order reflected distinguishes the scattered light in different distance and target reflecting light so that the reflection light of target is just
In the gating time of imager, arrive imager and be acquired imaging by large area array CMOS.
Concrete formation method is as shown in accompanying drawing 1-2.
First, launching the punching of high-octane short pulse to target direction by controller instruction laser instrument, laser pulse is being advanced
During when running into granule or barrier can retroeflection, simply the return laser beam in target object reflection arrive imager it
Before, control system closes storbing gate, and now return laser beam will not carry out imaging, only on large area array CMOS gated imaging device
When being irradiated to the return laser beam arrival imager of target object, control system is just opened storbing gate, is received from target object
Laser-bounce light, carries out imaging on large area array cmos imager.In this course, need by the switch arranging storbing gate
Time arrives the noise jamming before imager to filter return laser beam.
But, the line time-base unit of distance strobed laser imaging or method in prior art, due to laser emitting power
Restriction, larger distance can only obtain the image of small angle.Therefore can only be by artificial on same transverse area face
Different laser emission angles is set, when target objects different on same transverse area face is carried out independent imaging, therefore user without
Method clearly observes all targets on same transverse area face in very short time.
It is thus desirable to the transversal scanning technology of the range gating laser imaging of prior art is improved, same to optimize
The automaticity of all target imagings, definition and quick degree on transverse area face.
Summary of the invention
The present invention is in order to make up the deficiencies in the prior art, it is provided that laterally sweeping of a kind of big angular distance strobed laser imaging
Retouch synthetic method, utilize the range gating Laser synthesizing big visual angle gating image of small angle.
The present invention specifically adopts the following technical scheme that realization.
A kind of transversal scanning synthetic method of big angular distance strobed laser imaging, horizontal for range gating laser imaging
Scanning synthesis system, is changed the transmitting deflection angle of pulse laser the most continuously, and then passes through by intelligent machine rotating mechanism
Gated imaging device obtains a series of laser-gated images, and is selected by this series of laser by the process chip of described gated imaging device
Logical image synchronization processes the composograph synthesizing a big visual angle.
Described range gating laser imaging transversal scanning synthesis system mainly includes pulse laser, gated imaging device, choosing
Open gate and controller.
Further, this gated imaging device includes area array CCD, image intensifier and process chip.
Described intelligent machine rotating mechanism mainly includes microprocessor, modulus conversion chip, output driving chip and transmission
Gear mechanism.This intelligent machine rotating mechanism can accept the transversal scanning angle that pulse laser sends over, thus quickly
Change the transmitting deflection angle of pulse laser continuously.
The transversal scanning synthetic method of above-mentioned big angular distance strobed laser imaging is embodied as step, and details are as follows.
Step one, sets the angle of visual field of pulse laser emission as γ according to distance d, simultaneously initial by pulse laser emission
Deflection angle is set as α, controller control pulse laser emission pulse laser, obtain the first two field picture by gated imaging device
AB。
Step 2, after step one completes, intelligent machine rotating mechanism driving pulse on the basis of the α of initial deflection angle swashs
Light device one angle ω of deflection, is again started up pulse laser emission pulse laser, then obtains second by gated imaging device
Two field picture CD.
Step 3, repeat the above steps two, it is scanned by predetermined direction, until deflection angle becomes final deflection angle-α.
Step 4, a series of images got step one to step 3 by the process chip of gated imaging device is carried out
Process, ultimately form the target image AE that a width is complete.
The value of described angle ω enables to the second two field picture CD and the first two field picture AB and has the region of certain area
Overlap.
The image obtained in aforementioned each step all uses gigabit Ethernet to be transmitted, or uses solid state hard disc to deposit
Storage.
Gated imaging device process the chip process to image, Tong Bu carry out with These steps.
Described image procossing, including eliminating the distortion of image, eliminating unwanted noise, the contrast of enhancing image.
Compared with prior art, the invention has the beneficial effects as follows,
1, Based Intelligent Control is used, by the deflection angle of procedure auto-control pulse laser；
2, use picture registration splicing, eliminate imaging blind area；
3, during imaging, synchronize image is synthesized, it is possible within the shortest time, obtain a width show simultaneously
Target complete subject image in same plane region.
Accompanying drawing explanation
Fig. 1 be the transversal scanning synthesis system of distance strobed laser imaging in prior art and operation principle schematic diagram it
One；
Fig. 2 be the transversal scanning synthesis system of distance strobed laser imaging in prior art and operation principle schematic diagram it
Two；
Fig. 3 is the operation principle signal of the transversal scanning synthetic method of the big angular distance strobed laser imaging of the present invention
Figure.
Detailed description of the invention
In order to the present invention can be better understood and implement, below with reference to accompanying drawing 3, technical scheme is entered
Row detailed description.
The big angular distance strobed laser imaging system of the present invention contains the basic element of character shown in accompanying drawing 1,2.In Fig. 3 only
Show schematically laser instrument.
The transversal scanning synthetic method of the big angular distance strobed laser imaging of the present invention, for range gating laser imaging
Transversal scanning synthesis system, changes the transmitting deflection angle of pulse laser the most continuously by intelligent machine rotating mechanism, and then
Obtain a series of laser-gated images by gated imaging device, and swashed this series of by the process chip of described gated imaging device
Light gating image synchronization processes the composograph synthesizing a big visual angle.
Described range gating laser imaging transversal scanning synthesis system mainly includes pulse laser, gated imaging device, choosing
Open gate and controller.This gated imaging device includes area array CCD, image intensifier and process chip.
Described intelligent machine rotating mechanism mainly includes microprocessor, modulus conversion chip, output driving chip, stepping electricity
Machine and drive gear mechanism.This intelligent machine rotating mechanism can accept the transversal scanning angle that pulse laser sends over,
Thus change the transmitting deflection angle of pulse laser the most continuously.
As shown in Figure 2, it is assumed that the target that range-gated laser to be adjusted the distance as d carries out horizontal sweep imaging.Above-mentioned greatly
The transversal scanning synthetic method of angular distance strobed laser imaging is embodied as step, and details are as follows.
Step one, sets the angle of visual field of pulse laser emission as γ according to distance d, simultaneously initial by pulse laser emission
Deflection angle is set as α.The first two field picture AB is obtained by gated imaging device.The central point of this first two field picture AB is labeled as m,
This central point m and center, the target area P angle relative to pulse laser position O are exactly α.
In the case of laser emitting power is certain, the angle of visual field is the least, and the laser that guarantee reflects at a distance has
Enough image intensity.Therefore, in the present invention, target range distance is the most remote, and the angle of visual field of pulse laser emission is the least.
The opening/closing time of storbing gate depends on the distance of imageable target and the size of deflection angle.
Step 2, after step one completes, intelligent machine rotating mechanism driving pulse on the basis of the α of initial deflection angle swashs
Light device one angle ω of deflection, the second deflection angle now is β, then obtains the second two field picture CD by gated imaging device, should
The central point of the second two field picture CD is n.The value of described angle ω enables to the first two field picture AB and the second two field picture CD about
The region area having 1/4 overlaps.The area of overlapping region can determine according to actual needs, is not limited to the numerical value of 1/4.
Step 3, repeat the above steps two, it is scanned by predetermined direction, until deflection angle becomes final deflection angle-α.
Step 4, a series of images got step one to step 3 by the process chip of gated imaging device is carried out
Process, ultimately form the target image AE that a width is complete.
The image obtained in each step all uses gigabit Ethernet to be transmitted, and more can use solid state hard disc further
(SSD, Solid State Disk) stores.
Gated imaging device process the chip process to image, Tong Bu carry out with These steps.That is, obtain in step 2
When taking the second two field picture CD, process chip, by the first two field picture AB and the second two field picture CD process, obtains composograph.?
When performing step 3, process chip and again the 3rd frame newly obtained and the composograph obtained Tong Bu synthesized,
Obtain new composograph.By that analogy, until transversal scanning terminates.
Aforementioned image procossing, including such as eliminating the distortion of image, eliminating unwanted noise, the contrast of enhancing image
Etc. technological means.
Image mosaic technology is employed herein, from the beginning of the first two field picture, first splices with the second frame image,
Synthesizing the composograph of a width large-size, then composograph splices with the 3rd frame again, and successive image is located successively
Reason, the n-th frame to the last obtained gating image.
Concrete joining method is described as follows:
As it is shown on figure 3, when AB image carry out with CD image overlapping region mate time, first extract figure on the right of AB image
As characteristic point, extract characteristic point, the determination AB image rough by Feature Points Matching and the weight of CD image in the left and right of CD image
Folded region.
Assuming that the size that the overlapping region determined roughly is in the horizontal direction is X, size in vertical direction is Y.So
After on the right of AB image, in the range of X dimension, be separated by 2 pixels and take n column data, form array of pixels Pixel_A
[X/3, n], as a template；On the left side of CD image, with the upper left corner as zero, set horizontal offset as x, vertically
Side-play amount is y, time initial, x=0, y=0, in the range of X dimension, also takes n column data with identical interval, forms a pixel
Array Pixel_B [X/3, n], calculate array Pixel_A and array Pixel_B squared difference and, be designated as E1；X maximum is made to take
Value is 20, and y maximum occurrences is 20, every time at CD image according to same value mode, and 400 different Pixel_B of composition altogether,
Compare with array Pixel_A respectively, calculate they squared difference and, obtain Ei；Take squared difference and that minimum group
Data, record x, y.Can accurately determine the position of overlapping region.
The process of overlapping region:
Assuming that the overlapping region of AB image and CD image is X, then in the range of X, calculate each pixel count in AB image
Value and the meansigma methods of respective pixel in CD image, using this meansigma methods as the pixel value of new images.
Below it is only the description to preferred embodiment, it is impossible to be interpreted as limiting the scope of the invention.This
What skilled person was carried out on the basis of technical solution of the present invention simply replaces and changes, and all should fall into the appended power of the present invention
The protection domain that profit requires.
Claims (9)
1. a transversal scanning synthetic method for big angular distance strobed laser imaging, laterally sweeps for range gating laser imaging
Retouch synthesis system, it is characterised in that
The transmitting deflection angle of pulse laser is changed the most continuously by intelligent machine rotating mechanism, and then by gated imaging device
Obtain a series of laser-gated image；
By the process chip of described gated imaging device, the process of this series of laser-gated image synchronization is synthesized a big visual angle
Composograph.
Transversal scanning synthetic method the most according to claim 1, it is characterised in that described range gating laser imaging is horizontal
Scanning synthesis system mainly includes pulse laser, gated imaging device, storbing gate and controller.
Transversal scanning synthetic method the most according to claim 2, it is characterised in that this gated imaging device includes face battle array
CCD, image intensifier and process chip.
Transversal scanning synthetic method the most according to claim 1, it is characterised in that described intelligent machine rotating mechanism is main
Including microprocessor, modulus conversion chip, output driving chip, motor and drive gear mechanism.
Transversal scanning synthetic method the most according to claim 1, it is characterised in that described transversal scanning synthetic method is concrete
Comprise the steps:
Step one, sets the angle of visual field of pulse laser emission as γ according to distance d, simultaneously by the initial deflection of pulse laser emission
Angle is set as α, controller control pulse laser emission pulse laser, obtain the first two field picture AB by gated imaging device；
Step 2, after step one completes, intelligent machine rotating mechanism is pulse laser on the basis of the α of initial deflection angle
Deflect angle ω, be again started up pulse laser emission pulse laser, then obtain the second frame figure by gated imaging device
As CD；
Step 3, repeat the above steps two, it is scanned by predetermined direction, until deflection angle becomes final deflection angle-α；
Step 4, processing at a series of images that step one to step 3 is got by chip by gated imaging device
Reason, ultimately forms the target image AE. that a width is complete.
Transversal scanning synthetic method the most according to claim 5, it is characterised in that the value of described angle ω enables to
Second two field picture CD and the first two field picture AB has the area coincidence of certain area.
Transversal scanning synthetic method the most according to claim 5, it is characterised in that the image obtained in aforementioned each step
All use gigabit Ethernet to be transmitted, or use solid state hard disc to store.
Transversal scanning synthetic method the most according to claim 5, it is characterised in that the process chip of gated imaging device is to figure
The process of picture, is Tong Bu carried out with These steps.
Transversal scanning synthetic method the most according to claim 5, it is characterised in that the described process to image includes eliminating
The distortion of image, elimination unwanted noise, the contrast of enhancing image.
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| CN201610888076.1A CN106291583B (en) | 2016-10-11 | 2016-10-11 | Transverse scanning synthesis method for large-visual-angle distance gating laser imaging |
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| CN201610888076.1A CN106291583B (en) | 2016-10-11 | 2016-10-11 | Transverse scanning synthesis method for large-visual-angle distance gating laser imaging |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226954A (en) * | 2017-12-28 | 2018-06-29 | 山东船舶技术研究院 | A kind of underwater scanning laser radar imaging method |
| CN110208817A (en) * | 2019-06-16 | 2019-09-06 | 西安应用光学研究所 | A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager |
| CN110471084A (en) * | 2019-08-28 | 2019-11-19 | 哈尔滨工业大学（威海） | A kind of range gating laser radar imaging method based on neighbor frame difference |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108226954A (en) * | 2017-12-28 | 2018-06-29 | 山东船舶技术研究院 | A kind of underwater scanning laser radar imaging method |
| CN110208817A (en) * | 2019-06-16 | 2019-09-06 | 西安应用光学研究所 | A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager |
| CN110471084A (en) * | 2019-08-28 | 2019-11-19 | 哈尔滨工业大学（威海） | A kind of range gating laser radar imaging method based on neighbor frame difference |
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